Work in Progress - Rover

#include <Servo.h>
const int pingPin = 7;
const int minsafedistance = 10;
int rightDistance, leftDistance;
int leftMotor2 = 3;
int leftMotor7 = 4;
int rightMotor10 = 5;
int rightMotor15 = 6;
// int enablePin1 = 9;
// int enablePin9 = 10;



long duration;
Servo servo;
void setup()
{
  servo.attach(8);
  servo.write(90);

  pinMode(leftMotor2, OUTPUT);
  pinMode(leftMotor7, OUTPUT);
  pinMode(rightMotor10, OUTPUT);
  pinMode(rightMotor15, OUTPUT);
  // pinMode(enablePin1, OUTPUT);
  // pinMode(enablePin9, OUTPUT);

  // digitalWrite(enablePin1, HIGH);
  // digitalWrite(enablePin9, HIGH);



}

void loop()
{

  int fwdDistance = ping();
  if(fwdDistance>minsafedistance)
  {
    GoForward();
  }
  else
  {
    Stop();

    // rightDistance = ping();



    // leftDistance = ping();

  }
}

long ping()
{
   // Send out PING))) signal pulse
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  //Get duration it takes to receive echo
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  //Convert duration into distance
  return duration / 29.3866966 / 2;
}



void GoForward()
{
  digitalWrite(leftMotor7, LOW);
  digitalWrite(leftMotor2, HIGH);
  digitalWrite(rightMotor15, LOW);
  digitalWrite(rightMotor10, HIGH);
}


void GoBackward()
{
  digitalWrite(leftMotor2, LOW);
  digitalWrite(leftMotor7, HIGH);
  digitalWrite(rightMotor10, LOW);
  digitalWrite(rightMotor15, HIGH);
}


void GoLeft()
{
  digitalWrite(leftMotor2, LOW);
  digitalWrite(leftMotor7, HIGH);
  digitalWrite(rightMotor15, LOW);
  digitalWrite(rightMotor10, HIGH);
}


void GoRight()
{
  digitalWrite(leftMotor7, LOW);
  digitalWrite(leftMotor2, HIGH);
  digitalWrite(rightMotor10, LOW);
  digitalWrite(rightMotor15, HIGH);
}


void Stop()
{
  digitalWrite(leftMotor7, LOW);
  digitalWrite(leftMotor2, LOW);
  digitalWrite(rightMotor10, LOW);
  digitalWrite(rightMotor15, LOW);
}