Final Final Code

#include <Servo.h>
#include <WemosInit.h>        //Custom library - ultrasonicPing()

#define motor1pin 12  //GPIO pin setting for motor1
#define motor2pin 2  //GPIO pin setting for motor2

Servo motor1;        //Create servo motor1 object to control a servo, right wheel
Servo motor2;        //Create servo motor2 object to control a servo

double distance;

void setup()          //put your setup code here, to run once:
{
  Serial.begin(115200);       //to use the Serial Monitor
  pinMode(D2, OUTPUT);        //Trigger - Sends out ultranonic wave
  pinMode(D3, INPUT);         //Echo - Receives return signal

  motor1.attach(motor1pin);   //motor1 is attached using the motor1pin
  motor2.attach(motor2pin);   //motor2 is attached using the motor2pin

  motor1.write(0);            //motor1 rotates with a full speed
  motor2.write(0);            //motor2 rotates with a full speed
}

void loop()
{
 delay(1000);

 //Starting Run
 motor1.write(0);
 motor2.write(0);
 delay(1200);

//First Turn
 motor1.write(0);
 motor2.write(90);
 delay(200);

//Straightaway before Target 1
 motor1.write(0);
 motor2.write(0);
 delay(1100);

//Backup after target 1
 motor1.write(180);
 motor2.write(180);
 delay(700);

 //Turn back after target 1
 motor1.write(0);
 motor2.write(90);
 delay(250);

 //Second Straightaway
 motor1.write(0);
 motor2.write(0);
 delay(1925);

 //Turn to target 2
 motor1.write(0);
 motor2.write(90);
 delay(350);

 //Move towards target 2
 motor1.write(0);
 motor2.write(0);
 delay(850);

 //Back up to target 3
 motor1.write(180);
 motor2.write(180);
 delay(1975);

 //Move forward after target 3
 motor1.write(0);
 motor2.write(0);
 delay(100);

//Turn after target 3
 motor1.write(0);
 motor2.write(90);
 delay(525);

 //Movement towards target 4
 motor1.write(0);
 motor2.write(0);
 delay(1650);

 //Turn perpendicular to target 4
 motor1.write(90);
 motor2.write(0);
 delay(400);

//Hit target 4
 motor1.write(0);
 motor2.write(0);
 delay(925);

//Reverse from target 4
 motor1.write(180);
 motor2.write(180);
 delay(600);

//Turn towards start
 motor1.write(0);
 motor2.write(90);
 delay(650);

 //Run towards start
 motor1.write(0);
 motor2.write(0);
 delay(500);

 /* motor1.write(0);
 motor2.write(90);
 delay(750);
 motor1.write(0);
 motor2.write(0);
 delay(3500);
 motor1.write(90);
 motor2.write(0);
 delay(500);
 motor1.write(0);
 motor2.write(0);
 delay(700);
*/

 motor1.write(90);
 motor2.write(90);
 delay(99999);
}