Shirt Folding Robot with Ultrasonic sensor

1#include <Servo.h>
2Servo Lo;
3Servo Lt;
4Servo Ro;
5Servo Rt;
6Servo Bo;
7Servo Bt;
8Servo Mo;
9Servo Mt;
10Servo Eo;
11Servo Et;
12
13
14int delay_val = 500;
15int angle = 120;
16int go = 0; 
17char detect = "on"; 
18
19const int trigPin = 13;
20const int echoPin = A2;
21long duration;
22int distance;
23
24void setup() {
25  Serial.begin(9600);
26  pinMode(trigPin, OUTPUT);
27  pinMode(echoPin, INPUT);
28  Lo.attach(7);
29  Lt.attach(10);
30  Eo.attach(12);
31  Et.attach(2);
32  Mo.attach(4);
33  Mt.attach(3);
34  Bo.attach(9);
35  Bt.attach(A5);
36  Ro.attach(5);
37  Rt.attach(6);
38
39  Bo.write(180);
40  Bt.write(180);
41  Lo.write(0);
42  Lt.write(0);
43  Ro.write(0);
44  Rt.write(0);
45  Mo.write(0);
46  Mt.write(0);
47  Eo.write(0);
48  Et.write(10);
49}
50
51void Routine(){
52  if (go > 0) {
53    delay(delay_val); 
54    Bt.write(180 - angle);
55    Bo.write(180 - angle);
56    delay(delay_val);
57    Bt.write(180);
58    Bo.write(180);
59    Rt.write(angle);
60    Ro.write(angle);
61    Lt.write(angle);
62    Lo.write(angle);
63    delay(delay_val);
64    Rt.write(0);
65    Ro.write(0);
66    Lt.write(0);
67    Lo.write(0);
68    
69    delay(delay_val);
70    Mt.write(260);
71    Mo.write(260);
72    delay(870);
73    Mt.write(0);
74    Mo.write(0);
75    
76    delay(400);
77    Mt.write(0);
78    Mo.write(0);
79    Et.write(270);
80    Eo.write(270);
81    delay(800);
82    Et.write(10);
83    Eo.write(0);
84    delay(3000);
85  } 
86}
87
88void loop() {
89  Serial.println(distance);
90  digitalWrite(trigPin, LOW);
91  delayMicroseconds(2);
92  // Sets the trigPin on HIGH state for 10 micro seconds
93  digitalWrite(trigPin, HIGH);
94  delayMicroseconds(10);
95  digitalWrite(trigPin, LOW);
96  // Reads the echoPin, returns the sound wave travel time in microseconds
97  duration = pulseIn(echoPin, HIGH);
98  // Calculating the distance
99  distance = duration * 0.034 / 2;
100  
101  if (distance > 300) {
102    go = 1;
103    Routine();
104    go = 0;
105  }
106}