Obstacle avoiding robot(without motor driver)

1/*pin config
2    d7 - MOsfet left motor
3    d6 - Mosfet right motor
4
5    d12 - Ultrasonic sensor input
6    d11 - Ultrasonic sensor output
7
8    d10 - Servo
9*/
10
11int distancel;
12int distancer;
13long duration;
14int  distance;
15int defaultDis;
16int disturn;
17#include<Servo.h>
18Servo eye;
19void  setup() {
20  Serial.begin(9600);
21  eye.attach(10);
22  pinMode(7, OUTPUT);
23  pinMode(6, OUTPUT);
24  pinMode(11, OUTPUT);
25  pinMode(12, INPUT);
26  eye.write(90);
27
28
29
30}
31
32void  loop() {
33  looks();
34  if (distance < 500) {
35
36    Serial.println(distance);
37    if (distance < 25) {
38      stopp();
39      delay(500);
40      distancel  = lookl();
41      delay(500);
42      distancer = lookr();
43      delay(500);
44      if (distancel > distancer) {
45        tLeft();
46              }
47      else  {
48        tRight(); 
49      }
50    }
51    else{
52      str();
53    }
54    
55    
56
57
58  }
59
60}
61int lookl() {
62  eye.write(160);
63  delay(1000);
64  ping();
65  eye.write(90);
66  return distance;
67
68}
69int lookr() {
70  eye.write(20);
71  delay(1000);
72  ping();
73  eye.write(90);
74  return  distance;
75
76}
77int looks() {
78  eye.write(90);
79  ping();
80  return  distance;
81
82
83}
84int ping() {
85  digitalWrite(11, LOW);
86  delayMicroseconds(2);
87  // Sets the 8 HIGH (ACTIVE) for 10 microseconds
88  digitalWrite(11, HIGH);
89  delayMicroseconds(10);
90  digitalWrite(11, LOW);
91  // Reads the 9, returns  the sound wave travel time in microseconds
92  duration = pulseIn(12, HIGH);
93  // Calculating the distance
94  distance = duration * 0.034 / 2;
95  return  distance;
96}
97void tLeft() {
98  digitalWrite(7, HIGH);
99  digitalWrite(6,  LOW);
100  delay(500);
101  digitalWrite(7, HIGH);
102  digitalWrite(6, HIGH);
103  
104}
105void tRight() {
106  digitalWrite(6, HIGH);
107  digitalWrite(7, LOW);
108  delay(500);
109  digitalWrite(7, HIGH);
110  digitalWrite(6, HIGH);
111}
112void  str() {
113  digitalWrite(7, HIGH);
114  digitalWrite(6, HIGH);
115}
116void stopp()  {
117  digitalWrite(7, LOW);
118  digitalWrite(6, LOW);
119}