Autobraking Rc Car

const int OrgEnable = 3;// yellow motor
const int TealIn =4; // yellow motor input 4
const int PurpIn = 5;// yellow motor input 3
const int Greenenb= 11; // grey motor 
const int GreenA = 8; // grey motor input 1
const int GreenB =7;// grey motor input 2
char command;

int inches = 0;

int cm = 0;

#include <NewPing.h>
#define TRIGGER_PIN 9
#define ECHO_PIN 10
#define MAX_DISTANCE 200



NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
float duration, distance;
 
  void setup()
{
  Serial.begin(9600);
  pinMode(OrgEnable, OUTPUT);
  pinMode(TealIn, OUTPUT);
  pinMode(PurpIn, OUTPUT);
  pinMode(A5,INPUT);
  
  
  digitalWrite(OrgEnable,LOW);
  digitalWrite( TealIn, LOW);
  digitalWrite( PurpIn, LOW);
  
  pinMode(Greenenb, OUTPUT);
  pinMode(GreenA, OUTPUT);
  pinMode(GreenB, OUTPUT);
  
  digitalWrite(Greenenb,LOW);
  digitalWrite( GreenA, LOW);
  digitalWrite( GreenB, LOW);
  
}

void loop()
{  
// Send ping, get distance in cm
  distance =  sonar.ping_cm();

  Serial.print(distance);
  
  // Send results to Serial Monitor
  Serial.print("Distance = ");
  
  if (distance <= 12 ) 
  {
      digitalWrite(TealIn,LOW); 
  
    digitalWrite(PurpIn,LOW);
    
     // delay(10);
    
      digitalWrite(GreenA,LOW); 
  
    digitalWrite(GreenB,LOW);
    
    Serial.print(distance);
    Serial.println(" cm");
  }
  else 
  {
    
    Serial.println("Out of range");
  }
  delay(50);
  
if(Serial.available()){
  
  command = Serial.read();
  Serial.println(command);
 
  FowardM1();
  FowardM2();
  delay(20);
  Right();
  delay(20);
  OffM2();
  delay(20);
  left();
  delay(20);
  ReverseM1();
  ReverseM2();
  delay(20);
  OffM1();
  

}
  
   }
void FowardM1(){  // motor 1 is M1
  if (command==1){
   digitalWrite(TealIn,HIGH);
 
  digitalWrite(PurpIn,LOW);
  
  // ramp up
  for(int counter= 0;counter<=255;counter ++){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
 }
}

void FowardM2(){ // M2 is motor 2
  
  if (command==1){
   digitalWrite(GreenA,HIGH);
 
  digitalWrite(GreenB,LOW);
  // ramp up
  for(int counter= 0;counter<=255;counter ++){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
 }
}

void Right(){
 if (command==4){
   
  digitalWrite(TealIn,HIGH);
 
  digitalWrite(PurpIn,LOW);
  
  // ramp up
  for(int counter= 0;counter<=255;counter ++){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
  delay(20);
   digitalWrite(GreenA,LOW); 
  
digitalWrite(GreenB,LOW);
 }
}

void OffM2(){
 if (command==0){
  digitalWrite(GreenA,LOW); 
  
digitalWrite(GreenB,LOW);
  }
}
void left(){
  if (command==3){
   digitalWrite(GreenA,HIGH);
 
  digitalWrite(GreenB,LOW);
  // ramp up
  for(int counter= 0;counter<=255;counter ++){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
    delay(20);
    
   digitalWrite(TealIn,LOW); 
  
digitalWrite(PurpIn,LOW);
    
 }
}

void ReverseM1 (){
  if (command==2){
 digitalWrite(TealIn,LOW);
 
 digitalWrite(PurpIn,HIGH); 
   
  for(int counter= 255;counter<=0;counter --){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
}
}

void ReverseM2(){
  if (command==2){
   digitalWrite(GreenA,LOW);
 
 digitalWrite(GreenB,HIGH);
  
   for(int counter= 255;counter<=0;counter --){
  analogWrite(OrgEnable,counter); // yellow motor on
  analogWrite(Greenenb,counter);
  }
 }
}

void OffM1(){
 if (command==0){
digitalWrite(TealIn,LOW); 
  
digitalWrite(PurpIn,LOW);
  }
}