Boat with Arduino Nano 33 IoT on Arduino Cloud

/*
 * Design of a WiFi-controlled boat with the Arduino
 * Nano 33 IoT Board
 * Start: 23/11/2020
 * Finish: 28/11/2020
 * Release: 29/11/2020
 *    Servo Motor included
 * Developers:  Specialist Prof. Sandro Mesquita
 *              Mestre Eliezer Neto
 * Country: Brazil
 * State: Cear
 * City: Fortaleza
 */

#include <Servo.h>

Servo laser;

//Variables of pins
byte  INBRight = 2, INARight = 3 , INBLeft = 4 , INALeft = 5, 
      btFront = A1, btLeft = A0, btBack = A2, btRight = A3,
      blueLed = 6, redLed = 12;
//Button state variables
bool front, left, back, right, Status=0;
unsigned long Time;
int switchTime=0, toneVal;
float sinVal;

void setup() {
  laser.attach(9);
  
  Serial.begin(9600);
  for (byte x = 2; x < 13; x++) {
    pinMode(x, OUTPUT);           //Declares pins as output
  }

  pinMode(btFront, INPUT_PULLUP); //Declares the pin A1 as input pullup
  pinMode(btLeft, INPUT_PULLUP);  //Declares the pin A0 as input pullup
  pinMode(btBack, INPUT_PULLUP);  //Declares the pin A2 as input pullup
  pinMode(btRight, INPUT_PULLUP); //Declares the pin A3 as input pullup

  digitalWrite(redLed, Status);
  digitalWrite(blueLed, !Status);

  Time = millis();
}

void loop() {
  flashes(Status);
  siren();
  control();
  engine();
}

void control() {
  front = digitalRead(btFront);   //Read the button forwar
  left = digitalRead(btLeft);     //Read the button left
  back = digitalRead(btBack);     //Read the button back
  right = digitalRead(btRight);   //Read the button right
}

void engine() {
  if (!front) {
    //Clockwise right engine
    rotationSenseRight(0, 1);
    //Clockwise left engine
    rotationSenseLeft(0, 1);
  }

  else if (!left) {
    //Clockwise right engine
    rotationSenseRight(0, 1);
    //Counterclockwise left engine
    rotationSenseLeft(1, 0);
  }

  else if (!back) {
    //Counterclockwise left engine
    rotationSenseRight(1, 0);
    //Counterclockwise left engine
    rotationSenseLeft(1, 0);
  }

  else if (!right) {
    //Counterclockwise left engine
    rotationSenseRight(1, 0);
    //Clockwise right engine
    rotationSenseLeft(0, 1);
  }

  else {
    //Engine stopped
    rotationSenseRight(0, 0);
    //Engine stopped
    rotationSenseLeft(0, 0);
  }
}

void rotationSenseRight(bool INB, bool INA) {
  digitalWrite(INBRight, INB);
  digitalWrite(INARight, INA);
}

void rotationSenseLeft(bool INB, bool INA) {
  digitalWrite(INBLeft, INB);
  digitalWrite(INALeft, INA);
}

bool flashes(bool led) {
  switchTime = millis() - Time;
  if (switchTime > 1000) {
    led=!led;
    digitalWrite(redLed, led);
    digitalWrite(blueLed, !led);
    Time = millis();
    Status = led;
    return Status;
    if(led){
      servo.write(0);
    }
    else servo.write(180);
  } 
}

void siren(){
  for (int x=0;x<260;x++){
        //converts degrees to radians
        sinVal = (sin(x*(3.1412/180)));
        //now generates a frequency
        toneVal = 3500+(int(sinVal*200));
        //touches the value in the buzzer
        tone(11,toneVal);
        //2ms delay and generates new tone
        delay(2);
    }
}