Code For Obstacle Avoiding Robot

#define trigPin 6           // Trig Pin Of HC-SR04
#define echoPin 7        // Echo Pin Of HC-SR04
#define MLa 8                   //left motor 1st pin
#define MLb 9                  //left motor 2nd pin
#define MRa 10               //right motor 1st pin
#define MRb 11               //right motor 2nd pin
long duration, distance;

void setup() {
  Serial.begin(9600);
  pinMode(MLa, OUTPUT);     // Set Motor Pins As O/P
  pinMode(MLb, OUTPUT);
  pinMode(MRa, OUTPUT);
  pinMode(MRb, OUTPUT);
  pinMode(trigPin, OUTPUT);       // Set Trig Pin As O/P To Transmit Waves
  pinMode(echoPin, INPUT);        //Set Echo Pin As I/P To Receive Reflected Waves
}
void loop() 
{
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);   
  digitalWrite(trigPin, HIGH);       // Transmit Waves For 10us
  delayMicroseconds(10);
  duration = pulseIn(echoPin, HIGH);        // Receive Reflected Waves
  distance = duration / 58.2;                       // Get Distance
  Serial.println(distance);
  delay(10);
  if (distance > 15)               // Condition For Absence Of Obstacle            
  {
    digitalWrite(MRb, HIGH);       // Move Forward
    digitalWrite(MRa, LOW);
    digitalWrite(MLb, HIGH);                                
    digitalWrite(MLa, LOW);                                                       
  }
  if (distance < 10)             // Condition For Presence Of Obstacle
  {
    digitalWrite(MRb, LOW);     //Stop                
    digitalWrite(MRa, LOW);
    digitalWrite(MLb, LOW);                                
    digitalWrite(MLa, LOW);
    delay(500);
    digitalWrite(MRb, LOW);     // Move Backward             
    digitalWrite(MRa, HIGH);
    digitalWrite(MLb, LOW);                                
    digitalWrite(MLa, HIGH);
    delay(500);
    digitalWrite(MRb, LOW);        //Stop                
    digitalWrite(MRa, LOW);
    digitalWrite(MLb, LOW);                                
    digitalWrite(MLa, LOW);  
    delay(100);  
    digitalWrite(MRb, HIGH);     // Move Left     
    digitalWrite(MRa, LOW);   
    digitalWrite(MLa, LOW);                                 
    digitalWrite(MLb, LOW);  
    delay(500);
  }
}