 
 void us_sensor(){
   delay(50);
-  
-  Serial.print("Sensor 1: ");
-  Serial.print(sonar1.ping_cm());
-
-  Serial.print("Sensor 2: ");
-  Serial.print(sonar2.ping_cm());
+
+  ultrasonic1 = sonar1.ping_cm();
+  ultrasonic2 = sonar2.ping_cm();
+
+  if(ultrasonic1 < 20){
+        Serial.print("1");
+  }
+  else
+        Serial.print("0");
+
+  Serial.print("-");
+  if(ultrasonic2 < 20){
+        Serial.print("1");
+  }
+  else
+        Serial.print("0");
+        
   Serial.print("\n");
-  
-  
   delay(50);
   
 }

//------------------CODEs---------------------
void setup() {
        Serial.begin(9600);     // opens serial port, sets data rate to 9600 bps

        myservo.attach(5);
        
        enableInterrupt(stop_button, stop_motor_ALL , CHANGE);

int stop_button = 10;
int command_status = 1;
int motor_speed[2];
int ultrasonic1 = 0, ultrasonic2 = 0;

//-------------------FUNCTIONs----------------
void stop_motor_ALL(){
