Arduino: Ultrasonic Sensor & Motor Car

int LA=14;
int LB=15;
int RA=16;
int RB=17;
int EN1=3;
int EN2=5;
int input=9;
int output=8;


void setup()
{
  pinMode(LA,OUTPUT);
  pinMode(LB,OUTPUT);
  pinMode(RA,OUTPUT);
  pinMode(RB,OUTPUT);
  pinMode(EN1,OUTPUT);
  pinMode(EN2,OUTPUT);
  pinMode(input,INPUT);
  pinMode(output,OUTPUT);
}
void loop()
{
  if (feye()>15 && feye()<=25) pause(0.2);
  if (feye()<=15) back(0.5);
  if (feye()>25) forward(0.05);
}


void forward(float a)
{
  analogWrite(EN1,150);
  digitalWrite(LA,HIGH);
  digitalWrite(LB,LOW);
  analogWrite(EN2,164);
  digitalWrite(RA,HIGH);
  digitalWrite(RB,LOW);
  delay(a*1000);
}


void back(float b)
{
  analogWrite(EN1,150);
  digitalWrite(LA,LOW);
  digitalWrite(LB,HIGH);
  analogWrite(EN2,188);
  digitalWrite(RA,LOW);
  digitalWrite(RB,HIGH);
  delay(b*1000);
}


void pause(float c)
{
  analogWrite(EN1,150);
  digitalWrite(LA,LOW);
  digitalWrite(LB,LOW);
  analogWrite(EN2,188);
  digitalWrite(RA,LOW);
  digitalWrite(RB,LOW);
  delay(c*1000);
}
  


float feye(){
  digitalWrite(output,LOW);
  delayMicroseconds(2);
  digitalWrite(output,HIGH);
  delayMicroseconds(10);
  digitalWrite(output,LOW);
  float fdis=pulseIn(input,HIGH);
  fdis=fdis/58;
  return(fdis);
}