I need help with my arduino code. I have $2$ motors, $2$ button inputs and $1$ particulate matter sensor$.$ I need to set the motors up to only run for a certain duration after the button is pressed. The button sets the speed profile for the motor $(2$ buttons $=2$ different speed profiles$).$ After the motors run according to the button input, the code needs to enter a delay phase where button input is no longer acceptable until the delay is over. During this delay, the particulate matter sensor needs to continuously scan and IF the value of the sensor exceeds a certain value, it will override the delay and allow the motors to go on$.$ In my code, if the button is not pressed exactly at the time the delay is over, it will not work until the new delay time is over. For example if I run the motor for $10$ seconds, it enters a $10$ second delay. If I press the button exactly after $10$ seconds, it will run the motor again. If I press the button lets say $14$ seconds after, it will wait an additional $10$ seconds before accepting input resulting in a $24$ second delay. PLEASE HELP! I have attached the loop of my code, the other functions outside the loop only retrieve the particulate matter value which is indicated as pinOut $2$:

void loop$()\{$

if $($sensor$.$read$\_$sensor$\_$value$($buf$,29))\{$

SERIAL$\_$OUTPUT.println$("$HM$330$X read result failed!!"$)$;

$\}$

parse$\_$result$\_$value$($buf$)$;

parse$\_$result$($buf$)$;

SERIAL$\_$OUTPUT.println$("")$;

if $($digitalRead$(13)==$ LOW$)\{$

btn$\_$toggle$1=$ digitalRead$(3)$;

btn$\_$toggle$2=$ digitalRead$(4)$;

if $($btn$\_$toggle$1==$ HIGH && btn$\_$toggle$2==$ LOW && btn$2==$ false$)\{$

btn$1=$ true;

$\}//$ toggles btn$1$

if $($btn$\_$toggle$2==$ HIGH && btn$\_$toggle$1==$ LOW && btn$1==$ false$)\{$

btn$2=$ true;

$\}//$ toggles btn$2$

$\}$

if $(!$delayPhase$)\{$

if $($btn$1==$ true$)\{$

motorStart $=$ millis$()$;

Serial.println$("$button $1$ has been pressed"$)$;

speedLeft $=60$;

speedRight $=60$;

btn$1=$ false;

btn$2=$ false;

digitalWrite$(13,$ HIGH$)$;

$//$ Activate motor with profile $1$

$\}$ else if $($btn$2==$ true$)\{$

motorStart $=$ millis$()$;

Serial.println$("$button $2$ has been pressed"$)$;

speedLeft $=100$;

speedRight $=100$;

btn$1=$ false;

btn$2=$ false;

digitalWrite$(13,$ HIGH$)$;

$//$ Activate motor with profile $2$

$\}$

if $($millis$()-$ motorStart $<$ motorDuration$)\{$

Serial.println$("$Motors On$")$;

smartDriveDuo$30.$control$($speedLeft$,$ speedRight$)$;

$\}$ else $\{$

$//$ Turn off motor

Serial.println$("$Motors Off"$)$;

delayPhase $=$ true;

delayStart $=$ millis$()$;

speedLeft $=0$;

speedRight $=0$;

smartDriveDuo$30.$control$($speedLeft$,$ speedRight$)$;

digitalWrite$(13,$ HIGH$)$;

btn$1=$ false;

btn$2=$ false;

$\}$

$\}$ else $\{$

$//$ In delay phase

if $($digitalRead$(2)==$ HIGH$)\{$

$//$delayPhase $=$ false;

speedLeft $=60$;

speedRight $=60$;

smartDriveDuo$30.$control$($speedLeft$,$ speedRight$)$;

digitalWrite$(13,$ HIGH$)$;

$\}$ else if $($millis$()-$ delayStart $>$ delayDuration$)\{$

delayPhase $=$ false; $//$ End delay phase after Y minutes

Serial.println$("$Delay Reset"$)$;

digitalWrite$(13,$ LOW$)$;

$\}$

$\}$

delay$(2000)$;

$\}$