int sw1 = 5;
int sw2 = 6;
int motorRight = 7 ;
int motorLeft = 8 ;
int sens = 9 ;
int Custom_delay = 5000;
bool interrup_occured = false;

void setup() {
  Serial.begin(9600);
  pinMode(sens, INPUT);
  pinMode(sw1, INPUT);
  pinMode(sw2, INPUT);
  pinMode(motorLeft, OUTPUT);
  pinMode(motorRight, OUTPUT);
}

void loop() {
  while (digitalRead(sw1) == HIGH and digitalRead(sens) == HIGH ) {
    Serial.println("object sens");
    door_open();
  }
  if (digitalRead(sw1) == LOW and digitalRead(sw2) == HIGH) {
    unblockingDelay(Custom_delay);
  }

  while (digitalRead(sw2) == HIGH) {
    while (digitalRead(sw1) == LOW or interrup_occured == true) {
      Serial.println(interrup_occured);
      if (interrup_occured == true) {
        unblockingDelay(Custom_delay);
        digitalWrite(motorRight, HIGH);
        interrup_occured = false;
      }
      if (digitalRead(sens) == HIGH) {
        interrup_occured = true;
        Serial.println("object sens 1" );
        digitalWrite(motorRight, LOW);
        delay(500);
        door_open();
      }
      if (interrup_occured == false) {
        digitalWrite(motorRight, HIGH);
      }


    }
    digitalWrite(motorRight, LOW);
  }
}

void door_open() {
  while (digitalRead(sw2) == LOW) {
    digitalWrite(motorLeft, HIGH);
  }
  digitalWrite(motorLeft, LOW);
  delay(500);
}

void unblockingDelay(unsigned long mseconds) {
  unsigned long timeout = millis();
  while ((millis() - timeout) < mseconds) {
    Serial.println((millis() - timeout));
    if (digitalRead(sens) == HIGH and digitalRead(sw2) == HIGH) {
      timeout = millis();
    }
    delay(1);
  }
}