volatile long dispulser = 0;  // Make these volatile since they are modified in ISR
volatile long dispulsel = 0;

unsigned long lastTriggerTime = 0;
const unsigned long triggerInterval = 20;  // Interval to trigger new measurement in ms

void ultra_sonics_nonblocking(int trigPin, int echoPin, long &result) {
  unsigned long now = millis();
  if (now - lastTriggerTime >= triggerInterval) {
    // Trigger ultrasonic pulse
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    lastTriggerTime = now;
  }
  
  long duration = pulseIn(echoPin, HIGH, 26000);
  if (duration > 0) {
    result = duration * 0.034 / 2;
  }
}

void isrRight() {
  dispulser++;
}

void isrLeft() {
  dispulsel++;
}

void setup() {
  // youe existing code
}

void loop() {
  ultra_sonics_nonblocking(trig1, echo1, leftsensor);
  ultra_sonics_nonblocking(trig2, echo2, rightsensor);
  ultra_sonics_nonblocking(trig3, echo3, midsensor);
  ultra_sonics_nonblocking(trig4, echo4, right2sensor);
  ultra_sonics_nonblocking(trig5, echo5, left2sensor);
  
  // Rest of code
}