If you have any improvements to my code please tell me !! :) I`m still quite a noob in programming so it would be great if you guys could help me and tell me what i can do better or i did wrong!!

Best regards!!

Down there you can see my "code":

#include <Servo.h>

Servo xServo;
int positionServo = 90; // Anfangsposition und Speicher für Gradstellung des Servos / startposition

int const DCMotorNegative = 8;
int const DCMotorPositive = 7;
int const endPosition1 = 6;
int const endPosition2 = 5;
int const movingOFF = 4; 

int DCaccuracy = 5;
int servoAccuracy = 8;

int endPositionState1 = LOW;
int endPositionState2 = LOW;

int lastEndPositionState1 = LOW;   // the previous reading from the input pin
int lastEndPositionState2 = LOW;   // the previous reading from the input pin

long lastDebounceTime1 = 0;  // the last time the output pin was toggled
long lastDebounceTime2 = 0;  // the last time the output pin was toggled
long debounceDelay = 30;    // the debounce time; increase if the output flickers


//Prädeklaration
void servoTurning ();
void endPositionReading ();
void DCTurning ();


void setup() {

  Serial.begin(9600);
  xServo.attach(9);
  xServo.write(positionServo);
 
  pinMode(A0, INPUT);
  pinMode(A1, INPUT);
  pinMode(A2, INPUT);
  pinMode(A3, INPUT);
  pinMode(A4, INPUT);
  pinMode(A5, INPUT);
  pinMode(2, INPUT);
  pinMode(3, INPUT);
  pinMode(movingOFF, INPUT_PULLUP);
  pinMode(10, INPUT);
  pinMode(11, INPUT);
  pinMode(12, INPUT);
  pinMode(13, INPUT);
  pinMode(DCMotorPositive, OUTPUT); // Pin 7
  pinMode(DCMotorNegative, OUTPUT); // Pin 8
  pinMode(endPosition1, INPUT); // Pin 6
  pinMode(endPosition2, INPUT); // Pin 5
  void endPositionReading ();

}

void loop() {

  
// when D4 is LOW (Switch) all movings stop and the voltages of the caps get measured
  while ( digitalRead(movingOFF) == LOW ) {
    delay(1000);
    float voltage = 0;
    voltage = analogRead(A0);
    voltage = map(voltage, 0, 1023, 0, 5000);
    voltage = voltage  / 87 ;
    Serial.print ("Spannung:  ");
    Serial.print (voltage);
    Serial.println ("  V");
  }

  int WertA1 = analogRead(A1); // Auslesen der / reading of LDRs A1-A4
  int WertA2 = analogRead(A2);
  int WertA3 = analogRead(A3);
  int WertA4 = analogRead(A4);
  // int WertA5 = analogRead(A5);

  if ( abs(WertA2 - WertA3) < abs(WertA1 - WertA4) ) {
    servoTurning ();
    DCTurning ();
  }
  else if ( abs (WertA2 - WertA3) > abs (WertA1 - WertA4)) {
    DCTurning ();
    servoTurning ();
  }

  // if ( WertA5 != analogRead(A5)) {
  //   Serial.println (analogRead(A5));
  // }
  delay(25);

}

void DCTurning () {

  // Auslesen der LDRs A2, A4 / reading of A2 and A4

  int WertA2 = analogRead(A2);
  int WertA4 = analogRead(A4);


 //wenn die Differenz von A2 und A4 größer als der spezifische Toleranzbereich ist und der Endpositionsschalter nicht betätigt wurde, dann bewegt sich der Motor in die jeweilige Richtung / comparing A2 and A4 
  if ( (WertA2 - WertA4) > DCaccuracy ) {
    endPositionReading ();
    if ( endPositionState2 == HIGH)
    { digitalWrite(DCMotorPositive, HIGH);
      delay (10);
      digitalWrite(DCMotorPositive, LOW);
    }
    
  }
  if ( (WertA2 - WertA4) < - DCaccuracy ) {
    endPositionReading ();
    if ( endPositionState1 == HIGH)
    { digitalWrite(DCMotorNegative, HIGH);
      delay (10);
      digitalWrite(DCMotorNegative, LOW);
    }
    
  }

}

void servoTurning () {
  int OldPositionServo;
  OldPositionServo = positionServo;
  int WertA1 = analogRead(A1); // Auslesen der LDRs / reading of A1, A3, A5
  int WertA3 = analogRead(A3);
  int WertA5 = analogRead(A5);

  //Serial.print ("A1  ");
  //Serial.println (WertA1);
  //Serial.print ("A2  ");
  //Serial.println (WertA2);
  //Serial.print ("A3  ");
  //Serial.println (WertA3);
  //Serial.print ("A4  ");
  //Serial.println (WertA4);
  //Serial.println ();

  //Vergleicht die LDrs A1 und A3, je nach Wert wird die Gradzahl erhöht oder erniedrigt / comparing A1 and A3
  if ( positionServo > 0 && ((WertA1 - WertA3) > servoAccuracy) && WertA5 < 100) {

    positionServo = positionServo - 1 ;
    DCaccuracy = 5;
    
  }


  //Erhöhen der Genauigkeit des DC-Motors, wenn Servo bei 0° / increasing dc-motor accuracy when reaching 0°
  if ( positionServo == 0 && ((WertA1 - WertA3) > servoAccuracy)) {

    DCaccuracy = 1;
    
  }




  if ( positionServo < 180 && ((WertA1 - WertA3 ) > servoAccuracy) && WertA5 > 1000) {

    positionServo = positionServo + 1 ;
    DCaccuracy = 5;
    
  }


  // //Erhöhen der Genauigkeit des DC-Motors, wenn Servo bei 180° / increasing accuracy of the dc-motor when reaching 180°
  if ( positionServo == 180 && ((WertA1 - WertA3 ) > servoAccuracy)) {

    DCaccuracy = 1;

  }



  if  ( positionServo < 180 && ((WertA1 - WertA3) < - servoAccuracy) && WertA5 < 100) {

    positionServo = positionServo + 1 ;
    DCaccuracy = 5;
    
  }

  if  ( positionServo > 0 && ((WertA1 - WertA3) < -servoAccuracy) && WertA5 > 1000) {

    positionServo = positionServo - 1 ;
    DCaccuracy = 5;
   
  }

  if ( OldPositionServo != positionServo ) {
    //Serial.print ("positionServo:  ");
    //Serial.println (positionServo);
    xServo.write(positionServo);
  }

}


void endPositionReading () {

  // read the state of the switch into a local variable:
  int reading1 = digitalRead(endPosition1);
  int reading2 = digitalRead(endPosition2);

  //Entprellen Endpositionstaster 1
  // If the switch changed, due to noise or pressing:
  if (reading1 != lastEndPositionState1) {
    // reset the debouncing timer
    lastDebounceTime1 = millis();
  }

  if ((millis() - lastDebounceTime1) > debounceDelay) {
    // whatever the reading is at, it's been there for longer
    // than the debounce delay, so take it as the actual current state:

    // if the button state has changed:
    if (reading1 != endPositionState1) {
      endPositionState1 = reading1;


    }
  }

  //Entprellen Positionstaster 2
  // If the switch changed, due to noise or pressing:
  if (reading2 != lastEndPositionState2) {
    // reset the debouncing timer
    lastDebounceTime2 = millis();
  }

  if ((millis() - lastDebounceTime2) > debounceDelay) {
    // whatever the reading is at, it's been there for longer
    // than the debounce delay, so take it as the actual current state:

    // if the button state has changed:
    if (reading2 != endPositionState2) {
      endPositionState2 = reading2;

    }

  }
  // save the reading.  Next time through the loop,
  // it'll be the lastButtonState:
  lastEndPositionState1 = reading1;
  lastEndPositionState2 = reading2;

  //Anpassen der Servo-Genauigkeit bei Anschlag der Endpositionstaster / increasing servo accuracy when reaching endposition switch
  if ( endPositionState1 == LOW || endPositionState2 == LOW ) {
    servoAccuracy = 1;
  } else {
    servoAccuracy = 8;
  }

}