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Hi! I just made this robot and I used the sensors you are talking about. First, you have to define an "int" for each pin of the sensors "int Pecho1", "int Ptrig1", etc. Second, you have to set up the pins (echo as inputs, trig as outputs). Third, you have to delete the "pinMode" lines on the rest of the code.
Ready to explore Mars! Excelent and very precise code. The chassis of this RC truck had a second motor for extra torque so I did some code additions. I also used ultrasonic sensors with echo and trigger. They were all defined on the setup. Many Thanks!!