#include <Servo.h>
#include <LiquidCrystal_I2C.h>

int servo = 12;
int buzzer = 13;
//int servo_value;
float jarak;
int derajat;

//HC-SR04
int echo = 7;
int trigger = 8;

Servo myservo;
LiquidCrystal_I2C lcd(0x27, 16, 2);

byte degr[] = {
  B00110,
  B01001,
  B01001,
  B00110,
  B00000,
  B00000,
  B00000,
  B00000
};

void setup() {
  pinMode(buzzer, OUTPUT);
  myservo.attach(12);
  lcd.init();
  lcd.backlight();
  lcd.createChar(0, degr);
  pinMode(trigger, OUTPUT);
  pinMode(echo, INPUT);
}

void loop() {
  //servo_value = map(servo, 0, 1023, 0, 180);

  lcd.setCursor(0,0);
  lcd.print("Jarak: " + String(readDistance()));
  delay(1000);
  lcd.setCursor(0,1);
  lcd.print("Derajat: ");
  if(derajat == 180){
    lcd.print(String(derajat));
    lcd.setCursor(12,1);
    lcd.write(0);
  }else if(derajat == 0){
    lcd.print(String(derajat));
    lcd.setCursor(10,1);
    lcd.write(0);
    lcd.print("   ");
  }
  buka_palang();
}

float readDistance() {
  //HC-SR04
  digitalWrite(trigger, LOW);
  delayMicroseconds(2);
  digitalWrite(trigger, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigger, LOW);

  int duration = pulseIn(echo, HIGH);

  // distance = time * speed_of_sound / 2
  jarak = duration * 0.034 / 2;
  return jarak;
}

void buka_palang() {
  if(jarak < 200){
    tone(buzzer, 100, 150);
    delay(1000);
    myservo.write(180);
    delay(15);
    derajat = 180;
  }else {
    noTone(buzzer);
    myservo.write(0);
    delay(15);
    derajat = 0;
  }
}