#define ECHO_PIN 2
#define TRIG_PIN 15

void setup() {
  Serial.begin(115200);
  Serial.println("bayu_indobot");
  delay(500);
  pinMode(LED_BUILTIN, OUTPUT);
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  pinMode(19, OUTPUT);
  pinMode(18, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(21, OUTPUT);
  pinMode(22, OUTPUT);
}

float readDistanceCM() {
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  int duration = pulseIn(ECHO_PIN, HIGH);
  return duration * 0.034 / 2;
}

void loop() {
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  int duration = pulseIn(ECHO_PIN, HIGH);
  float distance = duration * 0.034 / 2;

  if(distance > 50){
	digitalWrite(19, HIGH);
  delay(100);
  }
  if(distance > 100){
	digitalWrite(18, HIGH);
  delay(100);
  }
  if(distance > 200){
	digitalWrite(5, HIGH);
  delay(100);
  }
  if(distance > 300){
	digitalWrite(21, HIGH);
  digitalWrite(22, HIGH);
  delay(100);

  } else {
	digitalWrite(19, LOW);
	digitalWrite(18, LOW);
	digitalWrite(5, LOW);
	digitalWrite(21, LOW);
  digitalWrite(22, LOW);
  }
  Serial.print("Jarak: ");
  Serial.print(distance);
  Serial.println("  cm");

  delay(100);
}