#include <LiquidCrystal_I2C.h>
#include <Servo.h>
#define echoPin 2 
#define trigPin 3 
long duration, distance; 

LiquidCrystal_I2C lcd(0x27, 20, 4);

Servo myservo;
int potpin=0;
int val=0;


void setup() {
  Serial.begin (9600); 
  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 
  myservo.attach(9);
   
   lcd.init();
   lcd.backlight();
  
}
 
void loop() {
 
  digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
 
  duration = pulseIn(echoPin, HIGH); 
  distance = (duration/2)/29.1; 
 
  
  if(distance<=200){
    val = analogRead(potpin);
    val = map(val, 45, 45, 45, 45);
    myservo.write(val);
    delay(15);

    lcd.clear();
    lcd.setCursor(1,0);
    lcd.print("Jarak: ");
    lcd.setCursor(7,0);
    lcd.print(distance);
    lcd.setCursor(11,0);
    lcd.print("cm");
    lcd.setCursor(1,1);
    lcd.print("Sudut: ");
    lcd.setCursor(7,1);
    lcd.print(val);
    lcd.setCursor(11,1);
    lcd.print("derajat");

  }
  else{
  
    val = analogRead(potpin);
    val = map(val, 180, 180, 180, 180);
    myservo.write(val);
    delay(15);

    lcd.clear();
    lcd.setCursor(1,0);
    lcd.print("Jarak: ");
    lcd.setCursor(7,0);
    lcd.print(distance);
    lcd.setCursor(11,0);
    lcd.print("cm");
    lcd.setCursor(1,1);
    lcd.print("Sudut: ");
    lcd.setCursor(7,1);
    lcd.print(val);
    lcd.setCursor(11,1);
    lcd.print("derajat");
  }

  Serial.print(distance);
  Serial.println(" cm");

  Serial.print(val);
  Serial.println(" derajat");



  delay(900);
}