#define ECHO_PIN 3
#define TRIG_PIN 2
#define pinBuzzer 5

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

Servo myservo;  
LiquidCrystal_I2C lcd(0x27, 20, 4);
int potpin = 0;  
int val;    

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 setup() {
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  //Serial.begin(115200);
  pinMode(pinBuzzer, OUTPUT);
  myservo.attach(9);  
  lcd.init();
  lcd.backlight();
}

void loop() {
  float distance = readDistanceCM();
  /*
  Serial.print("Measured distance: ");
  Serial.print(readDistanceCM());
  Serial.println(" CM");*/
  //bagian modifikasi penambagan LCD
  lcd.setCursor(0,0);
  lcd.print("Jarak: ");
  lcd.print(readDistanceCM());
  lcd.print(" CM");
  lcd.print("  ");
  delay(100);
 
  lcd.setCursor(0,1);
  lcd.print("Status: ");
 //=======================
  if(distance <= 200){ 
    lcd.print("STOP!");
    myservo.write(90);                  
    delay(15);
   tone(pinBuzzer, 1000);
    delay(200);     
    tone(pinBuzzer, 500);
    delay(200);
  }
  else{
    lcd.print("JALAN");
    myservo.write(0);
    noTone(pinBuzzer); 
  }                           
}