#define trigPin 13
#define echoPin 12
#define ledPin 5

#include <Wire.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C Icd(0x27,16,2);

void setup(){
  Serial.begin(9600);
  Icd.init();
  Icd.setCursor(0,0);
  Icd.print("Ultrasonic");
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(ledPin, OUTPUT);
}
void loop(){
  long duration = 0, cm = 0;
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin,HIGH);
  cm = duration / 29 / 2;
  Serial.println(cm);

  Icd.setCursor(0,1);
  Icd.print("Distance:");

  Icd.setCursor(10,1);
  Icd.print(cm);
  Icd.print(" CM ");

  if(cm <= 200){
    digitalWrite(ledPin, HIGH);
    Icd.init();
    Icd.setCursor(2,0);
    Icd.backlight();
    Icd.print("stop");
    Icd.setCursor(0,1);
    Icd.print("Distance");
    Icd.setCursor(10,1);
    Icd.print(cm);
    Icd.print(" CM ");
  }else{
    digitalWrite(ledPin, LOW);
    Icd.init();
    Icd.setCursor(2,0);
    Icd.backlight();
    Icd.print("Tesla");
    Icd.setCursor(0,1);
    Icd.print("Distance");
    Icd.setCursor(10,1);
    Icd.print(cm);
    Icd.print(" CM ");
  }
}