/*
 * This ESP32 code is created by esp32io.com
 *
 * This ESP32 code is released in the public domain
 *
 * For more detail (instruction and wiring diagram), visit https://esp32io.com/tutorials/esp32-ultrasonic-sensor-servo-motor
 */

#include <ESP32Servo.h>

#define TRIG_PIN  23  // ESP32 pin GIOP23 connected to Ultrasonic Sensor's TRIG pin
#define ECHO_PIN  22 // ESP32 pin GIOP22 connected to Ultrasonic Sensor's ECHO pin
#define SERVO_PIN 25  // ESP32 pin GIOP26 connected to Servo Motor's pin
#define DISTANCE_THRESHOLD  100 // centimeters
#define DISTANCE_THRESHOLD1  200 // centimeters
#define DISTANCE_THRESHOLD2  300 // centimeters
#define LED_PIN 14
#define LED_PIN1 12
#define LED_PIN2 13

Servo servo; // create servo object to control a servo

// variables will change:
float duration_us, distance_cm;

void setup() {
  Serial.begin (9600);       // initialize serial port
  pinMode(TRIG_PIN, OUTPUT); // set ESP32 pin to output mode
  pinMode(ECHO_PIN, INPUT);  // set ESP32 pin to input mode
  servo.attach(SERVO_PIN);   // attaches the servo on pin 9 to the servo object
  pinMode(LED_PIN, OUTPUT);
  pinMode(LED_PIN1, OUTPUT);
  pinMode(LED_PIN2, OUTPUT);
  servo.write(90);
}

void loop() {
  // generate 10-microsecond pulse to TRIG pin
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);

  // measure duration of pulse from ECHO pin
  duration_us = pulseIn(ECHO_PIN, HIGH);
  // calculate the distance
  distance_cm = 0.017 * duration_us;

  if (distance_cm < DISTANCE_THRESHOLD )
  {
    servo.write(180);
    digitalWrite(13, HIGH); //dark blue
    digitalWrite(12, LOW);
    digitalWrite(14, LOW);
    //delay(2000);
  }
  
  if (distance_cm > DISTANCE_THRESHOLD && distance_cm < DISTANCE_THRESHOLD1)
  {
  servo.write(0);
    digitalWrite(12, HIGH); //CYAN
    digitalWrite(13, LOW);
    digitalWrite(14, LOW);
  }

  if (distance_cm > DISTANCE_THRESHOLD1 && distance_cm < DISTANCE_THRESHOLD2)
  {
  servo.write(0);
    digitalWrite(14, HIGH); //RED
    digitalWrite(12, LOW);
    digitalWrite(13, LOW);
  }

  if (distance_cm > DISTANCE_THRESHOLD2)
{
servo.write(0);
digitalWrite(14, LOW);
digitalWrite(12, LOW);
digitalWrite(13, LOW);
}


 /* if (distance_cm > DISTANCE_THRESHOLD)
  {
    servo.write(0);
    digitalWrite(14, LOW);
    digitalWrite(12, HIGH);
    digitalWrite(13, LOW);
    //delay(2000);
  }*/

  
  // print the value to Serial Monitor
  Serial.print("distance: ");
  Serial.print(distance_cm);
  Serial.println(" cm");

delay(500);

}