const int dirPin=2;
const int stepPin=3;
int btn_check=0;
const int STEP_PER_REV=300;
int r=0,count=0,val;

const int dirPin_2=4;
const int stepPin_2=7;
int btn_check_2=0;
const int STEP_PER_REV_2=300;
int r_2=0,count_2=0,val_2;


const int trigPin = 9;
const int echoPin = 6;
long duration;
int distance;

const int trigPin_2 = 11;
const int echoPin_2 = 5;
long duration_2;
int distance_2;

int found,stock_found;

void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(12, INPUT_PULLUP);

  pinMode(stepPin_2, OUTPUT);
  pinMode(dirPin_2, OUTPUT);
  pinMode(8, INPUT_PULLUP);

  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 
  pinMode(trigPin_2, OUTPUT); 
  pinMode(echoPin_2, INPUT); 

  Serial.begin(9600);
  

}

void loop() {


    //    HC-SENSOR

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;


  digitalWrite(trigPin_2, LOW);
  digitalWrite(trigPin_2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin_2, LOW);
  duration_2 = pulseIn(echoPin_2, HIGH);
  distance_2 = duration_2 * 0.034 / 2;


  if(distance>=10)
  {
    digitalWrite(13, HIGH);
    digitalWrite(10, LOW);
    found=0;
  }


  else if(distance<=10)
  {
    digitalWrite(10, HIGH);
    digitalWrite(13, LOW);
    found=1;


      val=digitalRead(12);

  if(val==0)
  {
    count=count+1;
  }
  
  
  if(count==1)
  {
    btn_check=btn_check+1;
    r=1;
    while(r<=1)
    {
         digitalWrite(dirPin, HIGH);
         for(int x=0;x<STEP_PER_REV;x++)
         {
          digitalWrite(stepPin, HIGH);
         delayMicroseconds(3000);
         digitalWrite(stepPin, LOW);
          delayMicroseconds(3000);
         }
      

      delay(1000);
      r++;
      
      btn_check++;
      if(r==2)
      {
        digitalWrite(stepPin, LOW);
      }



      if(btn_check==6)
       {
        reverse();
       }
       //Serial.println(btn_check);
    }
    count=0;
    
  }




  }
  
    if(distance_2>=10)
    {
      analogWrite(A4, 255);
      analogWrite(A5, 0);
      found=0;
      stock_found=0;
    }

    else if(distance_2<=10)
    {
    analogWrite(A4, 0);
    analogWrite(A5, 255);
    found=1;


    val_2=digitalRead(8);

  if(val_2==0)
  {
    count_2=count_2+1;
  }

  if(count_2==1)
  {
    btn_check_2=btn_check_2+1;
    r_2=1;
    while(r_2<=1)
    {

      digitalWrite(dirPin_2, HIGH);

      for(int x_2=0;x_2<STEP_PER_REV_2;x_2++)
      {
        digitalWrite(stepPin_2, HIGH);
        delayMicroseconds(3000);
        digitalWrite(stepPin_2, LOW);
        delayMicroseconds(3000);
      }
      delay(1000);
      r_2++;
      
      btn_check_2++;
      if(r_2==2)
      {
        digitalWrite(stepPin_2, LOW);
      }

      if(btn_check_2==6)
       {
        reverse_2();
       }
       //Serial.println(btn_check);
    }
    count_2=0;
  }

}


    }










  

  







              // MOTOR 2 BUTTON 2




void reverse()
{
  digitalWrite(dirPin, LOW);
    for(int x=0;x<STEP_PER_REV*3;x++)
     {
     digitalWrite(stepPin, HIGH);
     delayMicroseconds(1000);
     digitalWrite(stepPin, LOW);
     delayMicroseconds(1000);
     }
     btn_check=0;
     return(btn_check);
}

  //      MOTOR 2 REVERS

void reverse_2()
{
  digitalWrite(dirPin_2, LOW);
    for(int x_2=0;x_2<STEP_PER_REV_2*3;x_2++)
     {
     digitalWrite(stepPin_2, HIGH);
     delayMicroseconds(1000);
     digitalWrite(stepPin_2, LOW);
     delayMicroseconds(1000);
     }
     btn_check_2=0;
     return(btn_check_2);
}