#define Trigger 7
#define Echo 6
#define LV 20
#define LA 27
#define LR 29

void setup() {
  Serial.begin(9600);
  pinMode(Echo,INPUT);
  pinMode(20, OUTPUT);
  pinMode(Trigger,OUTPUT);
  digitalWrite(Trigger,LOW);
  Serial.println("Comezamos");
}

void loop() {
  float dist;
  int t;
  Serial.println("Nova medición:");
  digitalWrite(6,HIGH);
  delayMicroseconds(50);
  digitalWrite(6,LOW);
  t = pulseIn(6,HIGH);
  Serial.println(t);
  dist = 342 * t / 10000;
  dist = dist / 2;
 
  Serial.println(dist);
  

 
 

  
  if(dist<=15){
    
    digitalWrite(LR, HIGH);
    digitalWrite(LA, LOW);
    digitalWrite(LV, LOW);
    delay(500);
    digitalWrite(LR, LOW);
 }
  else{
   
    if(dist <= 30  ){
      digitalWrite(LR, HIGH);
      digitalWrite(LA, LOW);
      digitalWrite(LV, LOW);
  
 
    }
    else{ 
      if(dist <= 60  ){
      digitalWrite(LA, HIGH);
      digitalWrite(LV, LOW);
 
    }
      else{ 
        if(dist <= 120  ){
        digitalWrite(LV, HIGH);
     }
        else{ 
        digitalWrite(LV, LOW);
 




  }
 
}
}
  }
}