/*
  Ultrasonic Sensor HC-SR04 and Arduino Tutorial

  by Dejan Nedelkovski,
  www.HowToMechatronics.com

*/
#include <LiquidCrystal.h> // includes the LiquidCrystal Library
LiquidCrystal lcd(1, 2, 4, 5, 6, 7); // Creates an LCD object. Parameters: (rs, enable, d4, d5, d6, d7)
const int trigPin = 9;
const int echoPin = 10;
const int out_1 = 11;
const int out_2 = 12;
int i = 0;                               //interger i is defined to store the value of buttons 
int j;                                   //interger j is defined to store the value of buttons 
int h;                                   //interger h is defined to store the value of buttons 
int b1 = A0;                              //button1 pin connecetd to pin 5 of Arduino UNO
int b2 = A1;                              //button1 pin connecetd to pin 6 of Arduino UNO
int b3 = A2;                              //button1 pin connecetd to pin 4 of Arduino UNO
int b4 = A3;                              //button1 pin connecetd to pin 3 of Arduino UNO
int b5 = A4;                              //button1 pin connecetd to pin 2 of Arduino UNO

long duration;
int distanceCm, distanceInch;
void setup() {
  lcd.begin(16, 2); // Initializes the interface to the LCD screen, and specifies the dimensions (width and height) of the display
  pinMode( b1 , INPUT_PULLUP);           //Set button1 as INPUT device
  pinMode( b2 , INPUT_PULLUP);           //Set button2 as INPUT device
  pinMode( b3 , INPUT_PULLUP);           //Set button3 as INPUT device
  pinMode( b4 , INPUT_PULLUP);           //Set button4 as INPUT device
  pinMode( b5 , INPUT_PULLUP);           //Set button5 as INPUT device
  pinMode(trigPin, OUTPUT);
  pinMode(out_1, OUTPUT);
  pinMode(out_2, OUTPUT);
  pinMode(echoPin, INPUT);

  
}
void loop() {

  int v1 = digitalRead(b1);               //Reads the value from a button1 and store the value in V1 
  int v2 = digitalRead(b2);               //Reads the value from a button2 and store the value in V1
  int v3 = digitalRead(b3);               //Reads the value from a button3 and store the value in V1
  int v4 = digitalRead(b4);               //Reads the value from a button4 and store the value in V1
  int v5 = digitalRead(b5);               //Reads the value from a button5 and store the value in V1

 if (( v1 == LOW)&&(v2 == HIGH)&&(v3== HIGH)&&(v4==HIGH)&&(v5 == HIGH))
{
   j = (i += (1 - (i >= 150)));          //incrementing the i value   
  
  lcd.setCursor(0,1);
  lcd.print("Speed: ");
  delay(100); 
  lcd.println(i);
 
}
 if (( v1 == HIGH)&&(v2 == LOW)&&(v3== HIGH)&&(v4==HIGH)&&(v5 == HIGH))
{
   i-- ;         //decrement the i value   
  
  lcd.setCursor(0,1);
  lcd.print("Speed: ");
  delay(100); 
  lcd.println(i);
 
}

 if (( v1 == HIGH)&&(v2 == HIGH)&&(v3== LOW)&&(v4==HIGH)&&(v5 == HIGH))
{
   if (i>5){
  lcd.setCursor(0,0);
  lcd.print("Adaptive cruise");
  delay(500);
  lcd.setCursor(0,0);
  lcd.print("Acitvated"); 
  delay(500);
  lcd.println(i);
  h=i;
   }
   else{
    lcd.setCursor(0,0);
  lcd.print("Speed Low"); 
  delay(500);
  lcd.println(i);
   }
 
}

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distanceCm = duration * 0.034 / 2;
  distanceInch = duration * 0.0133 / 2;



  lcd.setCursor(0, 0); // Sets the location at which subsequent text written to the LCD will be displayed
  lcd.print("Distance: "); // Prints string "Distance" on the LCD
  lcd.print(distanceCm); // Prints the distance value from the sensor
  lcd.print(" cm");
  delay(10);
  lcd.setCursor(0, 1);
  lcd.print("Speed");
 

  delay(10);
 

  if( distanceCm < 200)
  {
    j = (i -= (1- (i <= 0)));          //incrementing the i value
    digitalWrite(out_1, HIGH); 
    digitalWrite(out_2, LOW);
    lcd.setCursor(0,1);
    lcd.print("Speed: ");
    delay(100); 
    lcd.println(i);  
  }
  else
  {

    j = (i += (1 - (i >=h )));          //incrementing the i value  
    digitalWrite(out_2, HIGH);
    digitalWrite(out_1, LOW);
    
    lcd.setCursor(0,1);
    lcd.print("Speed: ");
    delay(100); 
    lcd.println(i); 
  }
}