int in1Pin = 6;
int in2Pin = 7;
int in3Pin = 8;
int in4Pin = 9;

const int trigPin = 11;  
const int echoPin = 10;  
const int buzzer = 12;

long duration;
int distance;
int safetyDistance;


void setup()
{
  Serial.begin(9600);
  pinMode(in1Pin, OUTPUT);
  pinMode(in2Pin, OUTPUT);
  pinMode(in3Pin, OUTPUT);
  pinMode(in4Pin, OUTPUT);
  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 
  pinMode(buzzer, OUTPUT);
}

void loop()
 {
  digitalWrite(trigPin,LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin,HIGH);
  delayMicroseconds(15);
  digitalWrite(trigPin,LOW);
  duration = pulseIn(echoPin,1);
  distance = duration*0.034/2;
  
safetyDistance = distance;
if (safetyDistance <= 30)
{
  digitalWrite(buzzer, HIGH);
  delay(200);
  digitalWrite(buzzer,LOW);
  delay(3000); 
}
else{
  digitalWrite(buzzer, LOW);
}

int joystickValuex = analogRead(A0);
int joystickValuey= analogRead(A1);

  if (joystickValuex >= 530)             
  {
  
    digitalWrite(in1Pin, HIGH);
    digitalWrite(in2Pin, LOW);
    digitalWrite(in3Pin, HIGH);
    digitalWrite(in4Pin, LOW);    
    
  }
  else if (joystickValuex <= 490)        
  {
   
    digitalWrite(in1Pin, LOW);
    digitalWrite(in2Pin, HIGH);    
    digitalWrite(in3Pin, LOW);
    digitalWrite(in4Pin, HIGH);
  }  
   else if (joystickValuey >= 530)        
  {
    
    digitalWrite(in1Pin, LOW);
    digitalWrite(in2Pin, HIGH);    
     digitalWrite(in3Pin, HIGH);
    digitalWrite(in4Pin, LOW);
  }
   else if (joystickValuey <= 490)       
  {
    
    digitalWrite(in1Pin, HIGH);
    digitalWrite(in2Pin, LOW);    
    digitalWrite(in3Pin, LOW);
    digitalWrite(in4Pin, HIGH);
  }
  else                                
  {
    digitalWrite(in1Pin, LOW);
    digitalWrite(in2Pin, LOW);
    digitalWrite(in3Pin, LOW);
    digitalWrite(in4Pin, LOW);    
  }
}