const int TrigPin = 5;
 const int EchoPin = 18;
 long duration, distance_1;
 int colision_distance = 30;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  delay(100);

  pinMode(TrigPin, OUTPUT);
  pinMode(EchoPin, INPUT);
}

void loop() {
  
  digitalWrite(TrigPin, LOW);
  delayMicroseconds(10);
  digitalWrite(TrigPin, HIGH);
  delayMicroseconds(2);
  digitalWrite(TrigPin, LOW);
  duration = pulseIn(EchoPin, HIGH);
  distance_1 = microsecondsToCentimeters(duration);

  Serial.print(" Sonar Read - ");
  Serial.println(distance_1);
  delay(1000);


}
long microsecondsToCentimeters(long microseconds)
{
  return microseconds / 29 / 2;
}