//lcd
#include <LiquidCrystal.h>

LiquidCrystal lcd(2, 3, 4, 5, 6, 7); 

const int trigPin = 9;
const int echoPin = 10;  
long duration;
int distanceCm, distanceInch, distanceMm;

// motor
const int button_left = 52;  // Push button for CW
const int button_right = 53;  // Push button for CCW
const int driverPUL = 30;    // PUL- pin
const int driverDIR = 32;    // DIR- pin
const int spd = A0;     // Potentiometer
const int leftLED = 12;
const int rightLED = 11;

int pd = 500;       // Pulse Delay period

void setup() {
  Serial.begin(115200);
  //lcd
  lcd.begin(16,2); 
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);


  //motor
  pinMode (driverPUL, OUTPUT);
  pinMode (driverDIR, OUTPUT);
  pinMode (button_left, INPUT_PULLUP);
  pinMode (button_right, INPUT_PULLUP);
  
}

void loop() {
  pd = 2090 - analogRead(spd) * 2;

//lcd
   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;
   distanceMm = duration*0.34/2;
   Serial.println(distanceMm);
   lcd.setCursor(0,0);
   lcd.print("Distance: "); 
   lcd.print(distanceMm);
   lcd.print(" mm ");
   delay(300);
   lcd.setCursor(0,1);
   lcd.print("Distance: ");
   lcd.print(distanceInch);
   lcd.print("inch");
   delay(10);
   
//motor
  if ( digitalRead(button_right) && digitalRead(button_left) ) return;

  if ( !digitalRead(button_right) ) digitalWrite(driverDIR, LOW);
    
  if ( !digitalRead(button_left) ) digitalWrite(driverDIR, HIGH);
  
  digitalWrite(rightLED, !digitalRead(button_right));
  digitalWrite(leftLED, !digitalRead(button_left));
  
  digitalWrite(driverPUL, LOW);
  delayMicroseconds(50);
  digitalWrite(driverPUL, HIGH);
  delayMicroseconds(pd);
}