#include <Wire.h>
#include <LiquidCrystal.h>
#include <Servo.h>
 Servo servo;  // create servo object to control a servo
#define LED_PIN 13 // Pin for the LED


// twelve servo objects can be created on most boards
int val;
int pos = 0;    // variable to store the servo position  
 




int sensor = 1;              // the pin that the sensor is atteched to
const int rs = 12, en = 11, d4 = 10, d5 = 9, d6 = 8, d7 = 7;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
int ab;
const int DOUT_PIN = 2; // Pin connected to the DOUT pin of the load cell
const int CLK_PIN = 3;  // Pin connected to the CLK pin of the load cell


/*const float CALIBRATION_FACTOR = 10; // Calibration factor for your load cell*/
const float MAX_WEIGHT = 10; // Maximum weight in kilograms
 
void setup() {
  lcd.begin(16, 2);


  pinMode(sensor, INPUT);
 
  pinMode(LED_PIN, OUTPUT);
  servo.attach(4);
  // Initialize the load cell module
  pinMode(DOUT_PIN, INPUT);
  pinMode(CLK_PIN, OUTPUT);
  /*digitalWrite(CLK_PIN, HIGH);*/
 
  // Wait for the load cell module to stabilize
  delay(1000);
}


void loop() {
    val = digitalRead(sensor);   // read sensor value


  // Read the weight from the load cell
  float weight = getWeight();
 
  // Display the weight on the LCD
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Weight: ");
  lcd.setCursor(0, 1);
  lcd.print(weight, 1);
  lcd.print(" kg");
 
  // Check if the weight exceeds the maximum limit
  if (weight > MAX_WEIGHT) {


    digitalWrite(LED_PIN, HIGH); // tell servo to go to position in variable 'pos'
    digitalWrite(LED_PIN, HIGH); // rotate from 180 degrees to 0 degrees
    digitalWrite(LED_PIN, HIGH); // Turn on the LED
delay(100);


    digitalWrite(LED_PIN, LOW); // Turn off the LED
    delay(100);
    lcd.print(" change ROAD OR TURN BACK ");
  }
  else if (val == HIGH) {


  a();
  }


 
  delay(1000);
}


float getWeight() {
  unsigned long value = 0;
 
  // Read 24 bits of data from the load cell
  for (byte i = 0; i < 24; i++) {
    digitalWrite(CLK_PIN, HIGH);
    delayMicroseconds(0.5);
    value <<= 1;
    if (digitalRead(DOUT_PIN)) {
      value++;
    }
    digitalWrite(CLK_PIN, LOW);
    delayMicroseconds(0.5);
  }
 
  // Set the MSB (bit 24) to 0 for a positive value
  value &= 0x7FFFFF;
 
  // Calculate the weight in kilograms
  float weight = value / 100;
 
  return weight;
}


void a() {
  ab = digitalRead(sensor);


  if(ab == HIGH){
 
  for (pos = 0; pos <= 90; pos += 1) { // rotate from 0 degrees to 180 degrees
    // in steps of 1 degree
    servo.write(pos);                   // tell servo to go to position in variable 'pos'
                           // waits 10ms for the servo to reach the position
  }


  for (pos = 0; pos >= 0; pos -= 1) { // rotate from 180 degrees to 0 degrees
  servo.write(pos);                   // tell servo to go to position in variable 'pos'
                          // waits 10ms for the servo to reach the position
  }
  }
  else {


     
  for (pos = 90; pos <= 0; pos += 1) { // rotate from 0 degrees to 180 degrees
    // in steps of 1 degree
    servo.write(pos);                   // tell servo to go to position in variable 'pos'
                           // waits 10ms for the servo to reach the position
  }


  for (pos = 90; pos >= 0; pos -= 1) { // rotate from 180 degrees to 0 degrees
  servo.write(pos);                   // tell servo to go to position in variable 'pos'
                          // waits 10ms for the servo to reach the position
  }
  }




}