#include <Wire.h>
#include <LiquidCrystal.h>
#include <Servo.h>
 Servo servo;  // 
#define LED_PIN 13 
int val;
int pos = 0;   
int sensor = 1;  
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; 
const int CLK_PIN = 3; 
const float MAX_WEIGHT = 10;
void setup() {
  lcd.begin(16, 2);
  pinMode(sensor, INPUT);
  pinMode(LED_PIN, OUTPUT);
  servo.attach(4);
  pinMode(DOUT_PIN, INPUT);
  pinMode(CLK_PIN, OUTPUT);
  delay(1000);
}
void loop() {
    val = digitalRead(sensor);  
  float weight = getWeight();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Weight: ");
  lcd.setCursor(0, 1);
  lcd.print(weight, 1);
  lcd.print(" kg");
  if (weight > MAX_WEIGHT) {


    digitalWrite(LED_PIN, HIGH); 
    digitalWrite(LED_PIN, HIGH);
    digitalWrite(LED_PIN, HIGH); 
delay(100);
    digitalWrite(LED_PIN, LOW); 
    delay(100);
    lcd.print(" change ROAD OR TURN BACK ");
  }
  else if (val == HIGH) {
  a();
  }
  delay(1000);
}
float getWeight() {
  unsigned long value = 0;
  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);
  }
  value &= 0x7FFFFF;
  float weight = value / 100;
  return weight;
}
void a() {
  ab = digitalRead(sensor);
  if(ab == HIGH){
  for (pos = 0; pos <= 90; pos += 1) { 
    servo.write(pos); 
  }
  for (pos = 0; pos >= 0; pos -= 1) { 
  servo.write(pos);   
  }
  }
  else {
  for (pos = 90; pos <= 0; pos += 1) { 
    servo.write(pos);    
  }
  for (pos = 90; pos >= 0; pos -= 1) { 
  servo.write(pos);    
  }
  }




}