#include <Arduino.h>
#include <ESP32Servo.h>

// Definisikan pin yang digunakan
const int pirPin = 13;
const int pirLedPin = 2;
const int ultrasonicTrigPin = 26;
const int ultrasonicEchoPin = 27;
const int ultrasonicLedPin = 15;
const int servoPin = 4;

Servo myservo;

bool objectDetected = false; // Untuk melacak apakah objek terdeteksi sebelumnya

void setup() {
  pinMode(pirPin, INPUT);
  pinMode(pirLedPin, OUTPUT);
  pinMode(ultrasonicTrigPin, OUTPUT);
  pinMode(ultrasonicEchoPin, INPUT);
  pinMode(ultrasonicLedPin, OUTPUT);

  myservo.attach(servoPin);

  Serial.begin(115200);
}

void loop() {
  int pirValue = digitalRead(pirPin);

  if (pirValue == HIGH) {
    digitalWrite(pirLedPin, HIGH);
    Serial.println("Sensor PIR mendeteksi gerakan!");
    objectDetected = true; // Objek terdeteksi

    // Gerakkan servo motor ke posisi tertentu (misalnya, 90 derajat)
    myservo.write(90);
  } else {
    digitalWrite(pirLedPin, LOW);
    
    if (objectDetected) {
      // Jika objek terdeteksi sebelumnya, kembalikan servo ke posisi awal
      myservo.write(0);
      objectDetected = false; // Reset status deteksi objek
    }
  }

  digitalWrite(ultrasonicTrigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(ultrasonicTrigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(ultrasonicTrigPin, LOW);

  long duration = pulseIn(ultrasonicEchoPin, HIGH);
  int distance = duration * 0.034 / 2;

  int desiredDistance = 20;

  if (distance < desiredDistance) {
    digitalWrite(ultrasonicLedPin, HIGH);
    Serial.print("Jarak: ");
    Serial.print(distance);
    Serial.println(" cm, Objek terdeteksi!");
  } else {
    digitalWrite(ultrasonicLedPin, LOW);
    Serial.print("Jarak: ");
    Serial.print(distance);
    Serial.println(" cm, Tidak ada objek.");
  }

  delay(100);
}