#include <Wire.h> 
#include <LiquidCrystal_I2C.h>
const int trigPin = 6;
const int echoPin = 5;
const int Led1 = 2;
const int Led2 = 3;
const int Led3 = 4;
LiquidCrystal_I2C lcd(0x27, 16, 2);

long duration;
int Jarak;

void setup() 
{
lcd.begin(16,0);
lcd.setCursor(0,0);
lcd.print("---Kelompok 1---");
lcd.setCursor(0,0);
lcd.print("");
delay (3000);

pinMode(Led1, OUTPUT);
pinMode(Led2, OUTPUT);
pinMode(Led3, OUTPUT);
pinMode(trigPin, OUTPUT); 
pinMode(echoPin, INPUT); 
Serial.begin(9600); 
}

void loop() {
lcd.clear();
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);
Jarak = duration*0.034/2;

Serial.print("Jarak: ");
Serial.println(Jarak);
  lcd.setCursor(0,0);
  lcd.print("Jarak: ");
  lcd.print(Jarak);
  lcd.print(" cm");
  lcd.setCursor(0,1);
  lcd.print("");
  delay (500);

  if (Jarak <22 ){
  digitalWrite(2, LOW);
  digitalWrite(3, LOW);
  digitalWrite(4, HIGH);
  delay(50);
}
  if (Jarak == 22 ){
  digitalWrite(2, LOW);
  digitalWrite(3, HIGH);
  digitalWrite(4, LOW);
  delay(50);
  }
  if (Jarak >22){
  digitalWrite(2, HIGH);
  digitalWrite(3, LOW);
  digitalWrite(4, LOW);
  delay(50);
}
}