#include <Arduino_FreeRTOS.h>
#include <Ultrasonic.h>
#include <Servo.h>
Servo myservo;

int sensorValue;
unsigned long baca;
long duration, distance;
const int buzzerPin = 2;
int thresholdValue = 500;
Ultrasonic ultrasonic (11,12);


void setup() {
  Serial.begin(9600);
  while(!Serial){;}
  myservo.attach(6);
  xTaskCreate(TaskAnalogRead,"AnalogRead",128,NULL,1,NULL);
  xTaskCreate( TaskBlink, "Blink", 128, NULL , 2 , NULL);
  xTaskCreate( Taskultra, "ultrasonik", 128, NULL , 2 , NULL);
  xTaskCreate( Taskservo, "SERVO", 128, NULL , 2 , NULL);
  xTaskCreate( Taskbuzzer, "BUZZER", 128, NULL , 2 , NULL);
}
void loop() { }

void TaskAnalogRead (void *pvParameters){
  (void) pvParameters;
  pinMode(A0, OUTPUT);
  for(;;)
  {
    sensorValue = analogRead(A0);
    Serial.print("potensio Value = ");
    Serial.println(sensorValue);
    vTaskDelay(500);
  }
}

void TaskBlink(void *pvParameters){
(void) pvParameters;
pinMode(8, OUTPUT);
  for(;;)
  {
  analogWrite(8, sensorValue);
  vTaskDelay(1);
  }
}

void Taskultra(void *pvParameters){
(void) pvParameters;
  for(;;)
  {
  baca = ultrasonic.read();
  Serial.print("Nilai ultrasonik = ");
  Serial.print(baca);
  Serial.println(" CM");
  vTaskDelay(500);
  }
}

void Taskservo(void *pvParameters){
(void) pvParameters;
  for(;;)
  {
    if(baca > 10){
     myservo.write(90);
     Serial.println("Sudut Servo: 90 derajat ");
    }
    else if(baca < 10){
      myservo.write(180);
      Serial.println("Sudut Servo: 180 derajat");
      }
      vTaskDelay(500);
    }
  }
  
void Taskbuzzer(void *pvParameters){
(void) pvParameters;
pinMode(buzzerPin, OUTPUT);
  for(;;)
  {
    if (sensorValue >= thresholdValue)
    {digitalWrite(2, HIGH);
    Serial.println("Buzzer: Menyala");}
   else {
    digitalWrite(2, LOW);
    Serial.println("Buzzer: Mati");
  }
    vTaskDelay(500);
  }
}