#include <Wire.h>
#include <MPU6050.h>
#include <HCSR04.h>
MPU6050 mpu;

const int trigPin = 8;  // Trigger pin of HC-SR04
const int echoPin = 9;  // Echo pin of HC-SR04
const int ledPin = 6;  // LED connected to digital pin 13

long duration;
int distance;
int detectionRange = 200;  // Define the detection range in centimeters

void setup() {
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(ledPin, OUTPUT);
  Serial.begin(9600);
}

void loop() {
  // Trigger the ultrasonic sensor
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  // Read the echo pulse duration
  duration = pulseIn(echoPin, HIGH);

  // Convert the duration into distance
  distance = duration * 0.034 / 2;  // Speed of sound is 343 m/s (0.034 cm/us)

  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  // Check if an object is detected within the detection range
  if (distance < detectionRange) {
    digitalWrite(ledPin, HIGH);  // Turn on the LED
  } else {
    digitalWrite(ledPin, LOW);   // Turn off the LED
  }

  delay(500);  // Adjust the delay time as needed
}