#include <Stepper.h> 
#include <Wire.h> 
#include <Servo.h> 
Servo myservo1; //create servo object to control a servo1 
Servo myservo2; //create servo object to control a servo2  
const int trigPin = 3; const int echoPin = 2;  const int stepsPerRevolution = 200;  //fit the number of steps per revolution for motor stepper 
int speedstep = 0; 
int stepCount = 0;  //number of steps the motor has taken  
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11); // initialize the stepper library on pins 8 through 11:  
void setup() 
{ Serial.begin(9600); 
myservo1.attach(7); 
myservo2.attach(6); 
}  
long microsecondsToCentimeters(long microseconds) { 
  return microseconds / 29 / 2; 
}  
void gerak120() {   
  myservo1.write(120); //sets the servo position according to                         
  the scaled value   delay(2000); 
  }  
  void gerak180() {   
    myservo1.write(90); //sets the servo position according to the scaled value   
    myservo2.write(180); //sets the servo position according to the scaled value   
    delay(4000); 
    }  
    void loop() {   
      speedstep = 350;   //motor speed 0 - 1023   //map it to a range from 0 to 100:   
      int motorSpeed = map(speedstep, 0, 1023, 0, 100);     //set the motor speed:   
      if (motorSpeed > 0) {     
        myStepper.setSpeed(motorSpeed);     
        myStepper.step(stepsPerRevolution / 100);         
        }    
      long duration, cm;   
      pinMode(trigPin, OUTPUT);   
      digitalWrite(trigPin, LOW);   
      delayMicroseconds(0);
      digitalWrite(trigPin, HIGH);
      delayMicroseconds(20);

      digitalWrite(trigPin, LOW);
      pinMode(echoPin, INPUT);

      duration = pulseIn(echoPin, HIGH);

      //cm = microsecondToCentimeters(duration);

      if ( melon mentah ) {
        gerak120();
      }
      else if ( melon matang ) {
        gerak180();
      }
      else {
        myservo1.write(0); 
        myservo2.write(0); //tidak menggerakkan servo
      }