int motor1Pin1 = 27; 
int motor1Pin2 = 26; 
int enable1Pin = 14; 
const int trigPin = 5;
const int echoPin = 18;
const int trigPin2 = 25;
const int echoPin2 = 33;
const int trigPin3 = 2;
const int echoPin3 = 4;

// Setting PWM properties
const int freq = 30000;
const int pwmChannel = 0;
const int resolution = 8;
int dutyCycle = 200;
//define sound speed in cm/uS
#define SOUND_SPEED 0.034
#define CM_TO_INCH 0.393701

long duration;
long duration1;
long duration2;
float distanceCm;
float distanceCm2;
float distanceCm3;
float distanceInch;





void setup() {
  // sets the pins as outputs:
  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);
  pinMode(enable1Pin, OUTPUT);



   Serial.begin(115200); // Starts the serial communication
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
   pinMode(trigPin2, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin2, INPUT); // Sets the echoPin as an Input
   pinMode(trigPin3, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin3, INPUT); // Sets the echoPin as an Input
  
  // configure LED PWM functionalitites
  ledcSetup(pwmChannel, freq, resolution);
  
  // attach the channel to the GPIO to be controlled
  ledcAttachPin(enable1Pin, pwmChannel);

  Serial.begin(115200);

  // testing
  Serial.print("Testing DC Motor...");
}

void loop() {

digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  
  // Calculate the distance
  distanceCm = duration * SOUND_SPEED/2;
  
  // Convert to inches
  distanceInch = distanceCm * CM_TO_INCH;
  
  // Prints the distance in the Serial Monitor
 
  // Serial.print("Distance (inch): ");
  // Serial.println(distanceInch);
  
  delay(1000);


digitalWrite(trigPin2, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin2, LOW);
  
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration1 = pulseIn(echoPin2, HIGH);
  
  // Calculate the distance
  distanceCm2 = duration1 * SOUND_SPEED/2;
  
  // Convert to inches
  distanceInch = distanceCm2 * CM_TO_INCH;
  
  // Prints the distance in the Serial Monitor
 
  // Serial.print("Distance (inch): ");
  // Serial.println(distanceInch);

digitalWrite(trigPin3, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin3, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin3, LOW);
  
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration2 = pulseIn(echoPin3, HIGH);
  
  // Calculate the distance
  distanceCm3 = duration2 * SOUND_SPEED/2;
  
  // Convert to inches
  distanceInch = distanceCm3* CM_TO_INCH;
  
  // Prints the distance in the Serial Monitor
  
  // Serial.print("Distance (inch): ");
  // Serial.println(distanceInch);
  Serial.print("Distance 1(cm): ");
  Serial.println(distanceCm);
  Serial.print("Distance2(cm): ");
  Serial.println(distanceCm2);
  Serial.print("Distance3(cm): ");
  Serial.println(distanceCm3);

  delay(1000);




  // Move the DC motor forward at maximum speed
  Serial.println("Moving Forward");
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, HIGH); 
  delay(2000);

  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, LOW);
  delay(1000);

  // Move DC motor backwards at maximum speed
  Serial.println("Moving Backwards");
  digitalWrite(motor1Pin1, HIGH);
  digitalWrite(motor1Pin2, LOW); 
  delay(2000);

  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(motor1Pin1, LOW);
  digitalWrite(motor1Pin2, LOW);
  delay(1000);

 
  

   dutyCycle = 200;
}