#include <Servo.h>

const int trigPin1 = 41;
const int echoPin1 = 43;
const int redPin1 = 7;
const int greenPin1 = 6;
const int bluePin1 = 5;
Servo servo1;
int lastRotatedPin1 = -1;

const int trigPin2 = 47;
const int echoPin2 = 49;
const int redPin2 = 25;
const int greenPin2 = 27;
const int bluePin2 = 29;
Servo servo2;
int lastRotatedPin2 = -1;

const int trigPin3 = 51;
const int echoPin3 = 53;
const int redPin3 = 33;
const int greenPin3 = 35;
const int bluePin3 = 37;
Servo servo3;
int lastRotatedPin3 = -1;

void setup() {
  Serial.begin(9600);
  servo1.attach(13);
  servo1.write(0);
  servo2.attach(12);
  servo2.write(0);
  servo3.attach(11);
  servo3.write(0);

  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(redPin1, OUTPUT);
  pinMode(greenPin1, OUTPUT);
  pinMode(bluePin1, OUTPUT);

  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(redPin2, OUTPUT);
  pinMode(greenPin2, OUTPUT);
  pinMode(bluePin2, OUTPUT);

  pinMode(trigPin3, OUTPUT);
  pinMode(echoPin3, INPUT);
  pinMode(redPin3, OUTPUT);
  pinMode(greenPin3, OUTPUT);
  pinMode(bluePin3, OUTPUT);
}

void loop() {
  int distance1 = getDistance(trigPin1, echoPin1);
  int distance2 = getDistance(trigPin2, echoPin2);
  int distance3 = getDistance(trigPin3, echoPin3);

  Serial.print("Distance 1: ");
  Serial.println(distance1);
  Serial.print("Distance 2: ");
  Serial.println(distance2);
  Serial.print("Distance 3: ");
  Serial.println(distance3);

  setColorBasedOnDistance(distance1, servo1, redPin1, greenPin1, bluePin1, lastRotatedPin1);
  setColorBasedOnDistance(distance2, servo2, redPin2, greenPin2, bluePin2, lastRotatedPin2);
  setColorBasedOnDistance(distance3, servo3, redPin3, greenPin3, bluePin3, lastRotatedPin3);
}

int getDistance(int trigPin, int echoPin) {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  long duration = pulseIn(echoPin, HIGH);
  int distance = duration * 0.034 / 2;

  Serial.print("Duration: ");
  Serial.print(duration);
  Serial.print(" microseconds. Distance: ");
  Serial.println(distance);

  return distance;
}

void setColorBasedOnDistance(int distance, Servo servo, int redPin, int greenPin, int bluePin, int& lastRotatedPin) {
  if (distance > 7) {
    if (lastRotatedPin != servo.read()) {
      Serial.println("Turning LED to red");
      analogWrite(redPin, 255);
      analogWrite(greenPin, 0);
      analogWrite(bluePin, 0);
      delay(5000);  // Adjust the delay to control how long the LED stays on

      Serial.println("Moving Servo from 0 to 90 degrees");
      for (int angle = 0; angle <= 90; angle++) {
        servo.write(angle);
        delay(50);  // Adjust the delay to make the servo move faster
      }

      delay(5000);  // Wait for 5 seconds before moving the servo back

      Serial.println("Moving Servo from 90 to 0 degrees");
      for (int angle = 90; angle >= 0; angle--) {
        servo.write(angle);
        delay(50);  // Adjust the delay to make the servo move faster
      }

      Serial.println("Turning LED to blue");
      analogWrite(redPin, 0);
      analogWrite(greenPin, 0);
      analogWrite(bluePin, 255);
      delay(5000);  // Adjust the delay to control how long the LED stays on

      lastRotatedPin = servo.read();
    }
  } else {
    if (lastRotatedPin != -1) {
      Serial.println("Turning LED to blue");
      analogWrite(redPin, 0);
      analogWrite(greenPin, 0);
      analogWrite(bluePin, 255);
      delay(5000);  // Adjust the delay to control how long the LED stays on

      lastRotatedPin = -1;
    }
  }
}