from machine import Pin,PWM
from time import sleep_us,sleep,ticks_us

led = Pin(32,Pin.OUT)
trig = Pin(2,Pin.OUT)
echo = Pin(15,Pin.IN)
Servo = PWM(Pin(33),freq = 50,duty = 0)

while True:
    distance = 0
    trig.value(1)
    sleep_us(10)
    trig.value(0)
    while echo.value() == 0:
        pass
    if echo.value() == 1:
        ts = ticks_us()
        while echo.value() == 1:
            pass
        te = ticks_us()
        tc = te - ts
        distance = (tc*170)/10000
    if distance <30:
        led.value(1)
    else:
        led.value(0)
    if distance <30:
        x = 180
        Servo.duty(int((x/90+0.5)/20*1023))
    else:
        x = 0
        Servo.duty(int((x/90+0.5)/20*1023))

    
    print(distance,'cm')    
    sleep(1)