#include <Servo.h>

#include <LiquidCrystal.h>

Servo myservo;

LiquidCrystal lcd(7, 6, 5, 4, 3, 2); // Create an LCD object. Parameters: (rs, enable, d4, d5, d6, d7)


int pos = 0; // the initial position of the servo motor

const int trigPin = 9;

const int echoPin = 10;

const int motor = 11;

const int buzzer = 12;

const int ledPin1 = 8;

const int ledPin2 = 13;

float distanceCm, DistanceSec,duration;


void setup() {

myservo.attach(motor); // attach the Servo motor to pin number 11

lcd.begin(16,2); // Initialize the LCD interface with their Dimensionss

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

pinMode(buzzer, OUTPUT);

pinMode(ledPin1, OUTPUT);

pinMode(ledPin2, OUTPUT);

DistanceSec=20;


}


void loop() {

for (pos = 0; pos <= 180; pos += 1) { // go from 0 to 180 degrees

// in steps of 1 degree

myservo.write(pos); // Program the Servo to go to the position (pos)

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH); //send a pulse of 10 micro seconds

delayMicroseconds(10);

digitalWrite(trigPin, LOW);


duration = pulseIn(echoPin, HIGH);

distanceCm= duration*0.034/2;

if (distanceCm <= DistanceSec)

{


if(distanceCm <= DistanceSec/2)

{


tone(buzzer, 10); // Send 1KHz sound signal...

digitalWrite(ledPin1, LOW);

digitalWrite(ledPin2, HIGH);

delay(700);

noTone(buzzer); // Stop sound...

lcd.setCursor(0,0); // position the cursor at 0.0

lcd.print("Distance: "); // Print "Distance" on LCD

lcd.print(distanceCm); // Print the value Obtained on LCD

lcd.print(" cm "); // Print the unit on LCD

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(2000);

}

else

{

digitalWrite(buzzer, HIGH);

digitalWrite(ledPin2, LOW);

digitalWrite(ledPin1, HIGH);

delay(100);

digitalWrite(buzzer, LOW);

lcd.setCursor(0,0); // position the cursor at 0.0

lcd.print("Distance: "); // Print "Distance" on LCD

lcd.print(distanceCm); // Printe the ontaned value on LCD

lcd.print(" cm "); // Printe the unit on LCD

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(2000);

}

}

else{

digitalWrite(buzzer, LOW);

digitalWrite(ledPin1, HIGH);

digitalWrite(ledPin2, LOW);

}


lcd.setCursor(0,0); // position the cursor at 0.0

lcd.print("Distance: "); // Print "Distance" on LCD

lcd.print(distanceCm); // Print the ontained value on LCD

lcd.print(" cm "); // Print the unit on LCD

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(80); //wait 100ms for the servo to seek its position


}

for (pos = 180; pos >= 0; pos -= 1) { 

myservo.write(pos); 

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);


duration = pulseIn(echoPin, HIGH);

distanceCm= duration*0.034/2;

if (distanceCm <= DistanceSec){

if(distanceCm <= DistanceSec/2)

{

tone(buzzer, 10); // Send 1KHz sound signal...

digitalWrite(ledPin1, LOW);

digitalWrite(ledPin2, HIGH);

delay(700);

noTone(buzzer); // Stop sound...

lcd.setCursor(0,0); // position the cursor at 0.0

lcd.print("Distance: "); // Print "Distance" on LCD

lcd.print(distanceCm); // Print the obtained value on LCD

lcd.print(" cm "); // Print the unit on LCD

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(2000);

}

else

{

digitalWrite(buzzer, HIGH);

digitalWrite(ledPin2, LOW);

digitalWrite(ledPin1, HIGH);

delay(100);

digitalWrite(buzzer, LOW);

lcd.setCursor(0,0); // position the cursor at 0,0

lcd.print("Distance: "); // Print "Distance" on LCD

lcd.print(distanceCm); // Print the obtained value on LCD

lcd.print(" cm "); // Print the unit on LCD

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(2000);

}

}

else{

digitalWrite(buzzer, LOW);

digitalWrite(ledPin1, LOW);

digitalWrite(ledPin2, LOW);

}


lcd.setCursor(0,0); 

lcd.print("Distance: "); 

lcd.print(distanceCm); 

lcd.print(" cm ");

delay(10);

lcd.setCursor(0,1);

lcd.print("Angle : ");

lcd.print(pos);

lcd.print(" deg ");

delay(80);

}

}