#include <Adafruit_LiquidCrystal.h>
#include <Servo.h>

volatile int distance_1;
volatile int distance_2;
volatile int num;
volatile boolean flag;
Servo servo_9;

Adafruit_LiquidCrystal lcd_1(0);
float checkdistance_4_7() {
  digitalWrite(4, LOW);
  delayMicroseconds(2);
  digitalWrite(4, HIGH);
  delayMicroseconds(10);
  digitalWrite(4, LOW);
  float distance = pulseIn(7, HIGH) / 58.00;
  delay(10);
  return distance;
}

float checkdistance_10_11() {
  digitalWrite(10, LOW);
  delayMicroseconds(2);
  digitalWrite(10, HIGH);
  delayMicroseconds(10);
  digitalWrite(10, LOW);
  float distance = pulseIn(11, HIGH) / 58.00;
  delay(10);
  return distance;
}

void setup(){
  distance_1 = 0;
  distance_2 = 0;
  num = 0;
  flag = true;
  servo_9.attach(9);
  lcd_1.begin(16, 2);
  servo_9.write(0);
  delay(300);
  pinMode(4, OUTPUT);
  pinMode(7, INPUT);
  pinMode(10, OUTPUT);
  pinMode(11, INPUT);
  pinMode(3, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(12, OUTPUT);
}

void loop(){
  distance_1 = checkdistance_4_7();
  distance_2 = checkdistance_10_11();
  if (distance_1 < 100) {
    if (flag) {
      num++;
      servo_9.write(90);
      delay(0);
      delay(50);
      flag = false;

    }
    lcd_1.setCursor(0, 0);
    lcd_1.print("    09200102");
    lcd_1.setCursor(0, 1);
    lcd_1.print(String("OPEN") + String(num) + String(" ") + String("back:") + String(distance_2));

  } else {
    servo_9.write(0);
    delay(0);
    flag = true;
    lcd_1.setCursor(0, 0);
    lcd_1.print("    09200102");
    lcd_1.setCursor(0, 1);
    lcd_1.print(String("close") + String(" ") + String("back:") + String(distance_2) + String("cm"));

  }
  if (distance_2 > 320) {
    digitalWrite(3,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,HIGH);
    noTone(12);

  }
  if (distance_2 < 300 && distance_2 > 250) {
    digitalWrite(3,HIGH);
    digitalWrite(5,LOW);
    digitalWrite(6,LOW);
    tone(12,650);
    delay(300);
    noTone(12);
    delay(300);

  }
  if (distance_2 < 250 && distance_2 > 150) {
    digitalWrite(3,LOW);
    digitalWrite(5,HIGH);
    digitalWrite(6,LOW);
    tone(12,690);
    delay(200);
    noTone(12);
    delay(200);

  }
  if (distance_2 < 150) {
    digitalWrite(3,LOW);
    digitalWrite(5,LOW);
    digitalWrite(6,HIGH);
    tone(12,750);
    delay(150);
    noTone(12);
    delay(50);

  }
  delay(100);
  lcd_1.clear();

}