/************************************************** 
* Smart Object Detection System using ESP32 Microcontroller * 
* SUBMITTED BY CO,MA DIANNA R. * 
* SUBMITTED TO PROF. MICHAEL T. SAMONTE * 
* *************************************************/
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <ESP32Servo.h>

const int trigPin = 5;
const int echoPin = 18;
Servo servo;

LiquidCrystal_I2C lcd(0x27, 16, 4); // I2C address 0x27, 20 columns and 4 rows

void setup() {
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  lcd.backlight();
  lcd.init();
  servo.attach(19);
  servo.write(90);
}

void loop() {
  long duration, distance;
  
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  duration = pulseIn(echoPin, HIGH);
  
  distance = (duration / 2) / 29.1; // Divide by 29.1 or multiply by 0.0343 to convert microseconds to centimeters
  
  lcd.setCursor(0, 0);
  lcd.print("Distance: " + String(distance) + " cm");

  int servoAngle = 90; // Default servo angle

  if (distance <= 10) {
    servoAngle = 0;
  } else if (distance <= 20) {
    servoAngle = 90;
  } else if (distance <= 30) {
    servoAngle = 180;
  }
  
  lcd.setCursor(0, 1);
  lcd.print("Servo Angle: " + String(servoAngle) + " deg.");
  
  servo.write(servoAngle);

  lcd.setCursor(0, 2);
  lcd.print ("Created By: ");
  lcd.setCursor(0, 3);
  lcd.print ("CHRYZTAN SAMONG");
  
  delay(500); // Delay for one second before taking the next measurement
}