from machine import*
from time import*
from hcsr04 import*
s=HCSR04(trigger_pin=4,echo_pin=2,echo_timeout_us=100000)
led1=Pin(25,Pin.OUT)
led2=Pin(26,Pin.OUT)
led3=Pin(27,Pin.OUT)
led4=Pin(14,Pin.OUT)
led5=Pin(12,Pin.OUT)
led6=Pin(13,Pin.OUT)
sm=PWM(Pin(15),freq=50)
deep=125
pas=-20
while True:
    sm.duty(deep)
    sleep(0.5)
    if(deep==125):
        if(s.distance_cm()<200):
            led1.on()
        else:
            led1.off()
    if(deep==105):
        if(s.distance_cm()<200):
            led2.on()
        else:
            led2.off()
    if(deep==85):
        if(s.distance_cm()<200):
            led3.on()
        else:
            led3.off()
    if(deep==65):
        if(s.distance_cm()<200):
            led4.on()
        else:
            led4.off()
    if(deep==45):
        if(s.distance_cm()<200):
            led5.on()
        else:
            led5.off()
    if(deep==25):
        if(s.distance_cm()<200):
            led6.on()
        else:
            led6.off()
    deep=deep+pas
    if(deep<=25)or(deep>=125):
        pas=-pas