#include <Servo.h>   //servo library

Servo servo;     
int trigPin  = 3;   //input sensor ultrasonic (1)
int echoPin  = 2;   //input sensor ultrasonic (1)
int trigPin1 = 5;   //input sensor ultrasonic (2)
int echoPin1 = 4;   //input sensor ultrasonic (2)
int servoPin = 6;   //input motor servo
int buzzer   = 7;  //input buzzer
int led1     = 8;   //input LED RED
int led2     = 10;   //input LED WHITE 
int led3     = 9;   //input LED GREEN 

long duration, dist, average;   
long aver[3];       //array for average
long duration1, dist1, average1;   
long aver1[3];      //array for average 

void setup() {       
    Serial.begin(9600);
    servo.attach(servoPin);  
    pinMode(trigPin,OUTPUT);  
    pinMode(echoPin,INPUT);
    pinMode(trigPin1,OUTPUT);  
    pinMode(echoPin1,INPUT);
    pinMode(buzzer,OUTPUT);
    pinMode(8,OUTPUT);
    pinMode(9,OUTPUT);
    
    servo.write(0);         //tutup aktif
    delay(100);
    servo.detach(); 
} 

void measure() {  
digitalWrite(trigPin, LOW);
delayMicroseconds(5);
digitalWrite(trigPin, HIGH);
delayMicroseconds(15);
digitalWrite(trigPin, LOW);
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
dist = (duration /2) / 29.1;        //rumus sensor ultrasonic    
}

void measure1() {  
digitalWrite(trigPin1, LOW);
delayMicroseconds(5);
digitalWrite(trigPin1, HIGH);
delayMicroseconds(15);
digitalWrite(trigPin1, LOW);
pinMode(echoPin1, INPUT);
duration1 = pulseIn(echoPin1, HIGH);
dist1 = (duration1 /2) / 29.1;    //rumus sensor ultrasonic
}

void loop() { 
  for (int i=0;i<=2;i++) {  
    measure();               
   aver[i]=dist;            
    delay(10);    
  }
 dist=(aver[0]+aver[1]+aver[2])/3;    

for (int i=0;i<=2;i++) {    
    measure1();               
   aver1[i]=dist1;            
    delay(100);             
  }
 {
  digitalWrite(8,HIGH);
 }
 dist1=(aver1[0]+aver1[1]+aver1[2])/3;  

if ( dist <=35 ) {            //mengatur jarak dibawah 60cm (membuka)
  servo.write(100);
  digitalWrite(buzzer,LOW);
  delay(1000);

}
 if ( dist>35 ) {          //mengatur jarak diatas 60cm (menutup)
  servo.attach(servoPin);
 servo.write(0);
 
}

 if ( dist1 < 3 ) {           //mengatur jarak sama dengan 5cm (buzzer dan led merah aktif)
  digitalWrite(buzzer,HIGH);
  digitalWrite(8,LOW);
  digitalWrite(9,HIGH);
  delay (1000);
  digitalWrite(buzzer,LOW);
  digitalWrite(8,LOW);
  digitalWrite(9,LOW);
 }
 
Serial.print(dist);
Serial.println (" CM");
Serial.print(dist1);
Serial.println (" CM");
// kedua coding diatas untuk membaca jarak di serial monitor
delay(1000);               //delay 1s saat membaca pada serial monitor
}