#include <AccelStepper.h>

int DIR_pin = 2 ;
int STEP_pin = 3 ;
int TRIGGER_PIN = 27;
int ECHO_PIN = 26;

void setup() {

  // Serial1.begin(115200);
  // Serial1.println("Hello, Raspberry Pi Pico!");

  pinMode(TRIGGER_PIN, OUTPUT);
  pinMode(DIR_pin, OUTPUT);
  pinMode(STEP_pin, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  digitalWrite(STEP_pin, LOW);
  pinMode(18, OUTPUT);
  pinMode(19, OUTPUT);
  pinMode(20, OUTPUT);
  pinMode(21, OUTPUT);



}
void loop() {
    digitalWrite(TRIGGER_PIN, HIGH);
    delayMicroseconds(10);
    digitalWrite(TRIGGER_PIN, LOW);
     long duration = pulseIn(ECHO_PIN, HIGH);
    float distance = duration * 0.034 / 2;
      

    if ( distance > 0 && distance <100 ){
      digitalWrite(DIR_pin, HIGH);
      for(int cw = 0 ; cw < 200 ; cw++ ){
      digitalWrite(STEP_pin, HIGH);
      digitalWrite(STEP_pin, LOW);
      delay(10);
      }    
      digitalWrite(18 , HIGH);
      digitalWrite(19 , LOW);
      digitalWrite(20 , LOW);
      digitalWrite(21 , LOW);
      
      }
    else if( distance > 100 && distance <200){
      digitalWrite(DIR_pin, HIGH);
      for(int cw = 0 ; cw < 200 ; cw++ ){
      digitalWrite(STEP_pin, HIGH);
      digitalWrite(STEP_pin, LOW);
      delay(5);
      }   
      digitalWrite(18 , LOW);
      digitalWrite(19 , HIGH);
      digitalWrite(20 , LOW);
      digitalWrite(21 , LOW);
       }
    else if( distance > 200 && distance <300){
      digitalWrite(DIR_pin, LOW);
      for(int cw = 0 ; cw < 200 ; cw++ ){
      digitalWrite(STEP_pin, HIGH);
      digitalWrite(STEP_pin, LOW);
      delay(10);
      } 
      digitalWrite(18 , LOW);
      digitalWrite(19 , LOW);
      digitalWrite(20 , HIGH);
      digitalWrite(21 , LOW);   
      }
    else if( distance > 300 && distance <400){
      digitalWrite(DIR_pin, LOW);
      for(int cw = 0 ; cw < 200 ; cw++ ){
      digitalWrite(STEP_pin, HIGH);
      digitalWrite(STEP_pin, LOW);
      delay(5);
      } 
      digitalWrite(18 , LOW);
      digitalWrite(19 , LOW);
      digitalWrite(20 , LOW);
      digitalWrite(21 , HIGH);
         }
    else{
      // print("non");
    }

}