#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>

Servo servo;
int angle = 10;

const int trigPin = 12;
const int echoPin = 11;

long duration;
float distance;
bool doorOpen = false;
unsigned long openTime;

LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup() {
  servo.attach(8);
  servo.write(angle);

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  Serial.begin(9600);

  lcd.begin(16,2);
  lcd.backlight();
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2.0;

  String distanceString = String(distance, 1);

  if (distance < 20) {
    lcd.setCursor(0, 0);
    lcd.print("Selamat Datang ");
  } else {
    lcd.setCursor(0, 0);
    lcd.print("Pintu Menutup  ");
  }

  lcd.setCursor(0, 1);
  lcd.print("Jarak: ");
  lcd.print(distanceString);
  lcd.print(" cm         ");

  if (distance < 20) {
    if (!doorOpen) {
      servo.write(100);
      doorOpen = true;
      openTime = millis();
    } else if ((millis() - openTime) >= 10000) { // Menutup pintu setelah 10 detik
      servo.write(10);
      doorOpen = false;
    }
  } else {
    if (doorOpen) {
      servo.write(10);
      doorOpen = false;
    }
  }

  delay(100);
}