const int trigPin1 = 7;
const int echoPin1 = 6;
const int trigPin2 = 8;
const int echoPin2 = 9;
const int trigPin3 = 2;
const int echoPin3 = 3;
const int forwarddirection1 = 10;
const int reversedirection1 = 11;
const int forwarddirection2 = 5;
const int reversedirection2 = 4;
const int Pump = 21;

long duration1;
int distance1;
long duration2;
int distance2;
long duration3;
int distance3;
void setup() {
  // put your setup code here, to run once:

  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(trigPin3, OUTPUT);
  pinMode(echoPin3, INPUT);
  pinMode(forwarddirection1, OUTPUT);
  pinMode(forwarddirection2, OUTPUT);
  pinMode(reversedirection1, OUTPUT);
  pinMode(reversedirection2, OUTPUT);
  pinMode(Pump, OUTPUT);
  Serial.begin(9600);
}

void loop() {

  digitalWrite(trigPin1, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin1, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin1, LOW);


  duration1 = pulseIn(echoPin1, HIGH);
  distance1 = duration1*0.034/2;
  Serial.println(distance1);
  //distance1 is the ultrasonic sensor on the right


  digitalWrite(trigPin2, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin2, LOW);



  duration2 = pulseIn(echoPin2, HIGH);
  distance2 = duration2*0.034/2;
  Serial.println(distance2);
  //distance 2 is the ultrasonic sensor on the left
  
  digitalWrite(trigPin3, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin3, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin3, LOW);



  duration3 = pulseIn(echoPin3, HIGH);
  distance3 = duration3*0.034/2;
  Serial.println(distance3);
  //distance 3 is the ultrasonic sensor at the top

  if ((distance1 > 10) && (distance2 > 10) && (distance3 > 10) ){
    digitalWrite(forwarddirection1, HIGH);
    digitalWrite(forwarddirection2, HIGH);
    digitalWrite(reversedirection1, LOW);
    digitalWrite(reversedirection2, LOW);

  }



  if ((distance1 < 10) && (distance2 > 10) && (distance3 > 10) ){
    digitalWrite(forwarddirection1, HIGH);
    digitalWrite(forwarddirection2, LOW);
    digitalWrite(reversedirection1, LOW);
    digitalWrite(reversedirection2, LOW);

  }

  if ((distance1 > 10) && (distance2 < 10) && (distance3 > 10) ){
    digitalWrite(forwarddirection1, HIGH);
    digitalWrite(forwarddirection2, LOW);
    digitalWrite(reversedirection1, LOW);
    digitalWrite(reversedirection2, LOW);

  }
  if ((distance1 > 10) && (distance2 > 10) && (distance3 < 10) ){
    digitalWrite(forwarddirection1, LOW);
    digitalWrite(forwarddirection2, HIGH);
    digitalWrite(reversedirection1, LOW);
    digitalWrite(reversedirection2, LOW);

  }


  // put your main code here, to run repeatedly:

}