//Arduino Human Following Robot  
 // You have to Install the AFMotor and NewPing library Before Uploading the sketch//  
 // To install the libraries ( first download the AF Motor driver, NewPing and Servo Library zip file //  
 // then Go to Skecth >> Include Library >> Add .Zip Library >> Select The downloaded zip file >> Done) //  
 // Contact me on instagram for any question(Insta Id : DIY.Builder)  
 #include<NewPing.h>  
 #include<Servo.h>  
 #include<AFMotor.h>  
 #define RIGHT A2  
 #define LEFT A3  
 #define TRIGGER_PIN A1  
 #define ECHO_PIN A0  
 #define MAX_DISTANCE 100  
 NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);  
 AF_DCMotor Motor1(1,MOTOR12_1KHZ);  
 AF_DCMotor Motor2(2,MOTOR12_1KHZ);  
 AF_DCMotor Motor3(3,MOTOR34_1KHZ);  
 AF_DCMotor Motor4(4,MOTOR34_1KHZ);  
 Servo myservo;  
 int pos =0;  
 void setup() {  
  // put your setup code here, to run once:  
  Serial.begin(9600);  
 myservo.attach(10);  
 {  
 for(pos = 90; pos <= 180; pos += 1){  
  myservo.write(pos);  
  delay(15);  
 } for(pos = 180; pos >= 0; pos-= 1) {  
  myservo.write(pos);  
  delay(15);  
 }for(pos = 0; pos<=90; pos += 1) {  
  myservo.write(pos);  
  delay(15);  
 }  
 }  
 pinMode(RIGHT, INPUT);  
 pinMode(LEFT, INPUT);  
 }  
 void loop() {  
  // put your main code here, to run repeatedly:  
  delay(50);  
  unsigned int distance = sonar.ping_cm();  
 Serial.print("distance");  
 Serial.println(distance);  
 int Right_Value = digitalRead(RIGHT);  
 int Left_Value = digitalRead(LEFT);  
 Serial.print("RIGHT");  
 Serial.println(Right_Value);  
 Serial.print("LEFT");  
 Serial.println(Left_Value);  
 if((Right_Value==1) && (distance>=10 && distance<=30)&&(Left_Value==1)){  
  Motor1.setSpeed(120);  
  Motor1.run(FORWARD);  
  Motor2.setSpeed(120);  
  Motor2.run(FORWARD);  
  Motor3.setSpeed(120);  
  Motor3.run(FORWARD);  
  Motor4.setSpeed(120);  
  Motor4.run(FORWARD);  
 }else if((Right_Value==0) && (Left_Value==1)) {  
  Motor1.setSpeed(200);  
  Motor1.run(FORWARD);  
  Motor2.setSpeed(200);  
  Motor2.run(FORWARD);  
  Motor3.setSpeed(100);  
  Motor3.run(BACKWARD);  
  Motor4.setSpeed(100);  
  Motor4.run(BACKWARD);  
 }else if((Right_Value==1)&&(Left_Value==0)) {  
  Motor1.setSpeed(100);  
  Motor1.run(BACKWARD);  
  Motor2.setSpeed(100);  
  Motor2.run(BACKWARD);  
  Motor3.setSpeed(200);  
  Motor3.run(FORWARD);  
  Motor4.setSpeed(200);  
  Motor4.run(FORWARD);  
 }else if((Right_Value==1)&&(Left_Value==1)) {  
  Motor1.setSpeed(0);  
  Motor1.run(RELEASE);  
  Motor2.setSpeed(0);  
  Motor2.run(RELEASE);  
  Motor3.setSpeed(0);  
  Motor3.run(RELEASE);  
  Motor4.setSpeed(0);  
  Motor4.run(RELEASE);  
 }else if(distance > 1 && distance < 10) {  
  Motor1.setSpeed(0);  
  Motor1.run(RELEASE);  
  Motor2.setSpeed(0);  
  Motor2.run(RELEASE);  
  Motor3.setSpeed(0);  
  Motor3.run(RELEASE);  
  Motor4.setSpeed(0);  
  Motor4.run(RELEASE);  




  }  
  }