#include <Servo.h>
#include <Ultrasonic.h>
#include <Wire.h> 
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27,16,2);

const int ledv=6, ledj=7,ledr=8,buzz=12,motorBar=11,SG=9,SD=10,trig1=2,echo1=3,trig2=4,echo2=5;
Ultrasonic ultrasonic1(trig1, echo1);
Ultrasonic ultrasonic2(trig2,echo2);

Servo Sg;
Servo Sd;
Servo Barr;
int distance1,distance2;


float getDistance(int trigPin, int echoPin) {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  long duration = pulseIn(echoPin, HIGH);
  return duration * 0.034 / 2; // حساب المسافة بالسنتيمترات
}

void setup() {
  Serial.begin(9600);
  pinMode(ledv,OUTPUT);
  pinMode(ledj,OUTPUT);
  pinMode(ledr,OUTPUT);
  pinMode(buzz,OUTPUT);
   Sd.attach(SD);
  Sd.write(180);
  Sg.attach(SG);
  Sg.write(85);
  Barr.attach(motorBar);
  Barr.write(90);

pinMode(trig1, OUTPUT);
pinMode(echo1, INPUT);
pinMode(trig2, OUTPUT);
pinMode(echo2, INPUT);

  lcd.init();
  lcd.backlight();
  lcd.print("DIB:salem alicom");
}

void loop() {
   digitalWrite(ledv,HIGH);
   digitalWrite(ledr,LOW);

 distance1 = ultrasonic1.read();
 distance2 = ultrasonic2.read();
 Serial.print("distance 1 = ");
 Serial.print(distance1);
 Serial.print("\n");
 Serial.print("distance 2 = ");
 Serial.print(distance2);
 Serial.print("\n");

 float distance1 = getDistance(trig1, echo1); // قراءة المسافة من الحساس 1
float distance2 = getDistance(trig2, echo2); // قراءة المسافة من الحساس 2

  lcd.setCursor(0, 1);
  lcd.print("Distance: ");
  lcd.print(distance1);
  lcd.print(distance2);
  lcd.print(" cm");

 if (distance1<10 && distance1 >3){
   for(int i =0 ; i<10; i++){
  tone(buzz, 1000); // Send 1KHz sound signal...
  delay(500);        // ...for 1 sec
  noTone(buzz);     // Stop sound...
  delay(100);

   }
   digitalWrite(ledr,HIGH);
   digitalWrite(ledv,LOW);
    delay(2000);
    Barr.write(0);
    delay(5000);
    Sd.attach(SD);
    Sg.attach(SG);
for (int pos = 85; pos >= 0; pos -= 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Sg.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
  delay(2000);
for (int pos = 180; pos >= 90; pos -= 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Sd.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
delay(10000);
for (int pos = 90; pos <= 180; pos += 1) { // goes from 180 degrees to 0 degrees
    Sd.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
  delay(2000);
for (int pos = 0; pos <= 85; pos += 1) { // goes from 180 degrees to 0 degrees
    Sg.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
    Barr.write(90);
delay (2000);
  digitalWrite(ledv,HIGH);
  digitalWrite(ledr,LOW);
 }
 else {
   Sd.detach();
   Sg.detach();
 }
 if (distance2<10 && distance2 >3){
   for(int i =0 ; i<10; i++){
    tone(buzz, 1000); // Send 1KHz sound signal...
  delay(500);        // ...for 1 sec
  noTone(buzz);     // Stop sound...
  delay(100);
   }
  digitalWrite(ledv,LOW);
  digitalWrite(ledr,HIGH);
delay(2000);
  Barr.write(0);
  delay(5000);
Sd.attach(SD);
Sg.attach(SG);
for (int pos = 85; pos >= 0; pos -= 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Sg.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
delay(2000);
for (int pos = 180; pos >= 90; pos -= 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Sd.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
delay(10000);
for (int pos = 90; pos <= 180; pos += 1) { // goes from 180 degrees to 0 degrees
    Sd.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
  delay(2000);
for (int pos = 0; pos <= 85; pos += 1) { // goes from 180 degrees to 0 degrees
    Sg.write(pos);              // tell servo to go to position in variable 'pos'
    delay(25);                       // waits 15 ms for the servo to reach the position
  }
    Barr.write(90);
delay(2000);
  digitalWrite(ledv,HIGH);
  digitalWrite(ledr,LOW);
 }
 else {
   Sd.detach();
   Sg.detach();
 }



}