#include <LiquidCrystal.h>
#include <Stepper.h>
h

const int STEPS_PER_REV = 200; 
const int TRIG_PIN = 7;
const int ECHO_PIN = 6;
const int RS = 12, EN = 11, D4 = 5, D5 = 4, D6 = 3, D7 = 2;


LiquidCrystal lcd(RS, EN, D4, D5, D6, D7);
Stepper myStepper(STEPS_PER_REV, 8, 9, 10, 11); 
int stepCount = 0;

void setup() {
  Serial.begin(9600);
  lcd.begin(16, 2);
  myStepper.setSpeed(10); 

  pinMode(TRIG_PIN, OUTPUT); 
  pinMode(ECHO_PIN, INPUT); 
}

void loop() {
  
  long duration, distanceCm;
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2); 
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  duration = pulseIn(ECHO_PIN, HIGH);
  distanceCm = duration / 29.1 / 2; 

   
 
 if (distanceCm < 30) { 
    myStepper.step(1);  
    stepCount++;
  } else {
    myStepper.step(-1); 
    stepCount--;
  }
  
  lcd.setCursor(0, 0);
  lcd.print("Distance: ");
  lcd.print(distanceCm);
  lcd.print("cm  ");

  lcd.setCursor(0, 1); 
  lcd.print("Steps:    "); 
  lcd.print(stepCount); 

  
  delay(50); 
}