const int trigPin = 10;
const int echoPin = 11;


const int stepPins[] = {2, 4, 6, 8};
const int dirPins[] = {3, 5, 7, 9};

void setup() 
{
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  for (int i = 0; i < 4; i++) 
  {
    pinMode(stepPins[i], OUTPUT);
    pinMode(dirPins[i], OUTPUT);
  }
  Serial.begin(9600);
}

void loop() 
{
  long duration, distance;

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);

  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  distance = (duration / 2) / 29.1;

  Serial.print("Distance: ");
  Serial.println(distance);

  if (distance > 30) 
  {
    Serial.println("Moving motors clockwise");
    for (int i = 0; i < 4; i++) 
    {
      digitalWrite(dirPins[i], HIGH); 
    }
  } else 
  {
    Serial.println("Moving motors counterclockwise");
    for (int i = 0; i < 4; i++) 
    {
      digitalWrite(dirPins[i], LOW); 
    }
  }

  for (int x = 0; x < 200; x++) 
  { 
    for (int i = 0; i < 4; i++) 
    {
      digitalWrite(stepPins[i], HIGH);
    }
    delayMicroseconds(800); 
    for (int i = 0; i < 4; i++) 
    {
      digitalWrite(stepPins[i], LOW);
    }
    delayMicroseconds(800); 
  }

  delay(10); 
}