#include "suryaa.h"
int distance=0;
int duration=0;

void set_ultrasonic_sensor(void)
{
  digitalWrite(7,LOW);
  delay_microsec(2);
  digitalWrite(7,HIGH);
  delay_microsec(10);
  digitalWrite(7,LOW);
  duration=pulseIn(6,HIGH);
  distance=duration*0.034/2;
  delay_microsec(1000);
}

void setup() 
{
  pin_configure();
   set_timer0_pwm();
   set_timer2_pwm();
   configure_leds();
   configure_ultrasonic_pin();
  Serial.begin(9600);
}

void loop()
{
  set_ultrasonic_sensor();
  if(distance>20)
  {
    move_forward();
  }
  else
  {
    stop_motor();
    reverse_motor();
    turn_right();
  }
}