#include<LiquidCrystal.h>
const int rs=12,en=11,d4=5,d5=4,d6=3,d7=2,max=200,min=50;
LiquidCrystal lcd(rs,en,d4,d5,d6,d7);
int trigPin=8;
int echoPin=9;
long duration;
int distance[5];
int buzzer=6;
int r=A0 , g=A1 , b=A2;
int avg;
void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  lcd.begin(16,2);
  pinMode(trigPin , OUTPUT);
  pinMode(echoPin , INPUT);
  pinMode(buzzer , OUTPUT);
}
void loop() {
  // put your main code here, to run repeatedly:
    lcd.clear();
    // int value=0;
  for(int i=0;i<5;i++){
  digitalWrite(trigPin , LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin , HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin , LOW);
  duration = pulseIn(echoPin , HIGH);
  distance[i] = duration * 0.034/2;
  // Serial.println(distance);
  // value = value + distance;
  }
  // Serial.println(value);
  // value = value / 5;
  avg = (distance[0]+distance[1]+distance[2]+distance[3]+distance[4])/5;
  if(avg<max && avg>min){
  lcd.setCursor(0,0);
  lcd.print("OPSTACLE AHEAD..!");
  lcd.setCursor(0,1);
  lcd.print("AVG DIST:");
  lcd.setCursor(9,1);
  lcd.print(avg);
  digitalWrite(buzzer , LOW);
  noTone(6);
  analogWrite(g,0);
  analogWrite(r,0);
  analogWrite(b,255);
  }
  else if(avg>max){
    lcd.setCursor(0,0);
    lcd.print("FREE TO MOVE..");
    lcd.setCursor(0,1);
    lcd.print("AVG DIST:");
    lcd.setCursor(9,1);
    lcd.print(avg);
    digitalWrite(buzzer , LOW);
    noTone(6);
      analogWrite(g,255);
  analogWrite(r,0);
  analogWrite(b,0);
  }
  else if(avg>0 && avg<=50){
     lcd.setCursor(0,0);
    lcd.print("DANGER..!!");
    lcd.setCursor(0,1);
    lcd.print("AVG DIST:");
    lcd.setCursor(9,1);
    lcd.print(avg);
    digitalWrite(buzzer , HIGH);
    tone(6,1000);
      analogWrite(g,0);
  analogWrite(r,255);
  analogWrite(b,0);
  }
  delay(15000);
}