#include<LiquidCrystal.h>
const int rs=12,en=11,d4=5,d5=4,d6=3,d7=2;
LiquidCrystal lcd(rs,en,d4,d5,d6,d7);
int buzzer=6;
int trigPin=7;
int echoPin=8;
long duration;
int distance;
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.setCursor(0,0);
  lcd.print("OPSTACLE IS NEAR..!!");
  lcd.setCursor(0,1);
  lcd.print("DISTANCE:");
  lcd.setCursor(9,1);
  lcd.print(distance);
  digitalWrite(trigPin,LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin,HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin,LOW);
  duration = pulseIn(echoPin,HIGH);
  distance = duration * 0.034/2;
  analogWrite(buzzer,1000);
  tone(buzzer , map(distance , 2000 , 0 , 0 , 1023 ));
  delay(100);
}