#include <LiquidCrystal.h>
const int rs=13,es=12,d4=5,d5=4,d6=3,d7=2;
LiquidCrystal lcd (rs,es,d4,d5,d6,d7);
int triger_pin=11;
int echo_pin=10;
int distance;
long duration;
int array[10];
int bz=7;
void setup() {
  lcd.begin(16,2);
  lcd.setCursor(0,0);
  lcd.print("welcome ");
  delay(1500);
  lcd.clear();
pinMode(triger_pin, OUTPUT);
pinMode(echo_pin, INPUT);

}

void loop() {
  for(int i=0;i<=4;i++){
  digitalWrite(triger_pin, LOW);
  delayMicroseconds(2);
  digitalWrite(triger_pin, HIGH);
  delayMicroseconds(10);
 duration=pulseIn(echo_pin,HIGH);
 distance=duration*0.034/2;
 array[i]=distance;
 delay(1000);
  }
int av_dis=0;
for(int i=0;i<=5;i++){
  av_dis=av_dis+array[i];
}
int aav_dis=av_dis/5;
 lcd.setCursor(0,0);
 lcd.print("position");
 lcd.setCursor(0,1);
 lcd.print(aav_dis);
 delay(1000);
 lcd.clear();
 if (aav_dis<50)
{
   lcd.clear();
  digitalWrite(bz,1);
  tone(bz,100);
  lcd.setCursor(0,0);
  lcd.print("stoped");
  delay(1000);
 
}
else if(aav_dis>=50&& aav_dis<=200){
    lcd.clear();
  digitalWrite(bz,0);
  noTone(bz);
  lcd.setCursor(0,0);
  lcd.print("move");
  delay(1000);
}
else{
   lcd.clear();
  digitalWrite(bz,0);
  noTone(bz);
  lcd.setCursor(0,0);
  lcd.print("beyond limit");
  delay(100);
 
}
}