#include <Arduino.h>
#include <ESP32Servo.h>  // Ensure this is the correct include

#define TRIG_PIN 5
#define ECHO_PIN 18
#define SERVO_PIN 19

Servo myServo;

void init_ultrasonic() {
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  digitalWrite(TRIG_PIN, LOW);
}

long get_distance() {
  long duration, distance;

  // Clear the TRIG_PIN
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);

  // Set the TRIG_PIN high for 10 microseconds
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);

  // Read the ECHO_PIN, pulseIn() returns the duration (microseconds) of the pulse
  duration = pulseIn(ECHO_PIN, HIGH);

  // Calculate the distance
  distance = duration * 0.0343 / 2;

  return distance;
}

void setup() {
  Serial.begin(115200);
  init_ultrasonic();
  myServo.attach(SERVO_PIN);
  myServo.write(90);  // Initialize the servo to stop (assuming 90 is the stop position for a continuous rotation servo)
}

void loop() {
  long distance = get_distance();
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  // Rotate the servo in one direction
  myServo.write(180);  // Assuming 180 causes the servo to rotate in one direction
  delay(1000);  // Adjust the delay as needed to achieve a 360-degree rotation
  myServo.write(90);   // Stop the servo
  delay(500);  // Wait for half a second

  // Rotate the servo in the opposite direction
  myServo.write(0);    // Assuming 0 causes the servo to rotate in the opposite direction
  delay(1000);  // Adjust the delay as needed to achieve a 360-degree rotation
  myServo.write(90);   // Stop the servo
  delay(500);  // Wait for half a second
}