const int Links     = 12;
const int Rechts    = 13;

const int Trigger   = 20;
const int Echo      = 21;

const int Fehler    = 6;

const int LEDanzahl = 10;

int LEDpins[] = {
  11, 10, 9, 8, 7, 6, 5, 4, 3, 2
};

int LEDstufe;
int dieseLED;

float Distanz;

bool Start        =  true;
bool Hinderniss   = false;
bool LinksDrehen  = false;
bool RechtsDrehen = false;
bool UmDrehen     = false;
bool Loop         = false;
bool LEDstatus    = false;

long unsigned int Drehen;
long unsigned int warte;

void setup() {
  Serial.begin(9600);
  pinMode(Echo,     INPUT);
  pinMode(Trigger, OUTPUT);
  pinMode(Links,   OUTPUT);
  pinMode(Rechts,  OUTPUT);

  for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
    pinMode(LEDpins[dieseLED], OUTPUT);
  }
}

float DistanzCM() {
  digitalWrite(Trigger,  LOW);
  delayMicroseconds(2);
  digitalWrite(Trigger, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trigger,  LOW);
  int Dauer = pulseIn(Echo, HIGH);
  return Dauer * 0.034 / 2;
}

void loop() {

  while (Start == true) {
    Distanz = DistanzCM();
    Serial.print("Gemessene Distanz: ");
    Serial.println(DistanzCM());

    LEDstufe = map(Distanz, 396, 2, 0, 10);

    for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
      if (dieseLED < LEDstufe) {
        digitalWrite(LEDpins[dieseLED], HIGH);
      }
      else {
        digitalWrite(LEDpins[dieseLED], LOW);
      }
    }

    if (Distanz <= 10) {
      Loop = true;
      warte = millis();

      while (Loop == true) {
        Distanz = DistanzCM();
        Serial.print("Gemessene Distanz: ");
        Serial.println(DistanzCM());

        LEDstufe = map(Distanz, 396, 2, 0, 10);

        for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
          if (dieseLED < LEDstufe) {
            digitalWrite(LEDpins[dieseLED], HIGH);
          }
          else {
            digitalWrite(LEDpins[dieseLED], LOW);
          }
        }

        if (millis() - warte >= 2000) {
          Loop        = false;
          Start       = false;
          Hinderniss  =  true;
          LinksDrehen =  true;
          Drehen = millis();
        }
      }
    }

    if (Distanz > 10) {
      digitalWrite(Links,  HIGH);
      digitalWrite(Rechts, HIGH);
      delay(5);
      digitalWrite(Links,   LOW);
      digitalWrite(Rechts,  LOW);
      delay(5);
    }
  }

  while (Hinderniss == true) {
    while (LinksDrehen == true) {
      Distanz = DistanzCM();
      Serial.print("Gemessene Distanz: ");
      Serial.println(DistanzCM());

      LEDstufe = map(Distanz, 396, 2, 0, 10);

      for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
        if (dieseLED < LEDstufe) {
          digitalWrite(LEDpins[dieseLED], HIGH);
        }
        else {
          digitalWrite(LEDpins[dieseLED], LOW);
        }
      }

      digitalWrite(Links, HIGH);
      delay(5);
      digitalWrite(Links,  LOW);
      delay(5);

      if (millis() - Drehen >= 2500) {
        Distanz = DistanzCM();
        Serial.print("Gemessene Distanz: ");
        Serial.println(DistanzCM());

        if (Distanz <= 10) {
          Loop = true;
          warte = millis();

          while (Loop == true) {
            Distanz = DistanzCM();
            Serial.print("Gemessene Distanz: ");
            Serial.println(DistanzCM());

            LEDstufe = map(Distanz, 396, 2, 0, 10);

            for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
              if (dieseLED < LEDstufe) {
                digitalWrite(LEDpins[dieseLED], HIGH);
              }
              else {
                digitalWrite(LEDpins[dieseLED], LOW);
              }
            }

            if (millis() - warte >= 2000) {
              RechtsDrehen =  true;
              LinksDrehen  = false;
              Loop         = false;
              Drehen = millis();
            }
          }
        }
        else {
          Start       =  true;
          Hinderniss  = false;
          LinksDrehen = false;
        }
      }
    }

    while (RechtsDrehen == true) {
      Distanz = DistanzCM();
      Serial.print("Gemessene Distanz: ");
      Serial.println(DistanzCM());

      LEDstufe = map(Distanz, 396, 2, 0, 10);

      for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
        if (dieseLED < LEDstufe) {
          digitalWrite(LEDpins[dieseLED], HIGH);
        }
        else {
          digitalWrite(LEDpins[dieseLED], LOW);
        }
      }

      digitalWrite(Rechts, HIGH);
      delay(5);
      digitalWrite(Rechts,  LOW);
      delay(5);

      if (millis() - Drehen >= 5000) {
        Distanz = DistanzCM();
        Serial.print("Gemessene Distanz: ");
        Serial.println(DistanzCM());

        if (Distanz <= 10) {
          Loop = true;
          warte = millis();

          while (Loop == true) {
            Distanz = DistanzCM();
            Serial.print("Gemessene Distanz: ");
            Serial.println(DistanzCM());

            LEDstufe = map(Distanz, 396, 2, 0, 10);

            for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
              if (dieseLED < LEDstufe) {
                digitalWrite(LEDpins[dieseLED], HIGH);
              } else {
                digitalWrite(LEDpins[dieseLED], LOW);
              }
            }

            if (millis() - warte >= 2000) {
              UmDrehen     =  true;
              RechtsDrehen = false;
              Loop         = false;
              Drehen = millis();
            }
          }
        }
        else {
          Start        =  true;
          Hinderniss   = false;
          RechtsDrehen = false;
        }
      }
    }

    while (UmDrehen == true) {
      Distanz = DistanzCM();
      Serial.print("Gemessene Distanz: ");
      Serial.println(DistanzCM());

      LEDstufe = map(Distanz, 396, 2, 0, 10);

      for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
        if (dieseLED < LEDstufe) {
          digitalWrite(LEDpins[dieseLED], HIGH);
        } else {
          digitalWrite(LEDpins[dieseLED], LOW);
        }
      }

      digitalWrite(Rechts, HIGH);
      delay(5);
      digitalWrite(Rechts,  LOW);
      delay(5);

      if (millis() - Drehen >= 2500) {
        Distanz = DistanzCM();
        Serial.print("Gemessene Distanz: ");
        Serial.println(DistanzCM());

        if (Distanz <= 10) {
          Loop      =  true;
          LEDstatus = false;
          warte = millis();
        }

        while (Loop == true) {
          Distanz = DistanzCM();
          Serial.print("Gemessene Distanz: ");
          Serial.println(DistanzCM());

          if (Distanz > 10) {
            Start      =  true;
            LEDstatus  = false;
            Loop       = false;
            UmDrehen   = false;
            Hinderniss = false;
          }

          if ((millis() - warte >= 500) && (Distanz <= 10)) {
            Distanz = DistanzCM();
            Serial.print("Gemessene Distanz: ");
            Serial.println(DistanzCM());

            for (dieseLED = 0; dieseLED < LEDanzahl; dieseLED++) {
              digitalWrite(LEDpins[dieseLED], LEDstatus);
            }

            LEDstatus = !LEDstatus;
            warte = millis();
          }
        }
      }
    }
  }
}