#include <LiquidCrystal_I2C.h>
#include <Servo.h>

Servo front;
Servo back;
LiquidCrystal_I2C lcd(0x27, 20, 4);

int echo = 4;
int trig = 5;
int echo1 = 2;
int trig1 = 3;
long distance;
long distance1;
long duration;
long duration1;
bool frontDoorState = true;
bool lightsState = true;
int IR = 10;
int IR1 = 11;

int relayFront = 8;
int relayBack = 7;

void setup() {
    Serial.begin(9600);

    lcd.init();
    lcd.backlight();
    lcd.setCursor(0, 0);
    lcd.print("WELCOME");

    pinMode(echo, INPUT);
    pinMode(echo1, INPUT);
    pinMode(trig, OUTPUT);
    pinMode(trig1, OUTPUT);
    pinMode(IR, INPUT);
    pinMode(IR1, INPUT);
    pinMode(relayFront, OUTPUT);
    pinMode(relayBack, OUTPUT);

    front.attach(6);
    back.attach(9);
}

void loop() {
    int IRVal = digitalRead(IR);
    int IRVal1 = digitalRead(IR1);

    digitalWrite(trig, LOW);
    delay(10);
    digitalWrite(trig, HIGH);
    delay(10);
    digitalWrite(trig, LOW);
    duration = pulseIn(echo, HIGH);
    distance = duration * 0.034 / 2;

    digitalWrite(trig1, LOW);
    delay(10);
    digitalWrite(trig1, HIGH);
    delay(10);
    digitalWrite(trig1, LOW);
    duration1 = pulseIn(echo1, HIGH);
    distance1 = duration1 * 0.034 / 2;

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Distance ");
    lcd.print(distance);
    lcd.print(" cm");

    lcd.setCursor(0, 1);
    lcd.print("Distance1 ");
    lcd.print(distance1);
    lcd.print(" cm");

    if (distance <= 30 && distance > 0) {
        if (frontDoorState) {
            openFrontDoor();
            frontDoorState = false;
        } else {
            frontDoorState = true;
        }
    }

    if (distance1 <= 30 && distance1 > 0) {
        if (frontDoorState) {
            openBackDoor();
            frontDoorState = false;
        } else {
            frontDoorState = true;
        }
    }

    if (IRVal == 0) {
        lightsOn();
    }
    if (IRVal1 == 0) {
        lightsOff();
    }
}

void openFrontDoor() {
    lcd.clear();
    lcd.setCursor(5, 0);
    lcd.print("FRONT ENTRY");

    for (int i = 90; i >= 0; i--) {
        front.write(i);
        delay(10);
    }

    delay(2000);

    for (int i = 0; i <= 90; i++) {
        front.write(i);
        delay(10);
    }
}

void openBackDoor() {
    lcd.clear();
    lcd.setCursor(5, 0);
    lcd.print("BACK ENTRY");

    for (int i = 90; i >= 0; i--) {
        back.write(i);
        delay(10);
    }

    delay(20000);

    for (int i = 0; i <= 90; i++) {
        back.write(i);
        delay(10);
    }
}

void lightsOn() {
    digitalWrite(relayFront, LOW);
    digitalWrite(relayBack, LOW);
    lcd.setCursor(5, 1);
    lcd.print("LIGHTS ON");
    delay(2000);
}

void lightsOff() {
    digitalWrite(relayFront, HIGH);
    digitalWrite(relayBack, HIGH);
    lcd.setCursor(5, 1);
    lcd.print("LIGHTS OFF");
    delay(2000);
}