#include <Servo.ku>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd (0*27, 16, 2);

Servo Servoku2;
Servo Servoku;
int echoPin = 4;
int trigPin = 5;
int buzzer = 13;
int led = 12;

void setup() {
  
  Serial.begin(9600);
  pinMode(echoPin, INPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(buzzer, OUTPUT);
  servoku.attach(6);
  servoku2.attach(7);
  lcd.begin(16, 2);
  lcd.backlight();

}

float bacaUltrasonik(){
  digitalWrite(trigPin, LOW);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(2);
  digitalWrite(trigPin, LOW);
  int durasi = pulseIn(echoPin, HIGH);
  return (durasi / 2) / 29;;
}

void loop() {
  
  float jarak = bacaUltrasonik();
  if(jarak>=150){
    lcd.setCursor(0, 0);
    lcd.print("Palang Terbuka");
    lcd.setCursor(0,1);
    lcd.print("            ");
    delay(10);
    noTone(buzzer);
    servoku2.write(90);
    servoku.write(90);
  }
  else{
    lcd.setCursor(0, 0);
    lcd.print("Harap Ngenteni!! ");
    lcd.setCursor(0,1);
    led.print("Agar Selamat.");
    delay(10);
    tone(buzzer, 1000);
    digitalWrite(led, HIGH);
    delay(500);
    tone(buzzer, 10);
    digitalWrite(led, LOW);
    delay(500);
    servoku2.write(180);
    servoku.write(0);
  }
}