#include <LiquidCrystal_I2C.h> //initialize the liquid crystal library
#include <Wire.h> // this library allows you to communicate with I2C devices

LiquidCrystal_I2C lcd(0x27,  16, 2); // lcd (I2C address, number of rows, number of columns)


const int trigPin = 2;
const int echoPin = 5;


float duration, distance;  


#include <Servo.h> // library to control servo motors | https://docs.arduino.cc/learn/electronics/servo-motors/


Servo myservo;  // create servo object to control a servo


void setup() {
  myservo.attach(4);  // attaches the servo on pin 9 to the servo object


  pinMode(trigPin, OUTPUT);  
  pinMode(echoPin, INPUT);  


  lcd.init(); //initialize lcd screen
  lcd.backlight(); // turn on the backlight
  lcd.blink(); // Print a message to the LCD.


  Serial.begin(9600);
}


void loop() {
 
  digitalWrite(trigPin, LOW);  
  delayMicroseconds(2);  
  digitalWrite(trigPin, HIGH);  
  delayMicroseconds(10);  
  digitalWrite(trigPin, LOW);  


  duration = pulseIn(echoPin, HIGH);
  distance = (duration*.0343)/2;  


  int val = map(distance, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
  myservo.write(val); // sets the servo position according to the scaled value
  delay(15); // waits for the servo to get there


  lcd.setCursor(0,0);
  lcd.print("Angle: ");
  lcd.setCursor(0, 1); // set the cursor to column 0, line 1 (line 1 is the second row, counting begins with 0)
  lcd.print(" ");
  lcd.setCursor(0, 1);
 
  lcd.print(val);
  Serial.println(val);


delay(100);
}