#include <Servo.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);
Servo siservo;
#define ECHO_PIN 6
#define TRIG_PIN 5
int sudut = 180;

void setup() {
  lcd.init();
  lcd.backlight();
  pinMode(4, OUTPUT );
  pinMode(8, OUTPUT );

  siservo.attach(3);
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
}
float jarak_cm(){
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  int duration = pulseIn(ECHO_PIN, HIGH);
  return duration * 0.034 / 2;
}
void loop() {
  // put your main code here, to run repeatedly:
  float cm = jarak_cm();

  if(cm <= 100){
    sudut = 90;
    siservo.write(sudut);
    digitalWrite(8, HIGH);
    digitalWrite(4, LOW);

    {sudut = 90;
    siservo.write(sudut);
    lcd.setCursor(0,0);
    lcd.print("HATI HATI DAN  ");
    lcd.setCursor(0,1);
    lcd.print("SELAMAT JALAN   ");
    delay(1000);}

  }
  else{
    sudut = 180;
    siservo.write(sudut);
    digitalWrite(8, LOW);
    digitalWrite(4, HIGH);
    lcd.setCursor(0,0);
    lcd.print("PELANKAN MOBIL");
    lcd.setCursor(0,1);
    lcd.print("TEMPELKAN KARTU");
    delay(1000);
  }
}