#define L1 13
int IR1 = 7;
const int trig = 5;
const int echo = 4;
long durasi;
int IR2 = 6;

int jrk;
#include <Servo.h>
Servo S1;


void setup() {
pinMode(L1, OUTPUT);
pinMode(IR1,INPUT);
pinMode(trig,OUTPUT);
pinMode(echo, INPUT);
S1.attach(9); 
S1.write(0);
Serial.begin(9600);
pinMode(IR2,INPUT);
}

void loop() {
if (digitalRead(IR1) == 0){
digitalWrite(L1, HIGH);
S1.write(90);
}

if (digitalRead(IR2) == 0){
digitalWrite(L1, HIGH);
S1.write(180);
}

digitalWrite(trig, LOW);
digitalWrite(trig, HIGH);
digitalWrite(trig, LOW);

durasi = pulseIn(echo,HIGH);
jrk = durasi*0.034/2;

Serial.print("JARAk");
Serial.println(jrk);
Serial.flush();

if (jrk >=50){
  digitalWrite(L1, LOW);
S1.write(0);
}
}