#include <Servo.h>
const int trigPin = 7;       
const int echoPin = 6;       
const int irSensorPin = 8;   
const int servoPin = 9;      
const int laneIndicatorLED = 4; 
long duration;
float distance;
Servo controlServo; 
void setup() {
    Serial.begin(9600);

    // Initialize pins
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    pinMode(irSensorPin, INPUT);
    pinMode(laneIndicatorLED, OUTPUT);
    
    controlServo.attach(servoPin); 
    controlServo.write(0); 
}
void loop() {
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    duration = pulseIn(echoPin, HIGH);
    distance = (duration * 0.0343) / 2;
    int laneDetected = digitalRead(irSensorPin);
    if (distance < 30) { 
        
        controlServo.write(0); 
    } else {
        controlServo.write(90); 
    }
    if (laneDetected == HIGH) {
        digitalWrite(laneIndicatorLED, HIGH);
        controlServo.write(90); 
    } else {
        digitalWrite(laneIndicatorLED, LOW); 
        controlServo.write(80); 
    }
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.println(" cm");
    delay(100);
}