#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>

// Pin definitions for HC-SR04 Ultrasonic Sensor
const int trigPin = 7;
const int echoPin = 6;

// Pin definition for Servo
const int servoPin = 9;

// Create Servo object
Servo myServo;

// Create LCD object with I2C address (0x27 is common for most 16x2 I2C LCDs)
LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup() {
  // Initialize serial communication
  Serial.begin(9600);

  // Initialize the HC-SR04 sensor pins
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // Initialize the servo motor
  myServo.attach(servoPin);

  // Initialize the LCD
  lcd.begin(16, 2);
  lcd.print("System Ready Sir");
  delay(2000);  // Display message for 2 seconds
  lcd.clear();
}

void loop() {
  // Trigger the ultrasonic sensor to send a pulse
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  // Read the pulse from the echo pin
  long duration = pulseIn(echoPin, HIGH);

  // Calculate the distance in centimeters (speed of sound is ~343 m/s)
  long distance = duration * 0.0344 / 2;

  // Print the distance to the Serial Monitor (optional)
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  // Check if the distance is within a specific range (e.g., object detected within 30 cm)
  if (distance < 30) {  // Object detected within 30 cm
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("What are u doin?");
    myServo.write(90);  // Rotate servo to 90 degrees
    delay(10000);  // Hold the servo position for 1 second

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Waiting...");
    myServo.write(0);  // Return the servo to 0 degrees
    delay(2000);  // Wait for 2 seconds before checking again
  } else {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("All Clear Roger");
  }

  delay(200);  // Short delay to avoid continuous sensor reading
}