#include <Servo.h>

#define TRIG_PIN 9
#define ECHO_PIN 10

Servo motor1;  
Servo motor2;  

#define MOTOR_PIN_1 3  
#define MOTOR_PIN_2 5  

#define PWM_MAX_SPEED 255  

void setup() {
  Serial.begin(9600);

  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  motor1.attach(MOTOR_PIN_1);  
  motor2.attach(MOTOR_PIN_2);  

  motor1.write(0);  
  motor2.write(0);  
}

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

  
  long duration = pulseIn(ECHO_PIN, HIGH);
  float distance = (duration * 0.034) / 2;

  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  if (distance < 15) {
    
    motor1.write(0);
    motor2.write(0);
  } else if (distance >= 15 && distance <= 30) {
    
    motor1.write(90);  
    motor2.write(0);   
  } else {
    
    int pwmValue = map(distance, 30, 100, 100, PWM_MAX_SPEED);  
    pwmValue = constrain(pwmValue, 0, PWM_MAX_SPEED);           

    motor1.write(pwmValue);  
    motor2.write(pwmValue);  
  }

  delay(500);  
}