#define L1 13
int IR = 12;
const int trg = 7;
const int ech = 4;
long durasi;
int IR2 = 8;

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


void setup() {
pinMode(L1, OUTPUT);
pinMode(IR,INPUT);
pinMode(trg,OUTPUT);
pinMode(ech, INPUT);
S1.attach(2); 
S1.write(0);
Serial.begin(9600);
pinMode(IR2,INPUT);


}

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

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

 digitalWrite(trg, LOW);
digitalWrite(trg, HIGH);
digitalWrite(trg, LOW);

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

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

if (jrk >=100){
  digitalWrite(L1, LOW);
S1.write(0);



}
}