from machine import Pin, PWM
from hcsr04 import HCSR04
from time import sleep
import utime

servo_180 = PWM(Pin(15))
servo_180.freq(50)
sensor = HCSR04(trigger_pin=2, echo_pin=3, echo_timeout_us=10000)

while True:
  d =int(sensor.distance_cm())
  if d >=20 and d<=25:
    print('DSM')
    duty = int((12.346*0*2 + 7777.8*0 + 700000))
    servo_180.duty_ns(duty)
    sleep(5)
  else:
    duty = int((12.346*90*2 + 7777.8*90 + 700000))
    servo_180.duty_ns(duty) 
  print('Distance:', d, 'cm')
  sleep(1)