// Exercício 7
// Breno Correia Lociks

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

Servo servo1;
LiquidCrystal_I2C lcd1(0x27,16,2);
LiquidCrystal_I2C lcd2(0x26,16,2);

#define PIN_ECHO1 8
#define PIN_TRIG1 9
#define PIN_ECHO2 2
#define PIN_TRIG2 3

char detectou1 = false;
char detectou2 = false;

char limpou1 = false;
char limpou2 = false;
char limpou3 = false;

void setup() {
  pinMode(PIN_TRIG1, OUTPUT);
  pinMode(PIN_ECHO1, INPUT);
  pinMode(PIN_TRIG2, OUTPUT);
  pinMode(PIN_ECHO2, INPUT);

  lcd1.init();
  lcd1.setBacklight(HIGH);

  lcd2.init();
  lcd2.setBacklight(HIGH);

  servo1.attach(5);
  servo1.write(0);
}

void loop() {

  digitalWrite(PIN_TRIG1, HIGH);
  delayMicroseconds(10);
  digitalWrite(PIN_TRIG1, LOW);

  int duration1 = pulseIn(PIN_ECHO1, HIGH);
  
  digitalWrite(PIN_TRIG2, HIGH);
  delayMicroseconds(10);
  digitalWrite(PIN_TRIG2, LOW);

  int duration2 = pulseIn(PIN_ECHO2, HIGH);

  int distCM1 = duration1 / 58;
  int distCM2 = duration2 / 58;

  if(distCM1 > 200 && detectou1 == false && limpou1 == false){

    lcd1.clear();
    lcd1.setCursor(4,0);
    lcd1.print("PERCURSO");
    lcd1.setCursor(6,1);
    lcd1.print("LIVRE");

    lcd2.clear();
    lcd2.setCursor(4,0);
    lcd2.print("PERCURSO");
    lcd2.setCursor(6,1);
    lcd2.print("LIVRE"); 

    limpou1 = true;   
    limpou2 = false;
    limpou3 = false;
  }

  if(distCM1 < 200){
    detectou1 = true;
  }

  if(distCM1 > 200 && detectou1 == true && limpou2 == false){
    servo1.write(90);

    lcd1.clear();
    lcd1.setCursor(3,0);
    lcd1.print("DIMINUA  A");
    lcd1.setCursor(3,1);
    lcd1.print("VELOCIDADE");

    lcd2.clear();
    lcd2.setCursor(4,0);
    lcd2.print("CANCELA");
    lcd2.setCursor(5,1);
    lcd2.print("ABERTA");

    limpou1 = false;   
    limpou2 = true;
    limpou3 = false;
  } 

  if(distCM1 < 200 && detectou1 == true && limpou3 == false){
    
    lcd2.clear();
    lcd2.setCursor(4,0);
    lcd2.print("CANCELA");
    lcd2.setCursor(2,1);
    lcd2.print("SERA ABERTA");

    limpou1 = false;   
    limpou2 = false;
    limpou3 = true;
  }

  if(distCM2 < 200 && detectou2 == false){
    detectou2 = true;
  }

  if(distCM2 > 200 && detectou2 == true){
    servo1.write(0);
    detectou1 = false;
    detectou2 = false;
  }  
}