//exercicio 7
//Gabriel Lisboa Leite de Melo
#include <Servo.h>
#include <LiquidCrystal_I2C.h>
#include <Wire.h>
Servo servo;
int servopos;
#define PIN_TRIG1 3
#define PIN_ECHO1 2
#define PIN_TRIG2 5
#define PIN_ECHO2 4
LiquidCrystal_I2C lcd1(0x27, 16, 2);
LiquidCrystal_I2C lcd2(0x26, 16, 2);

 bool sensorAnt1 = false;
 bool sensorAnt2 = false;
void setup() {
  lcd1.init();
  lcd2.init();
 servo.attach(11);
 servo.write(0);
 Serial.begin(115200);
 pinMode(PIN_TRIG1, OUTPUT);
 pinMode(PIN_ECHO1, INPUT);
 pinMode(PIN_TRIG2, OUTPUT);
 pinMode(PIN_ECHO2, INPUT);

}
void loop() {
  lcd1.setBacklight(1);
  lcd2.setBacklight(1);
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 distanciaCM1 = (duration1/58);
int distanciaCM2 = (duration2/58);
delay(100);

 bool sensorAtu1 = (distanciaCM1 <= 10);
 bool sensorAtu2 = (distanciaCM2 <= 10);

  if (sensorAnt1 == true && sensorAtu1 == false) {
    servo.write(90); // Gira o servo até 90°
    delay(500);
  }
    if (sensorAnt2 == true && sensorAtu2 == false) {
    servo.write(0); // Gira o servo até 0°
  delay(500);
  }
  sensorAnt1 = sensorAtu1;
  sensorAnt2 = sensorAtu2;
  delay(100);
  
  if((sensorAtu1 == false && sensorAtu2 == false)&&(sensorAtu1 == false && sensorAtu2 == false)){
    lcd1.clear();
    lcd1.setCursor(4,0);
    lcd1.print("PERCURSO");
    lcd1.setCursor(5,1);
    lcd1.print("LIVRE");
    
    lcd2.clear();
    lcd2.setCursor(4,0);
    lcd2.print("PERCURSO");
    lcd2.setCursor(5,1);
    lcd2.print("LIVRE");
    
  }
 if(sensorAtu1 == true || sensorAtu2 == true){
  lcd1.clear();
  lcd1.setCursor(3,0);
  lcd1.print("DIMINUA A");
  lcd1.setCursor(3,1);
  lcd1.print("VELOCIDADE");
  
}
if(sensorAtu1 == true){
  lcd2.clear();
  lcd2.setCursor(4,0);
  lcd2.print("CANCELA");
  lcd2.setCursor(3,1);
  lcd2.print("SERA ABERTA");
}
if (sensorAnt1 == true && sensorAtu1 == false){
    lcd2.clear();
    lcd2.setCursor(4,0);
    lcd2.print("CANCELA");
    lcd2.setCursor(5,1);
    lcd2.print("ABERTA");
  }
}