#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Ultrasonic.h>
#include <Servo.h>
#define trigPin1 11
#define echoPin1 10
#define trigPin2 9
#define echoPin2 8
#define servoPin 6
Ultrasonic ultrasonic1(trigPin1,echoPin1);
Ultrasonic ultrasonic2(trigPin2,echoPin2);
LiquidCrystal_I2C lcd(0x27,16,2);
Servo Mservo;
int x=0;

void setup() {
  // put your setup code here, to run once:
  Mservo.attach(servoPin);
  lcd.init();
  lcd.backlight();
  lcd.setCursor(4,0);
  lcd.print("counter:");
}

void loop() {
  // put your main code here, to run repeatedly:
  long distance1=ultrasonic1.read();
  long distance2=ultrasonic2.read();
  if (distance1<400 and distance1>350){
        x=0;
  }
  if (distance1<350 and distance1>250){
        x=1;
  }
  if (distance1<250 and distance1>150 ){
        x=2;
  }
  if (distance1<150 and distance1>50 ){
        x=3;
  }
  if (distance2<200 and distance2> 50 ){
    if (x !=3){
      lcd.clear();
      Mservo.write(0);
      lcd.setCursor(4,0);
      lcd.print("counter:");
      lcd.setCursor(7,1);
      lcd.print(x);
      delay(15000);
      Mservo.write(90);
      delay(1000);
    }else {

    lcd.setCursor(4,0);
    lcd.print("counter:");
    lcd.setCursor(6,1);
    lcd.print("full");
    }
  }else{
    if(x<3){
      Mservo.write(90);
      lcd.setCursor(4,0);
      lcd.print("counter:");
      lcd.setCursor(7,1);
      lcd.print(x);
    }else{
      lcd.setCursor(4,0);
      lcd.print("counter:");
      lcd.setCursor(6,1);
      lcd.print("full");
    }
  }
  
}