// ROBOT KARNAFAL MASIH PROSES
// Api (3 potentiometers)
const int Api_L  = 12;
const int Api_C  = 34;
const int Api_R  = 35;
// IR boundary sensors
const int IR_L   = 25;
const int IR_R   = 26;
// Servo
const int ServoL = 25;
const int ServoR = 26;
// Led Mata
const int LedR   = 25;
const int LedL   = 26;
// Ultrasonic
const int TRIG   =  5;
const int ECHO   =  2;
// Api ADC threshold (tune as needed)
const int Api_THRESHOLD = 2000;

// ULTRASONIC FUNCTION
long getDistanceCM(){
  digitalWrite(TRIG,  LOW); delayMicroseconds(5);
  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
  digitalWrite(TRIG,  LOW);
  long duration = pulseIn(ECHO, HIGH, 40000);
  if(duration == 0) return -1;  // no echo
  return duration * 0.0345 / 2;}  // convert to cm

void setup(){
  Serial.begin(115200);
  // IR sensors
  pinMode(IR_L, INPUT);
  pinMode(IR_R, INPUT);
  // Servo
  pinMode(ServoL, OUTPUT);
  pinMode(ServoR, OUTPUT);
  // Ultrasonic pins
  pinMode(TRIG, OUTPUT);
  pinMode(ECHO,  INPUT);
  Serial.println("Defense");}

void loop(){
  // Read Api Sensors (3 pots)
  int ApiL = analogRead(Api_L);
  int ApiC = analogRead(Api_C);
  int ApiR = analogRead(Api_R);
  bool detectL = ApiL > Api_THRESHOLD;
  bool detectC = ApiC > Api_THRESHOLD;
  bool detectR = ApiR > Api_THRESHOLD;
  // Read IR Boundary Sensors
  bool L_Hit = (digitalRead(IR_L) == LOW);
  bool R_Hit = (digitalRead(IR_R) == LOW);
  // Read Ultrasonic
  long distance = getDistanceCM();
  // Print Clean Sensor Output
  Serial.println("\--------");
  Serial.println("   SENSOR READINGS");
  Serial.println("--------");
  Serial.print  ("Api L/C/R ADC: ");
  Serial.print  (ApiL); Serial.print(" | ");
  Serial.print  (ApiC); Serial.print(" | ");
  Serial.println(ApiR);
  Serial.print  ("Api Logic: ");
       if(detectL) Serial.println("LEFT");
  else if(detectR) Serial.println("RIGHT");
  else if(detectC) Serial.println("CENTER");
  else             Serial.println("NO Api");
  Serial.print("Boundary Sensors F/B: ");
  Serial.print(L_Hit);  Serial.print(" / ");
  Serial.println(R_Hit);
  Serial.print("Distance (cm): ");
  if(distance < 0)      Serial.println("NO ECHO");
  else                  Serial.println(distance);
  delay(300);}