from machine import Pin,time_pulse_us,PWM
import time
trig=Pin(3,Pin.OUT)
echo=Pin(2,Pin.IN)
servo=PWM(Pin(15))
servo.freq(50)
def set_angle(angle):
    duty=int(1000+(angle/180)*8000)
    servo.duty_u16(duty)
def distance():
    trig.low()
    time.sleep_us(2)
    trig.high()
    time.sleep_us(10)
    trig.low()
    duration=time_pulse_us(echo,1)
    distance=(duration*0.0343)/2
    return distance
def center():
    set_angle(90)
    time.sleep(1)
def left_turn():
    set_angle(150)
    time.sleep(2)
def right_turn():
    set_angle(30)
    time.sleep(2)
while True:
    center()
    print("Motor Stopped")
    front_distance=int(distance())
    print("Front Distance:",front_distance)
    if front_distance<10:
        left_turn()
        left_dist=int(distance())
        print("Left Distance:",left_dist)
        time.sleep(0.5)

        right_turn()
        right_dist=int(distance())
        print("Right Distance:",right_dist)
        time.sleep(0.5)

        if left_dist>right_dist:
            print("Move Left")
        elif right_dist>left_dist:
            print("Move Right")
    time.sleep(0.5)