#define IN1 8
#define IN2 9
#define IN3 10
#define IN4 11
#define ENA 5
#define ENB 6

#define TRIG 2
#define ECHO 3

long duration;
int distance;


int forwardTime = 10000;   
int turnTime = 1000;     

void setup() {
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);

  pinMode(TRIG, OUTPUT);
  pinMode(ECHO, INPUT);

  analogWrite(ENA, 200);
  analogWrite(ENB, 200);

  delay(2000); 
}

void loop() {

  
  moveForward();
  delay(forwardTime);

  stopMotors();
  delay(500);

  
  turnRight();
  delay(turnTime);

  stopMotors();
  delay(500);

  
  moveForward();
  delay(forwardTime);

  stopMotors();

  while(1); 
}



void moveForward() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}

void turnRight() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}

void stopMotors() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}


int getDistance() {
  digitalWrite(TRIG, LOW);
  delayMicroseconds(2);

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

  duration = pulseIn(ECHO, HIGH);
  distance = duration * 0.034 / 2;

  return distance;
}