#include <Servo.h>

#define TRIG_PIN 2
#define ECHO_PIN 3
#define SERVO_PIN 9

Servo myServo;

long duration;
int distance;

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

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

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

  return distance;
}

void setup() {
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  myServo.attach(SERVO_PIN);
  myServo.write(90); // center

  Serial.begin(9600);
}

void loop() {
  int d = getDistance();

  Serial.print("Distance: ");
  Serial.println(d);

  if (d < 20) {
    // Obstacle detected → Turn right
    myServo.write(150);
  } else {
    // Path clear → Go straight
    myServo.write(90);
  }

  delay(200);
}