#include <Servo.h>
Servo Motor[2];

int sensorPins[]={A0,A1};
int sensorValues[] = {0, 0};
int motorTurn[] = {0, 0};
int echoPin= 12;
int trigPin = 11;
long duration ;
int i;
int values[10];
int sum;

long distance;


void setup() {
  // put your setup code here, to run once:
  Motor[0].attach(9);


  Motor[1].attach(13);
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
}

void loop() {

  motorTurn[0] = map(distance, 0, 200, 0, 150);
  Motor[0].write(motorTurn[0]);

  motorTurn[1] = map(distance, 0, 200, 0, 30);
  Motor[1].write(motorTurn[1]);


  for(i=0; i < 10; i++){
    digitalWrite(trigPin,LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin,HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin,LOW);
    duration= pulseIn(echoPin ,HIGH);
    distance=duration/29.1;
    Serial.println(distance);
    sum += distance;
  }
  sum /= 10;

  if( sum <= 30 ){

    motorTurn[0] = map(distance, 0, 200, 0, 150);
    Motor[0].write(motorTurn[0]);
    motorTurn[1] = 0 ;
    Motor[1].write(motorTurn[1]);
    delay(2000);


  }

}