#include <Servo.h>
#include <IRremote.h>
#define trigPin 13
#define echoPin 12
#define led 7
#define led2 8
#define led3 4
Servo myservo;
Servo myservo1;
Servo myservo2;
int pos = 0;
int IR_Recv = 3; //IR Receiver Pin 3
IRrecv irrecv(IR_Recv);
decode_results results;

void setup() {
  Serial.begin (9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(led, OUTPUT);
  pinMode(led2, OUTPUT);
  pinMode(led3, OUTPUT);
  myservo.attach(9);
  myservo1.attach(10);
  myservo2.attach(11);
  irrecv.enableIRIn(); // Starts the receiver
}

void loop() {
  if (irrecv.decode(&results)){
long int decCode = results.value;
  long duration, distance;
  Serial.println(decCode);
  if( results.value == 16753245)
  irrecv.resume();
  digitalWrite(led3,LOW);
  digitalWrite(trigPin, LOW);  // Added this line
  delayMicroseconds(2); // Added this line
  digitalWrite(trigPin, HIGH);
//  delayMicroseconds(1000); - Removed this line
  delayMicroseconds(10); // Added this line
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;
  if (distance < 20) {  // This is where the LED On/Off happens
    digitalWrite(led,HIGH); // When the Red condition is met, the Green LED should turn off
  digitalWrite(led2,LOW);
    for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees
  {                                  // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
    delay(5);                       // waits 15ms for the servo to reach the position
  }
  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees
  {
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
    delay(5);
}
  }
  else {
    digitalWrite(led,LOW);
    digitalWrite(led2,HIGH);
        for(pos = 0; pos < 20; pos += 1)  // goes from 0 degrees to 180 degrees
  {                                  // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
    delay(5);                       // waits 15ms for the servo to reach the position
  }
  for(pos = 20; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees
  {
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
    delay(5);
  }
   }
  if (distance >= 200 || distance <= 0){
    Serial.println("Out of range");
  }
  else {
    Serial.print(distance);
    Serial.println(" cm");
  }
  delay(300);
  }
  else digitalWrite(led3,HIGH);
    if( results.value == 16736925)
      digitalWrite(led3,HIGH);
}