#define trigPin 11
#define echoPin 10
int i1 = 3;
int i2 = 5;
int i3 = 6;
int i4 = 9;
long duration, distance;
void setup() {

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(i2,OUTPUT);
  pinMode(i3,OUTPUT);
  pinMode(i4,OUTPUT);
  pinMode(i1,OUTPUT);

  //Serial.begin(9600);
}
void loop() {

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) * 0.034029;

  delay(10);

  //Serial.println(distance);

  if(distance > 10 && distance <40) {

    analogWrite(i1,150);
    analogWrite(i2,0);
    analogWrite(i3,0);
    analogWrite(i4,0);
    delay(250);
  }

 else if (distance > 0 && distance < 10){

    analogWrite(i1,0);
    analogWrite(i2,100);
    analogWrite(i3,0);
    analogWrite(i4,100);
    delay(500);
    analogWrite(i1,150);
    analogWrite(i2,0);
    analogWrite(i3,0);
    analogWrite(i4,0);
    delay(250);
  }


  else if( distance>40){

    analogWrite( i1 ,150);
    analogWrite(i2 ,0);
    analogWrite(i3,150);
    analogWrite(i4,0);
  }
}