int trigPin1 = A0;
int echoPin1 = A1;
int distance1 = 0;
int E1 = 10;
int brake1 = 7;


void setup() {
  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(brake1, OUTPUT);
  pinMode (E1, OUTPUT);
  Serial.begin(9600);
}

void loop() {
  analogWrite(E1, 153);
  distance1 = getDistance(trigPin1, echoPin1);
  printDistance(1, distance1);
  delay(250);
  if(distance1 <=15){
    digitalWrite(brake1, HIGH);
  }
  else{
    analogWrite(E1, 153);
  }

}


int getDistance (int initPin, int echoPin) {
  digitalWrite(initPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(initPin, LOW);
  long pulseTime = pulseIn(echoPin, HIGH);
  int distance = pulseTime / 58.2;
  return distance;
}

void printDistance(int id, int dist) {

  Serial.print(id);
  if (dist >= 120 || dist <= 0 ) {
  Serial.println(" Out of range");
  }
  else{
   Serial.print("t");
   Serial.print(dist);
   Serial.println(" cm");
}
}