// Libraries
#include <Servo.h>

//Fixed pins
// Servo
const int servoPin = 3;
// Ultrasonic Sensor
const int trigPin = 12;
const int echoPin = 11;
// Motors
const int enA = 10;
const int in1 = 9;
const int in2 = 8;
const int in3 = 7;
const int in4 = 6;
const int enB = 5;

//other variables
Servo myServo;
long duration;
int distance;
int zero = 0;
int right = 50;
int middle = 100;
int left = 150;

void setup() {
  // put your setup code here, to run once:
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  myServo.attach(servoPin);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  Serial.begin(9600);
}

void loop() {
  // make it run only once (there's probably a better way ^^)
  if(zero == 0){
    testDriving();
    zero++;
  }
}

void testDriving()
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 200);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 200);
  delay(5000);


  Serial.println(getDistance(right));
  delay(2000);
  Serial.println(getDistance(middle));
  delay(2000);
  Serial.println(getDistance(left));
  delay(2000);
}


int getDistance(int rotation){
  myServo.write(rotation);
  delay(500);
  // Clears the trigPin
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  // Calculating the distance
  distance= duration*0.034/2;
  return distance;
}