#if 1
//ultrasonic sensor//
void zmain(void)
{
    Ultra_Start();                          // Ultra Sonic Start function
       motor_start();
        motor_forward(0,0);
    vTaskDelay(1000);
    while(1) {
        int d = Ultra_GetDistance();
        // Print the detected distance (centimeters)
        printf("distance = %d\r\n", d);

        motor_forward(100,0);
        if(d<13){

        motor_backward(100,1000);
         Beep(1000,100);
        PWM_WriteCompare1(20);
        PWM_WriteCompare2(100);
        vTaskDelay(1000);
        }
        vTaskDelay(100);
    }
}
#endif