#include <Servo.h>
#include <LiquidCrystal.h>

Servo myservo;
LiquidCrystal lcd(7, 6, 5, 4, 3, 2); // Creates an LCD object. Parameters: (rs, enable, d4, d5, d6, d7)

int pos = 0; // initial position of the servo
const int trigPin = 9;
const int echoPin = 10;

float distanceCm, DistanceSec,duration;

void setup() {
myservo.attach(11); // attach the servo motor to pin number 11
lcd.begin(16,2); // Initializes the Lcd Interface with their Dimensions
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
DistanceSec=20;
}
void loop(){

// Make servo go to 0 degrees
   myservo.write(0);
   delay(1000);
   // Make servo go to 20 degrees
   myservo.write(20);
   delay(1000);
   // Make servo go to 40 degrees
   myservo.write(40);
   delay(1000);
   // Make servo go to 60 degrees
   myservo.write(60);
   delay(1000);
   // Make servo go to 80 degrees
   myservo.write(80);
   delay(1000);
   // Make servo go to 100 degrees
   myservo.write(100);
   delay(1000);
   // Make servo go to 120 degrees
   myservo.write(120);
   delay(1000);
   // Make servo go to 140 degrees
   myservo.write(140);
   delay(1000);
   // Make servo go to 160 degrees
   myservo.write(160);
   delay(1000);
   // Make servo go to 180 degrees
   myservo.write(180);
   delay(1000);{ // moves from 0 degree to 180 degree
// in steps of 1 degree
myservo.write(pos); // Program the Servo to go to the position (pos)
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // delays 10 micro seconds
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distanceCm= duration*0.034/2;
if (distanceCm <= DistanceSec)
{
if(distanceCm <= DistanceSec/2)
{
lcd.setCursor(0,0); // position is at 0,0
lcd.print("Distance:"); // Prints "Distance" on the LCD Dispaly
lcd.print(distanceCm); // Prints the value in cm on LCD Display
lcd.print("cm"); // Prints cm on LCD Display
delay(10);
lcd.setCursor(0,1);
lcd.print("Angle:");
lcd.print(pos);
lcd.print("deg");
delay(2000);
}
else
{
digitalWrite(12, HIGH);
delay(80);
digitalWrite(12, LOW);
lcd.setCursor(0,0); // position is at 0,0
lcd.print("Distance:"); // prints 'Distance" on the LCD Display
lcd.print(distanceCm); // Prints the value in cm on LCD
lcd.print("cm"); // Prints cm on LCD Display
delay(10); // delays by 10 micro sec
lcd.setCursor(0,1);
lcd.print("Angle:");
lcd.print(pos);
lcd.print("deg");
delay(2000);
}
}
else{
digitalWrite(12, LOW);
}
lcd.setCursor(0,0); // position of the cursor is at 0,0
lcd.print("Distance:"); // Prints "Distance" on the LCD Display
lcd.print(distanceCm); // Prints value on the LCD DisplayLCD
lcd.print("cm"); // Prints value in cm on the LCD Display
delay(10);
lcd.setCursor(0,1);
lcd.print("Angle:");
lcd.print(pos);
lcd.print("deg");
delay(80); // waits for 80 mili secound for the servo to look for its position
}
// Make servo go to 0 degrees
   myservo.write(0);
   delay(1000);
   // Make servo go to 20 degrees
   myservo.write(20);
   delay(1000);
   // Make servo go to 40 degrees
   myservo.write(40);
   delay(1000);
   // Make servo go to 60 degrees
   myservo.write(60);
   delay(1000);
   // Make servo go to 80 degrees
   myservo.write(80);
   delay(1000);
   // Make servo go to 100 degrees
   myservo.write(100);
   delay(1000);
   // Make servo go to 120 degrees
   myservo.write(120);
   delay(1000);
   // Make servo go to 140 degrees
   myservo.write(140);
   delay(1000);
   // Make servo go to 160 degrees
   myservo.write(160);
   delay(1000);
   // Make servo go to 180 degrees
   myservo.write(180);
   delay(1000);  { // // moves from 0 degree to 180 degree
myservo.write(pos); //
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distanceCm= duration*0.034/2;
if (distanceCm <= DistanceSec){
if(distanceCm <= DistanceSec/2)
{
lcd.setCursor(0,0); //set the cursor to 0,0 position
lcd.print("Distance:"); // Prints "Distance" on the LCD Display
lcd.print(distanceCm); // Prints the value on the LCD Display
lcd.print("cm"); // Prints the value in cm on the LCD Display
delay(10);
lcd.setCursor(0,1);
lcd.print("Angle:");
lcd.print(pos);
lcd.print("deg");
delay(2000);
}
else
{
digitalWrite(12, HIGH);
delay(80);
digitalWrite(12, LOW);
lcd.setCursor(0,0); // sets the cursor at 0,0 position
lcd.print("Distance:"); // Prints "Distance" on LCD Display
lcd.print(distanceCm); // Prints the value on LCD Display
lcd.print("cm"); // Prints the value in cm on the LCD Display
delay(10);
lcd.setCursor(0,1);
lcd.print("Angle:")
}