#include <Servo.h>          //Servo motor library. This is standard library
#include <NewPing.h>        //Ultrasonic sensor function library. You must install this library

//our L298N control pins
const int LeftMotorForward = 5;
const int LeftMotorBackward = 4;
const int RightMotorForward = 3;
const int RightMotorBackward = 2;
const int LSpeed = 8;
const int RSpeed = 7;
int speedR = 150 ; //0-2e55
int speedL = 150 ;
//sensor pins
#define trig_pin A3 //analog input 1
#define echo_pin A2 //analog input 2

#define maximum_distance 200
boolean goesForward = false;
int distance = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo servo_motor; //our servo name


void setup() {

  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  pinMode(LSpeed, OUTPUT);
  pinMode(RSpeed, OUTPUT);
  analogWrite(LSpeed, speedL);
  analogWrite(RSpeed, speedR);
  servo_motor.attach(11); //our servo pin

  servo_motor.write(120);
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);

}

void loop() {

  int distanceRight = 0;
  int distanceLeft = 0;
  analogWrite(LSpeed, speedL);
  analogWrite(RSpeed, speedR);
  delay(50);

  if (distance <= 30) {
    moveStop();
    delay(300);
    moveBackward();
    delay(400);
    moveStop();
    delay(300);
    distanceRight = lookRight();
    delay(300);
    distanceLeft = lookLeft();
    delay(300);

    if (distance >= distanceLeft) {
      turnLeft();
      moveStop();
    }
    else {
      turnRight();
      moveStop();
    }
  }
  else {
    moveForward();
  }
  distance = readPing();
}

int lookRight() {
  servo_motor.write(10);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(120);
  return distance;
}

int lookLeft() {
  servo_motor.write(170);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(120);
  return distance;
  delay(100);
}

int readPing() {
  delay(70);
  int cm = sonar.ping_cm();
  if (cm == 0) {
    cm = 250;
  }
  return cm;
}

void moveStop() {

  digitalWrite(RightMotorForward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward() {

  if (!goesForward) {

    goesForward = true;

    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(RightMotorForward, HIGH);

    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(RightMotorBackward, LOW);
  }
}

void moveBackward() {

  goesForward = false;

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);

  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward, LOW);

}

void turnRight() {

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);

  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);


  delay(500);
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);

  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);


}

void turnLeft() {

  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);

  delay(500);
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
}