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#include <Servo.h>                   //includes the servo library
#include <NewPing.h>                 //includes the ultrasonic sensor library

Servo releaseServo;                  //sets up the servo
const int rightMotorSpeed = 5;
const int rightDir = 4;
const int leftMotorSpeed = 3;
const int leftDir = 2;
const int echoPin = 5;
const int trigPin = 6;
const int photosynthesizer = A1;
int status = 0;                      //tracks whether the robot has sensed something or not
int photoRead;
NewPing batSensor(trigPin, echoPin); //sets up the ultrasonic sensor

void setup() {
  releaseServo.attach(10);           //attaches the servo to port 10
  pinMode(rightMotorSpeed, OUTPUT);
  pinMode(leftMotorSpeed, OUTPUT);
  pinMode(photosynthesizer, INPUT);
  pinMode(rightDir, OUTPUT);
  pinMode(leftDir, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(trigPin, INPUT);
  delay(3000);
  releaseServo.write(180);           //tells the servo to turn to 180
  delay(400);
}

void loop() {
  releaseServo.write(180);
  photoRead = analogRead(photosynthesizer);//reads the input on the photoresistor and saves it
  int duration = batSensor.ping_median();  //reads input on the ultrasonic sensor
  duration = batSensor.convert_in(duration);//saves input on the ultrasonic sensor
  if(duration <= 30 && duration > 0) {//if ultrasonic finds something, run at it
    digitalWrite(leftDir, LOW);
    digitalWrite(rightDir, HIGH);
    analogWrite(leftMotorSpeed, 245);
    analogWrite(rightMotorSpeed, 245);
    status = 1;
  }
  else {
    status = 0;
  }
  if(photoRead <= 675) {             //if photoresistor sees dark enough stuff, move backwards
    digitalWrite(leftDir, HIGH);
    digitalWrite(rightDir, LOW);
    analogWrite(leftMotorSpeed, 245);
    analogWrite(rightMotorSpeed, 245);
    status = 1;
  }
  if(status == 0) {                  //if nothing is seen, turn until something is seen
    digitalWrite(leftDir, LOW);
    digitalWrite(rightDir, LOW);
    analogWrite(leftMotorSpeed, 245);
    analogWrite(rightMotorSpeed, 245);
  }
  releaseServo.write(180);
  delay(400);
}