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//www.elegoo.com
//2016.09.12

#define send 1

#include <Servo.h> //servo library
Servo myservo; // create servo object to control servo

int Echo = A1;
int Trig = A0;

int ENA = 10;
int in1 = 9;
int in2 = 8;

int in3 = 7;
int in4 = 6;
int ENB = 5;

int ABS = 130;

int dist = 50;

int rightDistance = 0, leftDistance = 0, middleDistance = 0;

void _mForward()
{
  analogWrite(ENA, ABS);
  analogWrite(ENB, ABS);

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);

  Serial.println("go forward!");
}

void _mBack()
{
  analogWrite(ENA, ABS);
  analogWrite(ENB, ABS);

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);

  Serial.println("go back!");
}

void _mleft()
{
  analogWrite(ENA, ABS);
  analogWrite(ENB, ABS);

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);

  Serial.println("go left!");
}

void _mright()
{
  analogWrite(ENA, ABS);
  analogWrite(ENB, ABS);

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);

  Serial.println("go right!");
}

void _mStop()
{
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);

  Serial.println("Stop!");
}
/*Ultrasonic distance measurement Sub function*/
int Distance_test()
{
  digitalWrite(Trig, LOW);
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);

  delayMicroseconds(20);
  digitalWrite(Trig, LOW);

  float Fdistance = pulseIn(Echo, HIGH);
  Fdistance = Fdistance / 58; // cm

  return (int)Fdistance;
}

void setup()
{
  myservo.attach(3); // attach servo on pin 3 to servo object
  Serial.begin(9600);

  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);

  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);

  _mStop();
}

void
loop()
{
  myservo.write(90);//setservo position according to scaled value
  delay(500);

  middleDistance = Distance_test();

#ifdef send
  Serial.print("middleDistance=");
  Serial.println(middleDistance);
#endif

  if (middleDistance > dist) {
    _mForward();
    return;
  }

  _mStop();
  delay(500);
  myservo.write(5);

  delay(1000);
  rightDistance = Distance_test();

#ifdef send
  Serial.print("rightDistance=");
  Serial.println(rightDistance);
#endif

  delay(500);
  myservo.write(90);

  delay(1000);
  myservo.write(180);

  delay(1000);
  leftDistance = Distance_test();

#ifdef send
  Serial.print("leftDistance=");
  Serial.println(leftDistance);
#endif

  delay(500);
  myservo.write(90);

  delay(1000);

  if (rightDistance > leftDistance) {
    _mright();
  }
  if (rightDistance < leftDistance) {
    _mleft();
  }
  if ((rightDistance <= dist) || (leftDistance <= dist)) {
    _mBack();
  }

  delay(180);
}