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

Servo myservo;  						// create servo object to control a servo.
int angle = 0;
int pos = 0;    						// variable to store the servo position.

int sensorPinA0 = A0;    				// select the input pin A0 for the potentiometer.
int sensorPinA1 = A1;    				// select the input pin A1 for the potentiometer.
int sensorValueA0 = 0;  				// variable to store the value coming from the sensor, Pin A0.
int sensorValueA1 = 0;  				// variable to store the value coming from the sensor, Pin A1.

LiquidCrystal lcd(2, 3, 10, 11, 12, 13);// Pinout, RS=2, E=3, DB4=10, DB5=11, DB6=12, DB7=13.
int numRows = 2;						// Number of rows of the LCD.
int numCols = 16;						// Number of Columns of the LCD.

unsigned long echo = 0;
int ultraSoundPin = 5; 				    // Ultrasound signal pin.
unsigned long ultrasoundValue = 0;


void setup()							// We write the initial configuration of our program.
{
  myservo.attach(4);  					// attaches the servo on pin 9 to the servo object.
  myservo.write(angle);					// set the motor shaft  on 0 degrees.
  lcd.begin(numRows, numCols);			// Allocates or initializes the number of rows and columns of the LCD.
  lcd.clear();							// Clean the LCD screen.
  lcd.setCursor(0,0);					// Place the cursor at column 0, row 0.
  lcd.print(" ((( Moving ))) ");		// Write on the screen that is indicated between quotes.
  lcd.setCursor(0,1);					// Place the cursor at column 0, row 1.
  lcd.print(" (((  Radar ))) "); 		// Write on the screen that is indicated between quotes.
 
  delay(2000);							// Wait 2 seconds.
  lcd.clear();							// Clean the LCD screen.
  
  pinMode(ultraSoundPin,OUTPUT);
  
}
 
void loop()
{
  						
  for (pos = 0; pos <= 180; pos += 10) { // goes from 0 degrees to 180 degrees.
    									// in steps of 1 degree.
    myservo.write(pos);              	// tell servo to go to position in variable 'pos'.
    delay(10);                      	// waits 15ms for the servo to reach the position.
    
  pinMode(ultraSoundPin, OUTPUT); 	    // Switch signalpin to output.
  digitalWrite(ultraSoundPin, HIGH);    // High pulse on Signal pin.
  delayMicroseconds(5); 				// Wait for 5 microseconds.
  digitalWrite(ultraSoundPin, LOW);     // Wait for.
  pinMode(ultraSoundPin, INPUT);		// Switch signalpin to input.
  echo = pulseIn(ultraSoundPin, HIGH);  // Listen for echo, read high pulse. 
  ultrasoundValue = (echo / 58);        //convert to CM then to inches.
  
  lcd.setCursor(0,0);					// Place the cursor at column 0, row 0.
  lcd.print("  Object Dist:  ");		// Write on the screen that is indicated between quotes.
  lcd.setCursor(9,1);					// Place the cursor at column 9, row 1.
  lcd.print("cms");              		// Write on the screen that is indicated between quotes.
  
  lcd.setCursor(5,1);					// Place the cursor at column 5, row 0.
  lcd.print(ultrasoundValue);			// It is written on the screen indicated between quotes.
  
  if (ultrasoundValue < 100)
  {
  lcd.setCursor(7,1);					// Place the cursor at column 7, row 1.
  lcd.print(" ");				        // Clear the column 7.
  }

  }
  
  for (pos = 180; pos >= 0; pos -= 10)   // goes from 180 degrees to 0 degrees.
  
  { 									
    myservo.write(pos);            		// tell servo to go to position in variable 'pos'.
    delay(10);                       	// waits 15ms for the servo to reach the position.
    
  	pinMode(ultraSoundPin, OUTPUT); 	// Switch signalpin to output.
  	digitalWrite(ultraSoundPin, HIGH);  // High pulse on Signal pin.
  	delayMicroseconds(5); 				// Wait for 5 microseconds.
  	digitalWrite(ultraSoundPin, LOW);   // Wait for.
  	pinMode(ultraSoundPin, INPUT);		// Switch signalpin to input.
  	echo = pulseIn(ultraSoundPin, HIGH);// Listen for echo, read high pulse. 
  	ultrasoundValue = (echo / 58);      //convert to CM then to inches.
  
  	lcd.setCursor(0,0);					// Place the cursor at column 0, row 0.
  	lcd.print("  Object Dist:  ");		// Write on the screen that is indicated between quotes.
  	lcd.setCursor(9,1);					// Place the cursor at column 9, row 1.
  	lcd.print("cms");              		// Write on the screen that is indicated between quotes.
  
 	lcd.setCursor(5,1);					// Place the cursor at column 5, row 0.
  	lcd.print(ultrasoundValue);			// It is written on the screen indicated between quotes.
  
    if (ultrasoundValue < 100)			// if variable value is < 100, then clear the 7 column on LCD.	
     {
      lcd.setCursor(7,1);				// Place the cursor at column 7, row 1.
      lcd.print(" ");				    // Clear the column 7  
     }
   
    }
  
  }