servo-car

#include <Servo.h>

#define trigPinIn 7

    #define echoPinOut 13

    #define in1 9

    #define in2 10

    #define in3 11

    #define in4 12

    #define enablePin 8

    #define servoLPin 5

    #define servoRPin 6

Servo myservoL;

Servo myservoR;

    long duration, distance, RightSensor,BackSensor,FrontSensor,LeftSensor;

    void setup(){

    Serial.begin (9600);

    pinMode(trigPinIn, OUTPUT);

    pinMode(echoPinOut, INPUT);

    pinMode(in1, OUTPUT);

    pinMode(in2, OUTPUT);

    pinMode(in3, OUTPUT);

    pinMode(in4, OUTPUT);

    pinMode(enablePin, OUTPUT);

    }

    void loop() {

    digitalWrite(in1,LOW);

    digitalWrite(in2,LOW);

    digitalWrite(in3,LOW);

    digitalWrite(in4,LOW);

    digitalWrite(enablePin,LOW);

    delay(200);

    SonarSensor(trigPinIn, echoPinOut);

    LeftSensor = distance;

    digitalWrite(in1,HIGH);

    digitalWrite(in2,LOW);

    digitalWrite(in3,LOW);

    digitalWrite(in4,LOW);

    delay(200);

    SonarSensor(trigPinIn, echoPinOut);

    FrontSensor = distance;   

    digitalWrite(in1,LOW);

    digitalWrite(in2,HIGH);

    digitalWrite(in3,LOW);

    digitalWrite(in4,LOW);

    delay(200);

    SonarSensor(trigPinIn, echoPinOut);

    RightSensor = distance;

    if(FrontSensor<18){

      if(RightSensor>LeftSensor){

        fixR();

      }else{

        fixL();

      }

    }else{

      myservoL.attach(servoLPin);

      myservoR.attach(servoRPin);

      myservoL.write(98);

      myservoR.write(90);     

    }

    }

    void SonarSensor(int trigPin,int echoPin)

    {

    duration=0;

    digitalWrite(trigPin, LOW);

    delayMicroseconds(2);

    digitalWrite(trigPin, HIGH);

    delayMicroseconds(10);

    digitalWrite(trigPin, LOW);

    duration = pulseIn(echoPin, HIGH);

    if(duration>190000){

      delay(100);

digitalWrite(trigPin, LOW);

    delayMicroseconds(2);

    digitalWrite(trigPin, HIGH);

    delayMicroseconds(10);

    digitalWrite(trigPin, LOW);

    duration = pulseIn(echoPin, HIGH);

    }

    distance = (duration/2) / 29.1;

    }