#include <AFMotor.

h>

#include <Servo.h>

Servo myservo;

AF_DCMotor motor(3);

AF_DCMotor motor2(4);//1 mean M1 in which the DC motor is connected

const unsigned int TRIG_PIN=12;

const unsigned int ECHO_PIN=2;

int pos = 0;

int flag=0;

void setup() {

Serial.begin(9600);

myservo.attach(9);//9 is the pwm pin

// turn on motor

motor2.setSpeed(255);

motor2.run(RELEASE);

motor.setSpeed(255);

motor.run(RELEASE);

void loop()

motor.run(FORWARD);

motor2.run(FORWARD);

digitalWrite(TRIG_PIN, LOW);

delayMicroseconds(2);

digitalWrite(TRIG_PIN, HIGH);

delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);

const unsigned long duration= pulseIn(ECHO_PIN, HIGH);

int distance= duration/29/2;

if(duration==0){

Serial.println("Warning: no pulse from sensor");

else{

Serial.print("distance to nearest object:");

Serial.println(distance);

Serial.println(" cm");

if (distance<=15)

motor.run(RELEASE);

motor2.run(RELEASE);

delay(1000);

motor.run(BACKWARD);

motor2.run(BACKWARD);

delay(4000);

if(flag==0)

flag=1;

motor.run(BACKWARD);

motor2.run(FORWARD);

myservo.write(158);

delay(3000);

else
 {

flag=0;

motor2.run(BACKWARD);

motor.run(FORWARD);

myservo.write(40);

delay(3000);

delay(100);

// dc();

// dc2();

// servo();

// delay(5000);

// motor.run(RELEASE);

// motor2.run(RELEASE);

// delay(5000);

void dc()

int i;

motor.run(FORWARD);

//motor.run(RELEASE);

void dc2()

{
int i;

motor2.run(FORWARD);

// motor2.run(RELEASE);

void servo()

for(pos = 0; pos < 180; pos += 1)

myservo.write(pos);

delay(15);

for(pos = 180; pos>=1; pos-=1)

myservo.write(pos);

delay(15);