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#define TrigPin 2
#define EchoPin 3
int a1=6;
int a2=5;
int b1=11;
int b2=10;
float value;
void setup()
{
Serial.begin(9600);
pinMode(a1,OUTPUT);
pinMode(a2,OUTPUT);
pinMode(b1,OUTPUT);
pinMode(b2,OUTPUT);
pinMode(TrigPin,OUTPUT);
pinMode(EchoPin,INPUT);
}
void loop()
{
digitalWrite(TrigPin,LOW);
delayMicroseconds(2);
digitalWrite(TrigPin,HIGH);
delayMicroseconds(10);
digitalWrite(TrigPin,LOW);
value=float( pulseIn(EchoPin,HIGH)*17 )/1000;
Serial.println(value);
delay(1000);
while(value>25)
{
digitalWrite(a1,HIGH);
digitalWrite(a2,LOW);
digitalWrite(b1,HIGH);
digitalWrite(b2,LOW);
delay(50);
digitalWrite(TrigPin,LOW);
delayMicroseconds(2);
digitalWrite(TrigPin,HIGH);
delayMicroseconds(10);
digitalWrite(TrigPin,LOW);
value=float( pulseIn(EchoPin,HIGH)*17 )/1000;
}
digitalWrite(a1,LOW);
digitalWrite(a2,HIGH);
digitalWrite(b1,HIGH);
digitalWrite(b2,LOW);
}
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