#define TRIGGER1_PIN 13

#define ECHO1_PIN 12
#define TRIGGER2_PIN 11
#define ECHO2_PIN 10
#define TRIGGER3_PIN 9
#define ECHO3_PIN 8
#include <Servo.h>
#include <Ultrasonic.h>
Ultrasonic ultrasonic1(TRIGGER1_PIN, ECHO1_PIN);
Ultrasonic ultrasonic2(TRIGGER2_PIN, ECHO2_PIN);
Ultrasonic ultrasonic3(TRIGGER3_PIN, ECHO3_PIN);
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;
void setup()
{
myservo1.attach(7);
myservo2.attach(6);
myservo3.attach(5);
myservo4.attach(4);
Serial.begin(9600);
}
int n = 0;
void loop()
{
float cmMsec1, inMsec1, cmMsec2, inMsec2,cmMsec3, inMsec3;
long microsec1 = ultrasonic1.timing();
long microsec2 = ultrasonic2.timing();
long microsec3 = ultrasonic3.timing();
cmMsec1 = ultrasonic1.convert(microsec1, Ultrasonic::CM);
inMsec1 = ultrasonic1.convert(microsec1, Ultrasonic::IN);
cmMsec2 = ultrasonic2.convert(microsec2, Ultrasonic::CM);
inMsec2 = ultrasonic2.convert(microsec2, Ultrasonic::IN);
cmMsec3 = ultrasonic3.convert(microsec3, Ultrasonic::CM);
inMsec3 = ultrasonic3.convert(microsec3, Ultrasonic::IN);

if (cmMsec1 <= 10 || cmMsec2 <= 10 || cmMsec3 <= 10){
myservo4.write(60);
delay(100);
myservo3.write(30);
delay(100);
myservo2.write(60);
delay(100);
myservo1.write(30);
delay(100);
myservo4.write(30);
delay(100);
myservo3.write(60);
delay(100);
myservo2.write(30);
delay(100);
myservo1.write(60);
delay(100);




}
boolean a0 = false;
boolean a1 = false;
boolean a2 = false;
if (cmMsec1 <= 10){
a0 =true;
}
if (cmMsec2 <= 10){
a1=true;
}
if (cmMsec3 <= 10){
a2 =true;
}
if(a0 && a1 && a2 == true)
{
Serial.println('Z');
}
else if( (a0 && a1) || (a1 && a2 ) || (a0 && a2 ) == true)
{
Serial.println('Y');
}
else if( a0 || a1 || a2 == true)
{
Serial.println('X');
}

}