aravind anirudh #include <Servo.

h>

const int servo1 = 11; // first servo

Servo myservo1; // create servo object to control a servo

const int esc = 12; // first servo

Servo myesc; // create servo object to control a servo

const int buttonPin = 13; // the number of the pushbutton pin

int buttonState = 0;

const int ledpin = 2;

char data = 0;

int driverState = 0;

int servoval = 100;

#define trigD1 9

#define echoD1 8

#define trigD2 7
#define echoD2 6

#define trigD3 5

#define echoD3 4

#define trigD4 3

#define echoD4 10

long duration, distance, distance1, distance2, distance3, distance4, difference, absDiff;

void setup() {

// put your setup code here, to run once:

myservo1.attach(servo1); // attaches the servo

myesc.attach(esc); // attaches the servo

pinMode(buttonPin, INPUT);

pinMode(ledpin, OUTPUT);

pinMode(trigD1, OUTPUT);
 pinMode(echoD1, INPUT);

pinMode(trigD2, OUTPUT);

pinMode(echoD2, INPUT);

pinMode(trigD3, OUTPUT);

pinMode(echoD3, INPUT);

pinMode(trigD4, OUTPUT);

pinMode(echoD4, INPUT);

myesc.write(80);

myservo1.write(100);

Serial.begin(9600);

void loop() {

SonarSensor(trigD1, echoD1);

distance1 = distance;
SonarSensor(trigD2, echoD2);

distance2 = distance;

SonarSensor(trigD3, echoD3);

distance3 = distance;

SonarSensor(trigD4, echoD4);

distance4 = distance;

if (distance1 >= 300 || distance1 < 0){

distance1 = 0;

if (distance2 >= 300 || distance2 < 0){

distance2 = 0;

if (distance3 >= 300 || distance3 < 0){

 distance3 = 0;

if (distance4 >= 300 || distance4 < 0){

distance4 = 0;

difference = (distance1-distance2);

absDiff = abs(difference);

buttonState = digitalRead(buttonPin);

if ((buttonState == HIGH)&&(driverState == 0))

delay(1500);

driverState = 1;
}

if(Serial.available() > 0) // Send data only when you receive data:

data = Serial.read(); //Read the incoming data & store into data

Serial.print(data); //Print Value inside data in Serial monitor

Serial.print("\n");

if(data == '1')

driverState = 1;

if(data == '0')

{
 driverState = 0;

if(driverState == 0)

myesc.write(80);

myservo1.write(100);

digitalWrite(ledpin, LOW);

if(driverState == 1)

//Drive code here

//variables: distance1, distance2, distance3 in cm

digitalWrite(ledpin, HIGH);

if (distance3 < 5 && distance3 != 0)

myesc.write(94);

myservo1.write(65);

else

if((distance4 < 10 && distance4 != 0)&&(distance3 >= 20 || distance3 == 0))

myesc.write(92);

myservo1.write(130);

}
else if((distance4 < 10 && distance4 != 0)&&(distance3 < 20 && distance3 != 0))

myesc.write(92);

myservo1.write(65);

else

if((distance1 == 0) || (distance1 > 45))

if((distance3 <= 45)&&(distance3 != 0))

myesc.write(91);

myservo1.write(95);
 if((distance2 <= 35)&&(distance2 != 0))

myesc.write(92);

myservo1.write(70);

else

myesc.write(93);

myservo1.write(130);

else
{

myesc.write(91);

myservo1.write(130);

Serial.print(distance1);

Serial.print("\n \n distance2 \n");

Serial.print(distance2);

Serial.print("\n \n distance3 \n");

Serial.print(distance3);

Serial.print("\n \n distance1 \n");

//Serial.print(difference);
//Serial.print("\n \n \n");

void SonarSensor(int trigPin,int echoPin)

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration/2) / 29.1;