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#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A5
#define ECHO_PIN A4
#define MAX_DISTANCE 200
#define MAX_SPEED 190 // Motorlarin hizlarini ayarlayabilirsiniz.
#define MAX_SPEED_OFFSET 20
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
Servo myservo;  
boolean goesForward=false;
int distance = 100;
int speedSet = 0;
void setup() {
  myservo.attach(9); 
  myservo.write(115);
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
}
void loop() {
 int distanceR = 0;
 int distanceL =  0;
 delay(40);
  
 if(distance<=15) { moveStop(); delay(100); moveBackward(); delay(300); moveStop(); delay(200); distanceR = lookRight(); delay(200); distanceL = lookLeft(); delay(200); if(distanceR>=distanceL)
  {
    turnRight();
    moveStop();
  }else
  {
    turnLeft();
    moveStop();
  }
 }else
 {
  moveForward();
 }
 distance = readPing();
}
int lookRight()
{
    myservo.write(50);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115);
    return distance;
}
int lookLeft()
{
    myservo.write(170);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115);
    return distance;
    delay(100);
}
int readPing() {
  delay(70);
  int cm = sonar.ping_cm();
  if(cm==0)
  {
    cm = 250;
  }
  return cm;
}
void moveStop() {
  motor1.run(RELEASE);
  motor2.run(RELEASE);
  }
   
void moveForward() {
 if(!goesForward)
  {
    goesForward=true;
    motor1.run(FORWARD);     
    motor2.run(FORWARD);     
   for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
   {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
   }
  }
}
void moveBackward() {
    goesForward=false;
    motor1.run(BACKWARD);     
    motor2.run(BACKWARD); 
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
  {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
  }
} 
void turnRight() {
  motor1.run(FORWARD);
  motor2.run(BACKWARD);    
  delay(300);
  motor1.run(FORWARD);     
  motor2.run(FORWARD);     
}
  
void turnLeft() {
  motor1.run(BACKWARD);    
  motor2.run(FORWARD);    
  delay(300);
  motor1.run(FORWARD);    
  motor2.run(FORWARD);
}