const int Motor1Pin1

const int Motor1Pin2

const int Motor2Pin1
const int Motor2Pin2
int trigPin = 13;
int echoPin = 12;

=
=
=
=

8;
9;
10;
11;

void setup()
{
Serial.begin(9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(Motor1Pin1, OUTPUT);
pinMode(Motor1Pin2, OUTPUT);
pinMode(Motor2Pin1, OUTPUT);
pinMode(Motor2Pin2, OUTPUT);
}
void loop()
{
long duration,distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration=pulseIn(echoPin, HIGH);
distance=(duration/2)/29.1;
if (distance>4)
{
GoForward();
}
else
{
GoBackward();
}
if(distance>=200 || distance <=0)
{
Serial.println("OUT OF RANGE");
}
else
{
Serial.print(distance);
Serial.println(" cm");
}
delay(500);
}
void GoForward()
{
digitalWrite(Motor1Pin2,
digitalWrite(Motor1Pin1,
digitalWrite(Motor2Pin2,
digitalWrite(Motor2Pin1,
}
void GoBackward()
{

LOW);
HIGH);
LOW);
HIGH);

digitalWrite(Motor1Pin1,
digitalWrite(Motor1Pin2,
digitalWrite(Motor2Pin1,
digitalWrite(Motor2Pin2,
}

LOW);
HIGH);
LOW);
HIGH);