Path-Finder

//Code Written by ahmed@deeplift.tech
//For more projects check our YouTube channel https://www.youtube.com/c/DeepLift 

//Ultrasonic Sensor Pins
#define Trig 13
#define Echo 12


//Motor Pins
#define OUT1 8
#define OUT2 9
#define OUT3 7
#define OUT4 6

void setup() {

Serial.begin(9600); 

pinMode (Trig, OUTPUT);
pinMode (Echo, INPUT); 

pinMode(OUT1, OUTPUT); 
pinMode(OUT2, OUTPUT);
pinMode(OUT3, OUTPUT);
pinMode(OUT4, OUTPUT);

}

void loop() {

int duration, distance;
   digitalWrite(Trig, HIGH);
   delayMicroseconds(2);
   digitalWrite(Trig, LOW);
   delayMicroseconds(10);
   duration =  pulseIn(Echo, HIGH);
   distance = ( duration / 2)/ 29.1;
   delay(10);

  if (distance > 19)            
  {
    digitalWrite(OUT1, HIGH);        // move forward
    digitalWrite(OUT2, LOW);
    digitalWrite(OUT3, HIGH);                                
    digitalWrite(OUT4, LOW);                                                       
  }

  if (distance < 18)
  {
    digitalWrite(OUT1, LOW);        //Stops                
    digitalWrite(OUT2, LOW);
    digitalWrite(OUT3, LOW);                                
    digitalWrite(OUT4, LOW);
    delay(500);
    digitalWrite(OUT1, LOW);       //Moves Backwards         
    digitalWrite(OUT2, HIGH);
    digitalWrite(OUT3, LOW);                                
    digitalWrite(OUT4, HIGH);
    delay(500);
    digitalWrite(OUT1, LOW);       //Stops                
    digitalWrite(OUT2, LOW);
    digitalWrite(OUT3, LOW);                                
    digitalWrite(OUT4, LOW);  
    delay(100);  
    digitalWrite(OUT1, HIGH);      
    digitalWrite(OUT2, LOW);   
    digitalWrite(OUT4, LOW);                                 
    digitalWrite(OUT3, LOW);  
    delay(500);
  }

}