Automatic Flame Turret

1
2#include <NewPing.h> // Call NewPing library
3#include <Servo.h>  // Call Servo library
4#define trigPin 13 // Pin connected to ultrasonic sensor  Trig
5#define echoPin 12 // Pin connected the ultrasonic sensor Echo
6#define  MAX_DISTANCE 500
7NewPing sonar(trigPin, echoPin, MAX_DISTANCE);
8int angle  = 0; // Set servo position in degrees
9Servo servo1;
10Servo servo2;
11void  setup() {
12  Serial.begin (115200);
13  pinMode(trigPin, OUTPUT);
14  pinMode(echoPin,  INPUT);
15  servo2.attach(3);
16  servo1.attach(9); // Pin connected to servo
17}
18void  loop() {
19  int duration, distance, pos = 0, i;
20  digitalWrite(trigPin, LOW);
21  delayMicroseconds(2);
22  digitalWrite(trigPin, HIGH); // trigPin sends a ping
23  delayMicroseconds(10);
24  digitalWrite(trigPin, LOW);
25  duration = pulseIn(echoPin,  HIGH); // echoPin receives the ping
26  distance = (duration / 2) / 29.1;
27  Serial.print(distance);
28  Serial.println(" cm");
29  if (distance <= 30) { // If distance is less than  30 cm
30  for (angle = 0; angle < 90; angle++)
31    {
32      servo1.write(33);  // Stay in position
33      servo2.write(angle); // Trigger the gas
34      delay(15);
35     }  
36   } else {
37    servo2.write(90);
38    for (angle = 0; angle <  90; angle++) { // Sweep the servo
39      servo1.write(angle);
40      delay(20);
41    }
42    for (angle = 180; angle > 0; angle--) {
43      servo1.write(angle);
44    }
45    delay(450);
46  }
47   }
48