Trash Bot

1#include <Servo.h>   //servo library
2Servo servo;     
3int trigPin  = 5;    
4int echoPin = 6;   
5int servoPin = 7;
6int led= 10;
7long duration,  dist, average;   
8long aver[3];   //array for average
9
10
11void setup()  {       
12    Serial.begin(9600);
13    servo.attach(servoPin);  
14    pinMode(trigPin,  OUTPUT);  
15    pinMode(echoPin, INPUT);  
16    servo.write(0);         //close  cap on power on
17    delay(100);
18    servo.detach(); 
19} 
20
21void measure()  {  
22 digitalWrite(10,HIGH);
23digitalWrite(trigPin, LOW);
24delayMicroseconds(5);
25digitalWrite(trigPin,  HIGH);
26delayMicroseconds(15);
27digitalWrite(trigPin, LOW);
28pinMode(echoPin,  INPUT);
29duration = pulseIn(echoPin, HIGH);
30dist = (duration/2) / 29.1;    //obtain  distance
31}
32void loop() { 
33  for (int i=0;i<=2;i++) {   //average distance
34    measure();               
35   aver[i]=dist;            
36    delay(10);              //delay between measurements
37  }
38 dist=(aver[0]+aver[1]+aver[2])/3;    
39
40if ( dist<50 ) {
41//Change distance as per your need
42 servo.attach(servoPin);
43  delay(1);
44 servo.write(0);  
45 delay(3000);       
46 servo.write(150);    
47 delay(1000);
48 servo.detach();      
49}
50Serial.print(dist);
51}
52