Test ultrasonic for robot hijau

Berikut sketch arduinonya

/*
HC-SR04 Ping distance sensor]
VCC to arduino 5v GND to arduino GND
Echo to Arduino pin 13 Trig to Arduino pin 12
Red POS to Arduino pin 11
Green POS to Arduino pin 10
560 ohm resistor to both LED NEG and GRD power rail
More info at: http://goo.gl/kJ8Gl
Original code improvements to the Ping sketch sourced from Trollmaker.com
Some code and wiring inspired by http://en.wikiversity.org/wiki/User:Dstaub/robotcar

Edited by onix
*/

#define trigPin 13
#define echoPin 12
#define led 11
#define led2 10
#include <Servo.h>

Servo myservo;
int pos = 45;

void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(led, OUTPUT);
pinMode(led2, OUTPUT);

myservo.attach(9); // attaches the servo on pin 9 to the servo object

}

void loop() {
long duration, distance;
digitalWrite(trigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
digitalWrite(trigPin, HIGH);
// delayMicroseconds(1000); - Removed this line
delayMicroseconds(10); // Added this line
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 80) { // This is where the LED On/Off happens
digitalWrite(led,HIGH); // When the Red condition is met, the Green LED should turn off
digitalWrite(led2,HIGH);

for(pos = 45; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=45; pos-=1) // goes from 180 degrees to 0 degrees
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}

}
else if (distance < 120) {
digitalWrite(led,LOW);
digitalWrite(led2,HIGH);
}
else {
digitalWrite(led,LOW);
digitalWrite(led2,LOW);
}

if (distance >= 200 || distance <= 0){
Serial.println("Out of range");
}
else {
Serial.print(distance);
Serial.println(" cm");
}
delay(500);
}

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