#include <BittyBuggy.h>

SoftwareSerial interfaceSerial(2, 3); /* RX:D2, TX:D3 */
BittyBuggy carro(&interfaceSerial);
const int pinoTrigger = 6;
const int pinoEcho = 7;
long duracao;
int distancia;

void setup()
{
Serial.begin(9600);
while (!carro.begin())
;
carro.setSpeedA(0);
carro.setSpeedB(0);
pinMode(pinoTrigger, OUTPUT);
pinMode(pinoEcho, INPUT);
}

void loop()
{
carro.setSpeed(50, 50);
int retorno = medicao();
if (retorno <6){
girar();
}
}

void girar(){
carro.setSpeed(-50, -50);
delay(500);
carro.setSpeed(-50, 50);
delay(500);
}

int medicao() {
digitalWrite(pinoTrigger, LOW);
delayMicroseconds(2);
digitalWrite(pinoTrigger, HIGH);
delayMicroseconds(10);
digitalWrite(pinoTrigger, LOW);
duracao = pulseIn(pinoEcho, HIGH);
distancia = duracao * 0.034 / 2; // Calcula a distância em centímetros
return distancia;
/* Serial.print(“Distância: “);
Serial.print(distancia);
Serial.println(” cm”);
delay(500);*/
}