/*
Avoidance
 */
int TrigPin  = 51;
int EchoPin  = 49;
int motorpin1 = 0;
int motorpin2 = 1;
int motorpin3 = 2;
int motorpin4 = 3;
int VCC = 47;
void setup()
{
    pinMode (motorpin1,OUTPUT);
  pinMode (motorpin2,OUTPUT);
  pinMode (motorpin3,OUTPUT);
  pinMode (motorpin4,OUTPUT);
  pinMode(EchoPin,INPUT);
  pinMode(TrigPin,OUTPUT);
  pinMode (VCC,OUTPUT);
}
void loop()
{
  digitalWrite (VCC,HIGH);
  delay(50); 
  digitalWrite(TrigPin,LOW);
  delayMicroseconds(2);
  digitalWrite(TrigPin,HIGH);
  delayMicroseconds(10);
  digitalWrite(TrigPin,LOW);
  float(Distance); Distance = pulseIn(EchoPin, HIGH);
  Distance = Distance/58;
  delay(50); 
    if (Distance <5)
  {
    //Left wheel foward
    digitalWrite(motorpin1,HIGH);  //In1
    digitalWrite(motorpin2,LOW); //In2
    //Right wheel foward
    digitalWrite(motorpin3,LOW);  //In3
    digitalWrite(motorpin4,HIGH); //In4
    delay(1000); 
  }
  else
  {
    //Left wheel foward
    digitalWrite(motorpin1,LOW);  //In1
    digitalWrite(motorpin2,HIGH); //In2
    //Right wheel foward
    digitalWrite(motorpin3,LOW);  //In3
    digitalWrite(motorpin4,HIGH); //In4
    delay(5);
  }
}