zai medregch zogsoh

 #include <AFMotor.h>

AF_DCMotor motor1(1);

AF_DCMotor motor2(2);

const int TRIG_PIN = 6; // Arduino pin connected to Ultrasonic Sensor's TRIG pin

const int ECHO_PIN = 7; // Arduino pin connected to Ultrasonic Sensor's ECHO pin

const int DISTANCE_THRESHOLD = 20; // centimeters

float duration_us, distance_cm;

void setup() {

Serial.begin (9600);       // initialize serial port

  pinMode(TRIG_PIN, OUTPUT); // set arduino pin to output mode

  pinMode(ECHO_PIN, INPUT);  // set arduino pin to input mode

  // put your setup code here, to run once:

  motor1.setSpeed(255);  //1R MOTORIIN HURD

  motor2.setSpeed(168);  //2R MOTORIIN HURD

}

void loop() {

  uragshaa();

digitalWrite(TRIG_PIN, HIGH);

  delayMicroseconds(10);

  digitalWrite(TRIG_PIN, LOW);

  duration_us = pulseIn(ECHO_PIN, HIGH);

  distance_cm = 0.017 * duration_us;

  if(distance_cm < DISTANCE_THRESHOLD)

  { 

   zogs();

   }

  else

    { 

uragshaa();

    }

  Serial.print("distance: ");

  Serial.print(distance_cm);

  Serial.println(" cm");

  delay(500);

  }

void uragshaa() {

  motor1.run(FORWARD);

  motor2.run(FORWARD);

}

void hoishoo() {

  motor1.run(BACKWARD);

  motor2.run(BACKWARD);

}

void zogs() {

  motor1.run(RELEASE);

  motor2.run(RELEASE);

}

void baruun() {

  motor1.run(FORWARD);

  motor2.run(RELEASE);

}

void zuun() {

  motor1.run(RELEASE);

  motor2.run(FORWARD);

}