CODE FOR Obstacle detection bot Arduino uno.txt

int duration=0;
long distance=0;
int firstduration=0;
long firstdistance=0;
int secondduration=0;
long seconddistance=0;

#include <Servo.h>
Servo myservo; 

int pos = 0;   

void setup() {
pinMode(5,OUTPUT);
pinMode(6,INPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
 myservo.attach(3);
Serial.begin(9600); 
}
void loop()
 {
   digitalWrite(5, HIGH);
   delayMicroseconds(10);
   digitalWrite(5, LOW);
   delayMicroseconds(2);
   duration= pulseIn(6,HIGH);
   delay(100);
   distance=duration*0.034/2;
   Serial.println(distance);
   if(distance<=20)
    {
      digitalWrite(7, LOW);
      digitalWrite(8, LOW);
      digitalWrite(9, LOW);
      digitalWrite(10, LOW);
      delay(300);

      digitalWrite(7, LOW);
      digitalWrite(8, HIGH);
      digitalWrite(9, LOW);
      digitalWrite(10, HIGH);

      delay(350);
      digitalWrite(7, LOW);
      digitalWrite(8, LOW);
      digitalWrite(9, LOW);
      digitalWrite(10, LOW);

      myservo.write(0);
      delay(500);
      digitalWrite(5, HIGH);
      delayMicroseconds(10);
      digitalWrite(5, LOW);
      delayMicroseconds(2);
      firstduration= pulseIn(6,HIGH);
      delay(100);
      firstdistance=firstduration*0.034/2;
      int first = firstdistance; 
      Serial.println(firstdistance);

      myservo.write(90);
      delay(500);

      myservo.write(180);
      delay(500);
      digitalWrite(5, HIGH);
      delayMicroseconds(10);
      digitalWrite(5, LOW);
      delayMicroseconds(2);
      secondduration= pulseIn(6,HIGH);
      delay(100);
      seconddistance=secondduration*0.034/2;
      int second = seconddistance;

      Serial.println(seconddistance);

      myservo.write(90);
      delay(500);

if(first < second ) { digitalWrite(7, LOW); digitalWrite(8, HIGH); digitalWrite(9, HIGH); digitalWrite(10, LOW); delay(500); } else if(first >   second  )


{

    digitalWrite(7, HIGH);
    digitalWrite(8, LOW);
    digitalWrite(9, LOW);
    digitalWrite(10, HIGH);  
    delay(500);
  }
} 
else 
{
    digitalWrite(7, HIGH);
    digitalWrite(8, LOW);
    digitalWrite(9, HIGH);
    digitalWrite(10, LOW);
  }

}