obstacle avoiding robot

Code for the Arduino 👇👇👇⬇️🙃

String ms;

int a,b;

void setup() {

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

Serial.begin(9600);

pinMode(2,OUTPUT);

pinMode(3,OUTPUT);

pinMode(4,OUTPUT);

pinMode(5,OUTPUT);

pinMode(8, INPUT);

pinMode(9, OUTPUT);

digitalWrite(9, LOW);

digitalWrite(8, LOW);

}

void loop() {

    long duration,cm ;

  // SEND ECHO

    digitalWrite(9, HIGH);

    delayMicroseconds(5);

  digitalWrite(9, LOW);

delayMicroseconds(5);

// CALCULATE DISTANCE

  duration = pulseIn(8, HIGH);

  cm = microsecondsToCentimeters(duration);

    Serial.print(cm);

  Serial.print("cm");

   if(cm>15){

  // Forward

digitalWrite(2,LOW);

digitalWrite(3,HIGH);

digitalWrite(4,HIGH);

digitalWrite(5,LOW);

   }

  if(cm<15){

  // Reverse

  digitalWrite(2,HIGH);

digitalWrite(3,LOW);

digitalWrite(4,LOW);

digitalWrite(5,HIGH);

  }

  if(cm<15&cm>10){

  // Right

    digitalWrite(2,HIGH);

digitalWrite(3,LOW);

digitalWrite(4,HIGH);

digitalWrite(5,LOW);

delay(1000);

  }

  if(cm<10){

  // stop

    digitalWrite(2,LOW);

digitalWrite(3,LOW);

digitalWrite(4,LOW);

digitalWrite(5,LOW);

  }

}

long microsecondsToCentimeters(long microseconds) {

  // The speed of sound is 340 m/s or 29 microseconds per centimeter.

  // The ping travels out and back, so to find the distance of the

  // object we take half of the distance travelled.

  return microseconds / 29 / 2;

}

.      Circuit diagram 🔝👆🔝👆🔝👆