#include <main.h>

int16 distance;          // Defining variables

// Defining the pins

#define trig pin_b4     // Change as you wish, can use any pin in the MCU
#define echo pin_b5     // Change as you wish, can use any pin in the MCU
#define ALL_OUT 0
#define ALL_IN 0xff

#INT_TIMER0
void timer0_isr()
{
   distance+=0xff;

}

void main()
{

setup_adc(ADC_OFF); 
set_tris_b( 0x32 );    //PIN 5-INPUT  0b00100000
 

delay_ms(1000);                              // Boot-up delay, for troubleshooting

setup_timer_0(T0_INTERNAL);     // initiating timer

enable_interrupts(GLOBAL);    // enable GLOBAL INTERRUPTS


while(true)
{

output_high(trig);                         // ping the sonar
delay_us(20);                            // sending 20us pulse
output_low(trig);


while(!input(ECHO))                       // wait for high state of echo pin
{}

set_timer0(0);                           // setting timer zero
distance=0;
enable_interrupts(INT_TIMER0);         //ENABLE TIMER0 INTERRUPTS;
while(input(ECHO))                       // Wait for high state of echo pin
{}
disable_interrupts(INT_TIMER0);          // DISABLE t0 INTERRUPTS
// time=get_timer0();                       // Getting the time

distance+=get_timer0();

//distance=distance*0.028 + 1.093 ;             // Calculating the distance
                           

if(distance<300)
{
OUTPUT_LOW(PIN_B6);
OUTPUT_LOW(PIN_B7);
}

if(distance>299 && distance<500)
{
OUTPUT_HIGH(PIN_B6);
OUTPUT_LOW(PIN_B7);
}

if(distance>499 && distance<600)
{
OUTPUT_LOW(PIN_B6);
OUTPUT_HIGH(PIN_B7);
}



if(distance>600 )
{
OUTPUT_HIGH(PIN_B6);
OUTPUT_HIGH(PIN_B7);
}
                                     
                                         
delay_ms(500);


}
}