#define stop $0$

#define forward $1$

#define back $2$

#define left $3$

#define right $4$

#define Trig A$4$

#define Echo A$5$

int MotSpeed$1=0$;

int MotSpeed$2=0$;

int Speed$\_$adjustment $=120$;

int stop$\_$bit$=0$;

void loop$()$

$\{$

avoidance $(18)$; $\}$

void setup$()$

$\{$

Serial.begin$(9600)$;

pinMode $(5,$ OUTPUT$)$;

pinMode $(6,$ OUTPUT$)$;

pinMode $(9,$ OUTPUT$)$;

pinMode $(10,$ OUTPUT$)$;

pinMode $($Trig$,$ OUTPUT$)$;

pinMode $($Echo$,$ INPUT$)$;$\}$

float GetDistance$()$

$\{$

Float distance:

digitalWrite$($Trig$,$ LOW$)$;

delayMicroseconds $(2)$;

digitalWrite$($Trig$,$ HIGH$)$;

delayMicroseconds $(10)$;

digitalWrite$($Trig$,$ LOW$)$:

Distance $=$ pulseIn$($Echo$,$ HIGH$)/58\mathrm{.}00$;

Return distance; $\}$

Void motor$1($int steep$1,$ int steep$2)$

$\{$

analogWrite$(5,$ steep$1)$:

analogWrite$(6,$ steep$2)$:

$\}$

Void motor$2($int steep$1,$ int steep$2)$

$\{$

analogWrite$(9,$steep$1)$;

analogWrite$(10,$ steep$2)$;

$\}$

void avoidance $($int set$\_$dis$)$

$\{$

Void motor$($int dir, int speed$1,$ int speed$2)$