Servo servo; int trigPin = 5; int echoPin = 6; int servoPin = 7; int led= 10; long duration, dist, average; long aver[3]; //array for average void setup() { Serial.begin(9600); servo.attach(servoPin); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); servo.write(0); delay(100); servo.detach(); } void measure() { digitalWrite(10,HIGH); digitalWrite(trigPin, LOW); delayMicroseconds(5); digitalWrite(trigPin, HIGH); delayMicroseconds(15); digitalWrite(trigPin, LOW); pinMode(echoPin, INPUT); duration = pulseIn(echoPin, HIGH); dist = (duration/2) / 29.1; } void loop() { for (int i=0;i<=2;i++) { measure(); aver[i]=dist; delay(10); } dist=(aver[0]+aver[1]+aver[2])/3; if ( dist<50 ) { //Putem schimba distanta dupa cum vrem servo.attach(servoPin); delay(1); servo.write(0); delay(3000); servo.write(150); delay(1000); servo.detach(); } Serial.print(dist); }