const int motorPin1 = 9;        // A-A connected to D9
const int motorPin2 = 10;       // A-B connected to D10
const int sensorPin = 2;        // Sensor signal (S) connected to D2

bool motorActivated = false;    // Tracks if motor has already turned forward for 1 second
unsigned long motorStartTime;   // Stores the time the motor started

void setup() {
  Serial.begin(9600);           // Initialize Serial Monitor
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(sensorPin, INPUT);
}

void loop() {
  int sensorValue = digitalRead(sensorPin);  // Read sensor output from S pin

  // If an obstacle is detected and forward motion hasn't been activated
  if (sensorValue == LOW && !motorActivated) {
    Serial.println("Obstacle detected - Motor turning forward for 1 seconds");

    // Start the motor forward
    analogWrite(motorPin1, 100);      // Set motor speed forward (0-255)
    digitalWrite(motorPin2, LOW);     // Set direction forward
    motorStartTime = millis();        // Record the start time
    motorActivated = true;            // Set flag to indicate forward turn
  }

  // Check if 1 second has passed for forward direction
  if (motorActivated && (millis() - motorStartTime >= 1000)) {
    // Stop the motor after 1.5 seconds of forward turn
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, LOW);
    Serial.println("Motor stopped after 1 second of forward turn");
    motorActivated = false;           // Reset motor activation
  }

  delay(100);  // Small delay for readability in Serial Monitor
}