#include <Servo.h>

#define trigger 9
#define echo 7
#define servo 11

long lecture_echo;
long cm;
bool sens=1;
bool active=false;


Servo servo1;

int pos = 1;


void setup() {
   pinMode(trigger,OUTPUT);
   pinMode(echo,INPUT);
   digitalWrite(trigger, LOW); 
   servo1.attach(servo);

  Serial.begin(9600); 
}

void loop() {

   if (active)
   {
  
  
      if(pos==0) sens =true;
     else if(pos==180) sens=false;

     if (sens) pos++;
     else pos--;

      servo1.write(pos);
    
   
     digitalWrite(trigger, HIGH);
      delayMicroseconds(10);
      digitalWrite(trigger, LOW);
      lecture_echo = pulseIn(echo, HIGH,100000);
      cm = lecture_echo/58;
       Serial.write((char)cm);
        
       Serial.write((char)pos);

      
   }

   
    if(Serial.available() > 0) //si le buffer n'est pas vide
    {
      char buffer =Serial.read();
          if (buffer=='1')
            active =true;
            else if (buffer='0')
              active = false;
     }
 
  delay(100); 
 
}