#include "Arduino.h"
#include "Wire.h"
#include "MeMCore.h"

// Declare 1 variable of type MeUltrasonicSensor at PORT_3
MeUltrasonicSensor sensor(PORT_3);
int speed = 100;
MeDCMotor _leftMotor(9);
MeDCMotor _rightMotor(10);
bool goagain = false;

// Define the number of iterations required to turn for 30 degrees
// This value may need to be adjusted based on the specific motor and robot configuration
#define TURN_ITERATIONS 50

void setup() {
  // Initialize the serial port at 9600 baud
  Serial.begin(9600);
  // put your setup code here, to run once:
  _leftMotor.run(0);
  _rightMotor.run(0);
}

void loop() {
  float distance = sensor.distanceCm();
  // Use parentheses to enclose the condition
  if (distance <= 15 or goagain == true) {
    goagain = false;
    // Add a for loop to turn for 30 degrees
    for (int i = 0; i < TURN_ITERATIONS; i++) {
      _leftMotor.run(speed);
      _rightMotor.run(speed);
      delay(10);
    }
    // Stop the motors after turning
    _leftMotor.run(0);
    _rightMotor.run(0);
    // Check the distance again
    distance = sensor.distanceCm();
    if (distance < 90) {
      goagain = true;
      }
    } else {
    _leftMotor.run(-speed);
    _rightMotor.run(speed);
  }
  // Add a small delay to avoid continuous motor changes
  delay(10);
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");
}