#include <Stepper.h>
const int trigPin = 4; // Connected to PA1
const int echoPin = 3; // Connected to PA0
#define PLAY 2
const int stepsPerRevolution = 200;

Stepper myStepper(stepsPerRevolution, 7, 8, 9, 10);
// defines variables that are used in this code !!

long duration;
int distance;

void setup() {

  Serial.begin(9600);

  pinMode(trigPin, OUTPUT); // Sets the trigPin as an OUTPUT !

  pinMode(echoPin, INPUT); // Sets the echoPin as an INPUT !

  pinMode(PLAY, OUTPUT);// set pin as OUTPUT for PLAY

  digitalWrite(PLAY, HIGH);//turn OFF the pin: PLAY

 myStepper.setSpeed(60);



}

void loop() {
//  this to clears the trigPin

digitalWrite(trigPin, LOW);
delayMicroseconds(2);

// Sets the trigPin on HIGH state for 10 micro seconds

digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

// Reads the echoPin, returns the sound wave travel time in microseconds

duration = pulseIn(echoPin, HIGH);

//  this to calculate the distance !!

distance= duration*0.034/2;

// Here is the condition that if the distance is less or equal to 5 the LED will be on !!

if (distance >= 23 ){ 

myStepper.step(200);
delay(5000);
 digitalWrite(PLAY,LOW);// start the command
 delay(4000);// give it a 400ms time to execute 
  digitalWrite(PLAY,HIGH);// stop the command
  delay(4000);// give it a 400ms time  to stop  
delay(5000);



}
 digitalWrite(PLAY, HIGH);//turn OFF the pin: PLAY


}