#include<Servo.h>  //Using the Arduino as the controller device,the library enables to control the servo motor
Servo servo1;      //initialize a servo object to control a servo
Servo servo2;      //initialize a servo object to control a servo
int pos;           //initization position of servo motor  
#define ir1 4      //ir sensor pin connecetd to pin 4 of Arduino uno 
#define ir2 5      //ir sensor pin connecetd to pin 5 of Arduino uno   
#define ir3 6      //ir sensor pin connecetd to pin 6 of Arduino uno
#define ir4 7      //ir sensor pin connecetd to pin 7 of Arduino uno
#define buzzer 13
int v1;           //integer v1 is created to store the value of ir1 
int v2;           //integer v2 is created to store the value of ir2 
int v3;           //integer v3 is created to store the value of ir3 
int v4;           //integer v4 is created to store the value of ir4 

void setup() {
  // put your setup code here, to run once:
   pinMode( ir1, INPUT);             //Set IR as INPUT device
   pinMode( ir2, INPUT);             //Set IR as INPUT device
   pinMode( ir3, INPUT);             //Set IR as INPUT device
   pinMode( ir4, INPUT);             //Set IR as INPUT device
   servo1.attach(3);                //Servo pin attached to 3 of arduino uno 
   servo2.attach(2);
   
  }

void loop() {
  // put your main code here, to run repeatedly:
   v1 = digitalRead(ir1);      //read the value of ir sensor and store it in v1
   v2 = digitalRead(ir2);      //read the value of ir sensor and store it in v2
   v3 = digitalRead(ir3);      //read the value of ir sensor and store it in v3
   v4 = digitalRead(ir4);      //read the value of ir sensor and store it in v4
   if ((v1 == HIGH )&&(v2 == HIGH)){
    
    pinMode(buzzer,HIGH); 
    for(pos=0;pos<=180;pos++){
    servo1.write(pos);
    servo2.write(pos); 
    delay(15);
}
  delay(1000);
   }
   
  if ((v3== HIGH)&&(v4 == HIGH)){
    
      pinMode(buzzer,LOW);
    
      for(pos=180;pos>=0;pos--){
       servo1.write(pos);
       servo2.write(pos);
       delay(15);
}
  delay(1000);
   }
    
   }