VERIFY THIS ARDUINO PROGRAM AND REMOVE ALL THE ERRORS: #define TRIGGER_PIN_FRONT 12 #define ECHO_PIN_FRONT 11 #define TRIGGER_PIN_BACK 10 #define ECHO_PIN_BACK 9 #define TRIGGER_PIN_LEFT 8 #define ECHO_PIN_LEFT 7 #define TRIGGER_PIN_RIGHT 6 #define ECHO_PIN_RIGHT 5 #define MINIMUM_DISTANCE 50 // Minimum distance to avoid collisions in cm #define MOTOR_SPEED 255 // Speed of the motors, from 0 (stopped) to 255 (full speed) // Motor control pins #define MOTOR_1_ENABLE 5 #define MOTOR_1_IN_1 6 #define MOTOR_1_IN_2 7 #define MOTOR_2_ENABLE 9 #define MOTOR_2_IN_1 10 #define MOTOR_2_IN_2 11 void setup() { // Set up the ultrasonic sensor pins as input/output pinMode(TRIGGER_PIN_FRONT, OUTPUT); pinMode(ECHO_PIN_FRONT, INPUT); pinMode(TRIGGER_PIN_BACK, OUTPUT); pinMode(ECHO_PIN_BACK, INPUT); pinMode(TRIGGER_PIN_LEFT, OUTPUT); pinMode(ECHO_PIN_LEFT, INPUT); pinMode(TRIGGER_PIN_RIGHT, OUTPUT); pinMode(ECHO_PIN_RIGHT, INPUT); // Set up the motor control pins as output pinMode(MOTOR_1_ENABLE, OUTPUT); pinMode(MOTOR_1_IN_1, OUTPUT); pinMode(MOTOR_1_IN_2, OUTPUT); pinMode(MOTOR_2_ENABLE, OUTPUT); pinMode(MOTOR_2_IN_1, OUTPUT); pinMode(MOTOR_2_IN_2, OUTPUT); } void loop() { // Measure distances to objects in front, back, left, and right of the robot long distance_front = measureDistance(TRIGGER_PIN_FRONT, ECHO_PIN_FRONT); long distance_back = measureDistance(TRIGGER_PIN_BACK, ECHO_PIN_BACK); long distance_left = measureDistance(TRIGGER_PIN_LEFT, ECHO_PIN_LEFT); long distance_right = measureDistance(TRIGGER_PIN_RIGHT, ECHO_PIN_RIGHT); // Use if-else statements to decide what actions to take based on the distance measurements if (distance_front < MINIMUM_DISTANCE) { // Stop the robot and wait for a safe distance stopRobot(); waitForSafeDistance(); } else if (distance_back < MINIMUM_DISTANCE) { // Turn the robot to avoid hitting an object behind it turnRobot(); } else { // Move the robot forward moveRobotForward(); } } // Function to measure the distance to an object using an ultrasonic sensor long measureDistance(int triggerPin, int echoPin) { // Send a pulse to the trigger pin digitalWrite(triggerPin, LOW); delayMicroseconds(2); digitalWrite(triggerPin, HIGH); delayMicroseconds(10); digitalWrite(triggerPin, LOW); // Measure the duration of the pulse on the echo pin long duration = pulseIn(echoPin, HIGH); // Calculate the distance to the object in cm long distance = duration * 0.034 / 2; return distance; }