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THE CAR MOVES AND STOPS WHEN DISTANCE IS LESS THAN 5cm. IF THE DISTANCE  IS BIGGER THAN 5cm IT MOVES.

MOVING-BRAKING CAR.ino

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+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+#include "utility/Adafruit_MS_PWMServoDriver.h"
+#define trigPin A1
+#define echoPin A0
+
+
+// Create the motor shield object with the default I2C address
+Adafruit_MotorShield AFMS = Adafruit_MotorShield();
+
+// Select which 'port' M1, M2, M3 or M4. In this case, M1
+Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
+Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
+Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
+Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
+
+void setup() {
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  Serial.println("Adafruit Motorshield v2 - DC Motor test!");
+  pinMode(trigPin, OUTPUT);
+  pinMode(echoPin, INPUT);
+
+  AFMS.begin();  // create with the default frequency 1.6KHz
+  Serial.println("AFMS began."); //not reaching here
+ 
+  // Set the speed to start, from 0 (off) to 255 (max speed)
+   myMotor->setSpeed(100);
+  myMotor->run(FORWARD);
+
+   myMotor2->setSpeed(100);
+  myMotor2->run(BACKWARD);
+
+   myMotor3->setSpeed(100);
+  myMotor3->run(BACKWARD);
+
+   myMotor4->setSpeed(100);
+  myMotor4->run(FORWARD);
+}
+
+void loop() {
+  long duration, distance;
+  digitalWrite(trigPin, LOW);  // Added this line
+  delayMicroseconds(2); // Added this line
+  digitalWrite(trigPin, HIGH);
+  delayMicroseconds(10); // Added this line
+  digitalWrite(trigPin, LOW);
+  duration = pulseIn(echoPin, HIGH);
+  distance = duration *0.034/2;
+  if (distance <= 5){
+    myMotor ->run(RELEASE);
+    myMotor2->run(RELEASE);
+    myMotor3->run(RELEASE);
+    myMotor4->run(RELEASE);
+    }
+  else {
+    Serial.print(distance);
+    Serial.println(" cm");
+    myMotor->run(FORWARD);
+    myMotor2->run(BACKWARD);
+    myMotor3->run(BACKWARD);
+    myMotor4->run(FORWARD);
+    myMotor ->setSpeed(100); 
+    myMotor2->setSpeed(100); 
+    myMotor3->setSpeed(100); 
+    myMotor4->setSpeed(100); 
+    }
+}
+