"Robot Control" rev_01

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    - Project: "Robot Control"
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-12-20 08:24:13

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Develop an Arduino-based system that integrates */
    /* various sensors and actuators, allowing users to */
    /* monitor environmental conditions and automate */
    /* responses based on predefined thresholds. */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <Servo.h>

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

// Servo object
Servo myservo;

// Variables
int pos = 0;
boolean fire = false;

// Pin definitions
#define Left A0
#define Forward A1
#define Right A2
#define Back A3

#define trigPinL 3
#define echoPinL 9
#define trigPinR 11
#define echoPinR 12

#define pump 13

#define in1 2
#define in2 4
#define in3 7
#define in4 8
#define ena 5
#define enb 6

long duration, distance, UltraSensorL, UltraSensorR;
int Cdistance, Rdistance, Ldistance, distanceR, distanceRight;

void setup(void)
{
    // Initialize serial communication
    Serial.begin(9600);

    // Set motor control pins as outputs
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);
    pinMode(in3, OUTPUT);
    pinMode(in4, OUTPUT);
    pinMode(ena, OUTPUT);
    pinMode(enb, OUTPUT);

    // Set sensor input pins
    pinMode(Left, INPUT);
    pinMode(Forward, INPUT);
    pinMode(Right, INPUT);
    pinMode(Back, INPUT);

    // Attach the servo to pin 10 and set initial position
    myservo.attach(10);
    myservo.write(90);

    // Set ultrasonic sensor pins
    pinMode(trigPinL, OUTPUT);
    pinMode(echoPinL, INPUT);
    pinMode(trigPinR, OUTPUT);
    pinMode(echoPinR, INPUT);
}

void SonarSensor(int trigPinSensor, int echoPinSensor) {
    digitalWrite(trigPinSensor, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPinSensor, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPinSensor, LOW);
    duration = pulseIn(echoPinSensor, HIGH);
    distance = duration / 57; // Calculate distance in cm
}

void FORWARD() {
    analogWrite(ena, 80);
    analogWrite(enb, 80);
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
}

void Stop() {
    digitalWrite(in1, LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, LOW);
}

void TurnLeft() {
    analogWrite(ena, 100);
    analogWrite(enb, 100);
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
}

void Tleft90() {
    TurnLeft();
    delay(650);
}

void Tleft180() {
    TurnLeft();
    delay(1500);
}

void TurnRight() {
    analogWrite(ena, 100);
    analogWrite(enb, 100);
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
}

void Tright90() {
    TurnRight();
    delay(750);
}

void put_off_fire() {
    delay(500);
    Stop();
    digitalWrite(pump, HIGH);
    delay(500);

    for (pos = 50; pos <= 130; pos += 1) {
        myservo.write(pos);
        delay(10);
    }
    for (pos = 130; pos >= 50; pos -= 1) {
        myservo.write(pos);
        delay(10);
    }

    digitalWrite(pump, LOW);
    myservo.write(90);
    if (digitalRead(Forward) == 0) {
        fire = false;
    }
}

void comparison(int r, int l) {
    if (r > 15 || l > 15) {
        if (r > l || r == l) {
            Tleft90();
        } else if (l > r) {
            Tright90();
        }
    } else if (r < 25 && l < 25) {
        Tleft180();
    }
}

void loop(void)
{
    myservo.write(90);
    SonarSensor(trigPinL, echoPinL);
    UltraSensorL = distance;
    SonarSensor(trigPinR, echoPinR);
    UltraSensorR = distance;

    if (UltraSensorR < 10) {
        Tleft90();
    } else if (UltraSensorL < 10) {
        Tright90();
    } else {
        if (UltraSensorL > 30 || UltraSensorR > 30) {
            FORWARD();
        } else {
            SonarSensor(trigPinL, echoPinL);
            Rdistance = distance;
            SonarSensor(trigPinR, echoPinR);
            Ldistance = distance;
            comparison(Rdistance, Ldistance);
            Stop();
            delay(150);
        }
    }

    if (digitalRead(Left) == 0 && digitalRead(Right) == 0 && digitalRead(Forward) == 0 && digitalRead(Back) == 1) {
        Stop();
    } else if (digitalRead(Left) == 1) {
        Tleft90();
    } else if (digitalRead(Right) == 1) {
        Tright90();
    } else if (digitalRead(Back) == 0) {
        Tleft180();
    } else if (digitalRead(Forward) == 1 && analogRead(Forward) < 750) {
        FORWARD();
    } else {
        fire = true;
    }

    delay(300);
    while (fire == true) {
        put_off_fire();
    }
}

/* END CODE */