Fire_fighter_tank

#include <Servo.h>
Servo myservo;
#define chA 8   //channel for Forward and Backward
#define chB 9   //channel for Left turn and Right turn
#define chC 10  //channel for extinguisher_motor
#define ch_Pot 11 //channel for nozzle direction
#define ch_gripper 13 //channel for extinguisher_gripper

#define Flame_sensor 7 //flame sensor digital pin

int cha;        //forward/backward value
int chb;        //left/right value
int chc;        //extinguisher_motor value
int ch_potv;     //nozzle_servo value
int noz_servo_deg;   //nozzle_servo degree
int ch_grip;     //extinguisher_grip value
int fs_value;   //Flame sensor value
unsigned long currentMillis = 0; //for flame auto detect interval
unsigned long previousMillis = 0; // for flame auto detect interval
unsigned long interval = 60000;
int count = 0;
#define La 22   //Left_motor pin a
#define Lb 23   //Left_motor pin b
#define Ra 24   //Right_motor pin a
#define Rb 25   //Right_motor pin b
#define Ga 26   //Grip_motor pin a
#define Gb 27   //Grip_motor pin b

void setup() {
  Serial.begin(9600);
  myservo.attach(12);
  pinMode(chA,INPUT);
  pinMode(chB,INPUT);
  pinMode(chC,INPUT);
  pinMode(ch_Pot,INPUT);
  pinMode(ch_grip,INPUT);
  pinMode(La,OUTPUT);
  pinMode(Lb,OUTPUT);
  pinMode(Ra,OUTPUT);
  pinMode(Rb,OUTPUT);
  pinMode(Ga,OUTPUT);
  pinMode(Gb,OUTPUT);
  pinMode(Flame_sensor,OUTPUT);

}

void loop() {
  cha = pulseIn(chA,HIGH);
  chb = pulseIn(chB,HIGH);
  chc = pulseIn(chC,HIGH);
  ch_grip = pulseIn(ch_gripper,HIGH);
  ch_potv = pulseIn(ch_Pot,HIGH);
  noz_servo_deg = map(ch_potv,1000,2000,0,180);
  myservo.write(noz_servo_deg);
  /*Serial.println("channel_0 ");
  Serial.print(cha);Serial.println("");
  Serial.println("channel_1 ");
  Serial.print(chb);Serial.println("");
  Serial.println("channel_2 ");
  Serial.print(chc);Serial.println("");*/
  Serial.println(chb);
  if(cha > 1200 && cha < 1800){
  if(chb > 1600){//forward
    Go_Forward();
  }
  else if(chb < 1300){//backward
    Go_Back();
  }
  else if(chb > 1300 && chb < 1600){//stop
    Stop();
  }
  }
  else if(cha < 1200){
    Rotate_Left();
  }
  else if(cha > 1800){
    Rotate_Right();
  }
  if(ch_grip < 1300){
    Grip_press();
  }
  else if(ch_grip > 1800){
    Grip_release();
  }
  else if(ch_grip > 1300 && ch_grip < 1800){
    Grip_stop();
  }
  fs_value = digitalRead(Flame_sensor);
  if(fs_value == 1 && count == 0){
    currentMillis = millis();
    do{
      Grip_press();
      previousMillis = millis();
    }while(previousMillis - currentMillis < interval);
    count = 1;
  }
  else if(fs_value == 1 && count == 1){
    return;
  }
  else if(fs_value == 0 && count == 1){
    currentMillis = millis();
    do{
      Grip_release();
      previousMillis = millis();
    }while(previousMillis - currentMillis < interval);
    count = 0;
  }
  else if(fs_value == 0 && count == 0){
    return;
  }
}

void Go_Forward(){
  digitalWrite(La,HIGH);
  digitalWrite(Lb,LOW);
  digitalWrite(Ra,HIGH);
  digitalWrite(Rb,LOW);
}
void Go_Back(){
  digitalWrite(La,LOW);
  digitalWrite(Lb,HIGH);
  digitalWrite(Ra,LOW);
  digitalWrite(Rb,HIGH);
}
void Rotate_Left(){
  digitalWrite(La,LOW);
  digitalWrite(Lb,HIGH);
  digitalWrite(Ra,HIGH);
  digitalWrite(Rb,LOW);
}
void Rotate_Right(){
  digitalWrite(La,HIGH);
  digitalWrite(Lb,LOW);
  digitalWrite(Ra,LOW);
  digitalWrite(Rb,HIGH);
}
void Stop(){
  digitalWrite(La,LOW);
  digitalWrite(Lb,LOW);
  digitalWrite(Ra,LOW);
  digitalWrite(Rb,LOW);
}
void Grip_press(){
  digitalWrite(Ga,HIGH);
  digitalWrite(Gb,LOW);
}
void Grip_release(){
  digitalWrite(Ga,LOW);
  digitalWrite(Gb,HIGH);
}
void Grip_stop(){
  digitalWrite(Ga,LOW);
  digitalWrite(Gb,LOW);
}