GOLF_CAR_JEDDAH_U_AMER_CAR_11_2_2023

#define left 11
#define leftC 9
#define right  12
#define  rightC 10
//motor one
#define ENA 5
#define IN1 4
#define IN2 7

//motor two
#define ENB 6
#define IN3 2
#define IN4 3

#define echoPin A0        // Echo Pin
#define trigPin A1        // Trigger Pin

int maximumRange = 20;    // Maximum range to start attacking

long duration, distance;  // Variables to calculate distance

int stopFlag = 0;
int Speed = 50; // speed of this robot
int buzzer = 8;
bool leftV ;
bool leftCV ;
bool centerV ;
bool rightV ;
bool rightCV ;
int Speed1 = A5;
int Speed2 = A3;
int Move = A4;
int Stop = A2;
int Speed1Sta ;
int Speed2Sta ;
int MoveSta ;
int StopSta ;
void setup()
{
  Serial.begin(9600);
  pinMode(left, INPUT);
  pinMode(leftC, INPUT);
  pinMode(right, INPUT);
  pinMode(rightC, INPUT);

  pinMode(Speed1, INPUT);
  pinMode(Speed2, INPUT);
  pinMode(Move, INPUT);
  pinMode(Stop, INPUT);

  pinMode(ENA, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENB, OUTPUT);

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(buzzer, OUTPUT);
}

void loop() {

  Speed1Sta = digitalRead(Speed1);
  Speed2Sta = digitalRead(Speed2);
  MoveSta = digitalRead(Move);
  StopSta = digitalRead(Stop);
  Serial.print(Speed1Sta);
  Serial.print(" ");
  Serial.print(Speed2Sta);
  Serial.print(" ");
  Serial.print(MoveSta);
  Serial.print(" ");
  Serial.println(StopSta);

  leftV = digitalRead(left);
  leftCV = digitalRead(leftC);
  rightV = digitalRead(rightC);
  rightCV = digitalRead(right);

  /*Serial.print(leftV);
  Serial.print(" ");
  Serial.print(leftCV);
  Serial.print(" ");
  Serial.print(rightCV);
  Serial.print(" ");
  Serial.println(rightV);
  */
  // Triggering the Ultrasonic Wave :
  digitalWrite(trigPin, LOW);//     |
  delayMicroseconds(2);//           |
  digitalWrite(trigPin, HIGH);//    |
  delayMicroseconds(10);//          |
  digitalWrite(trigPin, LOW);//     |
  //---------------------------------
  //Sensing Ultrasonic Wave on echo Pin and callculating the duration
  duration = pulseIn(echoPin, HIGH);

  //Calculate the distance (in cm) based on the speed of sound.
  distance = duration / 58.2;
  //Serial.println(distance);
  // If object in range of attack start Attacking:
  // Conrolling car direction based on Infra-Red Sensors:
  //Serial.println(rightV);
  if (distance <= maximumRange) {
    carStop();
    digitalWrite(buzzer, HIGH);
  }
  // If object is not in range of attack start Searching:
  else {
    if (MoveSta == 1 && Speed1Sta == 0 && Speed2Sta == 0) {
      Serial.println("MoveSta = 1");
      LineFollowing(Speed);
    }
    else  if (MoveSta == 1 && Speed1Sta == 1 && Speed2Sta == 0) {
      Serial.println("MoveSta = 1 + Speed1Sta = 1");
      LineFollowing(Speed + 30);
    }
    else  if (MoveSta == 1 && Speed1Sta == 0 && Speed2Sta == 1) {
      Serial.println("MoveSta = 1 + Speed2Sta = 1");
      LineFollowing(Speed + 40);
    }
    //if (MoveSta == 0 ) {
    //  Serial.println("MoveSta = 0");
    //  carStop();
    //}
    if (StopSta == 1) {
      Serial.println("StopSta = 1");
      carStop();
      delay(5000);
      LineFollowing(Speed);
    }
    digitalWrite(buzzer, LOW);
  }

}

void LineFollowing(int sp) {
  if (leftV == 0 && leftCV == 1 && rightCV == 1 && rightV == 0) {
    carforward(sp);
    Serial.println("forward");
  }
  else if (leftV == 1 && leftCV == 1 && rightCV == 1 && rightV == 1) {
    carforwardFast(sp);
  }
  else if (leftV == 1 && leftCV == 0 && rightCV == 0 && rightV == 0) {
    carturnright(sp);
    //
    delay(200);
  }
  else if (leftV == 1 && leftCV == 1 && rightCV == 0 && rightV == 0) {
    carturnright(sp);
  } else if (leftV == 1 && leftCV == 1 && rightCV == 1 && rightV == 0) {
    carturnright(sp);
  } else if (leftV == 0 && leftCV == 0 && rightCV == 0 && rightV == 0) {
    carturnright(sp);
  } else if (leftV == 0 && leftCV == 1 && rightCV == 1 && rightV == 1) {
    carturnleft(sp);
  }
  else if (leftV == 0 && leftCV == 0 && rightCV == 1 && rightV == 1) {
    carturnleft(sp);
  }
  else if (leftV == 0 && leftCV == 0 && rightCV == 0 && rightV == 1) {
    carturnleft(sp);
    // delay(200);
  }
}



void carforward(int j) {
  analogWrite(ENA, j);
  analogWrite(ENB, j);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void carturnleft(int j) {
  analogWrite(ENA, j + 40 );
  analogWrite(ENB, j + 40  );
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void carturnright(int j) {
  analogWrite(ENA, j + 40);
  analogWrite(ENB, j + 40);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void carStop() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
}
void carforwardFast(int j) {
  analogWrite(ENA, j + 40);
  analogWrite(ENB, j + 40);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}