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  1. #include "FastLED.h"
  2. #include "NewPing.h"
  3. int pos = 0;
  4. int i = 0;
  5. int c = 0;
  6. int a;
  7. int p;
  8. int TRIGGER_PIN = 30;
  9. int ECHO_PIN = 31;
  10. int TRIGGER_PIN_2 = 46;
  11. int ECHO_PIN_2 = 47;
  12. int MAX_DISTANCE = 400;
  13. int motor1 = 3;
  14. int motor2 = 4;
  15. int motor3 = 5;
  16. int motor4 = 6;
  17.  
  18.  
  19. NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
  20. NewPing sonar2(TRIGGER_PIN_2, ECHO_PIN_2, MAX_DISTANCE);
  21. float distance;
  22. float distance2;
  23.  
  24.  
  25. #define NUM_LEDS 56
  26. ;CRGB leds[NUM_LEDS];
  27.  
  28. #define DATA_PIN 7
  29.  
  30.  
  31.  
  32. void setup() {
  33. FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NUM_LEDS);
  34. pinMode(A0,INPUT);
  35. Serial.begin(9600);
  36. pinMode(A1,INPUT);
  37. pinMode(12, OUTPUT);
  38. pinMode(13, OUTPUT);
  39. pinMode(motor1, OUTPUT);
  40. pinMode(motor2, OUTPUT);
  41. pinMode(motor3, OUTPUT);
  42. pinMode(motor4, OUTPUT);
  43.  
  44.  
  45.  
  46.  
  47.  
  48.  
  49. }
  50.  
  51. void right() {
  52. digitalWrite(motor1, LOW);
  53. digitalWrite(motor2, HIGH);
  54. digitalWrite(motor3, LOW);
  55. digitalWrite(motor4, LOW);
  56. }
  57. void rvr() {
  58. digitalWrite(motor1, HIGH);
  59. digitalWrite(motor2, LOW);
  60. digitalWrite(motor3, HIGH);
  61. digitalWrite(motor4, LOW);
  62. }
  63. void fwrd() {
  64. digitalWrite(motor1, LOW);
  65. digitalWrite(motor2, HIGH);
  66. digitalWrite(motor3, LOW);
  67. digitalWrite(motor4, HIGH);
  68. }
  69.  
  70. void left() {
  71. digitalWrite(motor1, LOW);
  72. digitalWrite(motor2, LOW);
  73. digitalWrite(motor3, LOW);
  74. digitalWrite(motor4, HIGH);
  75.  
  76.  
  77. }
  78.  
  79. void ledstop(){
  80. for(a=0; a < NUM_LEDS; a++){
  81. leds[a] = CRGB::Black;
  82. FastLED.show();
  83. }
  84. }
  85.  
  86. void smile() {
  87. leds[0] = CRGB::Black;
  88. leds[3] = CRGB::Black;
  89. leds[4] = CRGB::Black;
  90. leds[7] = CRGB::Black;
  91. leds[8] = CRGB::Black;
  92. leds[11] = CRGB::Black;
  93. leds[12] = CRGB::Black;
  94. leds[15] = CRGB::Black;
  95. leds[16] = CRGB::Black;
  96. leds[19] = CRGB::Black;
  97. leds[20] = CRGB::Black;
  98. leds[23] = CRGB::Black;
  99. leds[24] = CRGB::Black;
  100. leds[27] = CRGB::Black;
  101. leds[28] = CRGB::Black;
  102. leds[31] = CRGB::Black;
  103. leds[40] = CRGB::Black;
  104. leds[47] = CRGB::Black;
  105. leds[48] = CRGB::Black;
  106. leds[49] = CRGB::Black;
  107. leds[54] = CRGB::Black;
  108. leds[55] = CRGB::Black;
  109.  
  110.  
  111. leds[32] = CRGB::Green;
  112. leds[33] = CRGB::Green;
  113. leds[34] = CRGB::Green;
  114. leds[35] = CRGB::Green;
  115. leds[36] = CRGB::Green;
  116. leds[37] = CRGB::Green;
  117. leds[38] = CRGB::Green;
  118. leds[39] = CRGB::Green;
  119. leds[41] = CRGB::Green;
  120. leds[42] = CRGB::Green;
  121. leds[43] = CRGB::Green;
  122. leds[44] = CRGB::Green;
  123. leds[45] = CRGB::Green;
  124. leds[46] = CRGB::Green;
  125. leds[50] = CRGB::Green;
  126. leds[51] = CRGB::Green;
  127. leds[52] = CRGB::Green;
  128. leds[53] = CRGB::Green;
  129. FastLED.show();
  130.  
  131. leds[1] = CRGB::Green;
  132. leds[2] = CRGB::Green;
  133. leds[5] = CRGB::Green;
  134. leds[6] = CRGB::Green;
  135. leds[9] = CRGB::Green;
  136. leds[10] = CRGB::Green;
  137. leds[13] = CRGB::Green;
  138. leds[14] = CRGB::Green;
  139. leds[17] = CRGB::Green;
  140. leds[18] = CRGB::Green;
  141. leds[21] = CRGB::Green;
  142. leds[22] = CRGB::Green;
  143. leds[25] = CRGB::Green;
  144. leds[26] = CRGB::Green;
  145. leds[29] = CRGB::Green;
  146. leds[30] = CRGB::Green;
  147.  
  148.  
  149. FastLED.show();
  150. }
  151. void blnk(){
  152. delay(2000);
  153.  
  154. leds[1] = CRGB::Black;
  155. leds[2] = CRGB::Black;
  156. leds[5] = CRGB::Black;
  157. leds[6] = CRGB::Black;
  158. leds[9] = CRGB::Green;
  159. leds[10] = CRGB::Green;
  160. leds[13] = CRGB::Green;
  161. leds[14] = CRGB::Green;
  162. leds[17] = CRGB::Green;
  163. leds[18] = CRGB::Green;
  164. leds[21] = CRGB::Green;
  165. leds[22] = CRGB::Green;
  166. leds[25] = CRGB::Black;
  167. leds[26] = CRGB::Black;
  168. leds[29] = CRGB::Black;
  169. leds[30] = CRGB::Black;
  170.  
  171.  
  172. FastLED.show();
  173. delay(200);
  174. }
  175. void sad() {
  176. leds[0] = CRGB::Black;
  177. leds[1] = CRGB::Black;
  178. leds[2] = CRGB::Black;
  179. leds[3] = CRGB::Black;
  180. leds[4] = CRGB::Black;
  181. leds[5] = CRGB::Black;
  182. leds[6] = CRGB::Black;
  183. leds[7] = CRGB::Black;
  184. leds[8] = CRGB::Black;
  185. leds[9] = CRGB::Black;
  186. leds[10] = CRGB::Black;
  187. leds[11] = CRGB::Black;
  188. leds[12] = CRGB::Black;
  189. leds[13] = CRGB::Black;
  190. leds[14] = CRGB::Black;
  191. leds[15] = CRGB::Black;
  192. leds[16] = CRGB::Black;
  193. leds[19] = CRGB::Black;
  194. leds[20] = CRGB::Black;
  195. leds[23] = CRGB::Black;
  196. leds[27] = CRGB::Black;
  197. leds[28] = CRGB::Black;
  198. leds[32] = CRGB::Black;
  199. leds[33] = CRGB::Black;
  200. leds[38] = CRGB::Black;
  201. leds[39] = CRGB::Black;
  202. leds[40] = CRGB::Black;
  203. leds[41] = CRGB::Black;
  204.  
  205.  
  206. leds[17] = CRGB::Blue;
  207. leds[18] = CRGB::Blue;
  208. leds[21] = CRGB::Blue;
  209. leds[22] = CRGB::Blue;
  210. leds[24] = CRGB::Blue;
  211. leds[25] = CRGB::Blue;
  212. leds[26] = CRGB::Blue;
  213. leds[29] = CRGB::Blue;
  214. leds[30] = CRGB::Blue;
  215. leds[31] = CRGB::Blue;
  216.  
  217.  
  218.  
  219. leds[34] = CRGB::Blue;
  220. leds[35] = CRGB::Blue;
  221. leds[36] = CRGB::Blue;
  222. leds[37] = CRGB::Blue;
  223. leds[41] = CRGB::Blue;
  224. leds[42] = CRGB::Blue;
  225. leds[43] = CRGB::Blue;
  226. leds[44] = CRGB::Blue;
  227. leds[45] = CRGB::Blue;
  228. leds[46] = CRGB::Blue;
  229. leds[48] = CRGB::Blue;
  230. leds[49] = CRGB::Blue;
  231. leds[50] = CRGB::Blue;
  232. leds[51] = CRGB::Blue;
  233. leds[52] = CRGB::Blue;
  234. leds[53] = CRGB::Blue;
  235. leds[54] = CRGB::Blue;
  236. leds[55] = CRGB::Blue;
  237. FastLED.show();
  238. }
  239. void scared() {
  240. leds[0] = CRGB::Black;
  241. leds[1] = CRGB::Black;
  242. leds[3] = CRGB::Black;
  243. leds[4] = CRGB::Black;
  244. leds[6] = CRGB::Black;
  245. leds[7] = CRGB::Black;
  246. leds[8] = CRGB::Black;
  247. leds[10] = CRGB::Black;
  248. leds[11] = CRGB::Black;
  249. leds[12] = CRGB::Black;
  250. leds[13] = CRGB::Black;
  251. leds[15] = CRGB::Black;
  252. leds[19] = CRGB::Black;
  253. leds[20] = CRGB::Black;
  254. leds[24] = CRGB::Black;
  255. leds[27] = CRGB::Black;
  256. leds[28] = CRGB::Black;
  257. leds[31] = CRGB::Black;
  258. leds[32] = CRGB::Black;
  259. leds[33] = CRGB::Black;
  260. leds[34] = CRGB::Black;
  261. leds[35] = CRGB::Black;
  262. leds[36] = CRGB::Black;
  263. leds[37] = CRGB::Black;
  264. leds[38] = CRGB::Black;
  265. leds[39] = CRGB::Black;
  266. leds[40] = CRGB::Black;
  267. leds[41] = CRGB::Black;
  268. leds[42] = CRGB::Black;
  269. leds[43] = CRGB::Black;
  270. leds[44] = CRGB::Black;
  271. leds[45] = CRGB::Black;
  272. leds[46] = CRGB::Black;
  273. leds[47] = CRGB::Black;
  274. leds[48] = CRGB::Black;
  275. leds[49] = CRGB::Black;
  276. leds[54] = CRGB::Black;
  277. leds[55] = CRGB::Black;
  278.  
  279. leds[2] = CRGB::Purple;
  280. leds[5] = CRGB::Purple;
  281. leds[9] = CRGB::Purple;
  282. leds[14] = CRGB::Purple;
  283. leds[16] = CRGB::Purple;
  284. leds[23] = CRGB::Purple;
  285. leds[17] = CRGB::Purple;
  286. leds[18] = CRGB::Purple;
  287. leds[21] = CRGB::Purple;
  288. leds[22] = CRGB::Purple;
  289. leds[25] = CRGB::Purple;
  290. leds[26] = CRGB::Purple;
  291. leds[29] = CRGB::Purple;
  292. leds[30] = CRGB::Purple;
  293. leds[50] = CRGB::Purple;
  294. leds[51] = CRGB::Purple;
  295. leds[52] = CRGB::Purple;
  296. leds[53] = CRGB::Purple;
  297. FastLED.show();
  298. digitalWrite(motor1, HIGH);
  299. digitalWrite(motor2, LOW);
  300. digitalWrite(motor3, LOW);
  301. digitalWrite(motor4, LOW);
  302. delay(300);
  303. digitalWrite(motor1, LOW);
  304. digitalWrite(motor2, LOW);
  305. digitalWrite(motor3, HIGH);
  306. digitalWrite(motor4, LOW);
  307. delay(300);
  308. digitalWrite(motor1, HIGH);
  309. digitalWrite(motor2, LOW);
  310. digitalWrite(motor3, LOW);
  311. digitalWrite(motor4, LOW);
  312. delay(300);
  313. digitalWrite(motor1, LOW);
  314. digitalWrite(motor2, LOW);
  315. digitalWrite(motor3, HIGH);
  316. digitalWrite(motor4, LOW);
  317. delay(300);
  318. digitalWrite(motor1, HIGH);
  319. digitalWrite(motor2, LOW);
  320. digitalWrite(motor3, LOW);
  321. digitalWrite(motor4, LOW);
  322. delay(300);
  323. digitalWrite(motor1, LOW);
  324. digitalWrite(motor2, LOW);
  325. digitalWrite(motor3, HIGH);
  326. digitalWrite(motor4, LOW);
  327. delay(300);
  328. digitalWrite(motor1, HIGH);
  329. digitalWrite(motor2, LOW);
  330. digitalWrite(motor3, LOW);
  331. digitalWrite(motor4, LOW);
  332. delay(300);
  333. digitalWrite(motor1, LOW);
  334. digitalWrite(motor2, LOW);
  335. digitalWrite(motor3, HIGH);
  336. digitalWrite(motor4, LOW);
  337. delay(300);
  338. digitalWrite(motor1, HIGH);
  339. digitalWrite(motor2, LOW);
  340. digitalWrite(motor3, LOW);
  341. digitalWrite(motor4, LOW);
  342. delay(300);
  343. digitalWrite(motor1, LOW);
  344. digitalWrite(motor2, LOW);
  345. digitalWrite(motor3, HIGH);
  346. digitalWrite(motor4, LOW);
  347. delay(300);
  348. digitalWrite(motor1, HIGH);
  349. digitalWrite(motor2, LOW);
  350. digitalWrite(motor3, LOW);
  351. digitalWrite(motor4, LOW);
  352. delay(300);
  353. digitalWrite(motor1, LOW);
  354. digitalWrite(motor2, LOW);
  355. digitalWrite(motor3, HIGH);
  356. digitalWrite(motor4, LOW);
  357. delay(300);
  358. digitalWrite(motor1, HIGH);
  359. digitalWrite(motor2, LOW);
  360. digitalWrite(motor3, LOW);
  361. digitalWrite(motor4, LOW);
  362. delay(300);
  363. digitalWrite(motor1, LOW);
  364. digitalWrite(motor2, LOW);
  365. digitalWrite(motor3, HIGH);
  366. digitalWrite(motor4, LOW);
  367. delay(300);
  368. digitalWrite(motor1, HIGH);
  369. digitalWrite(motor2, LOW);
  370. digitalWrite(motor3, LOW);
  371. digitalWrite(motor4, LOW);
  372. delay(300);
  373. digitalWrite(motor1, LOW);
  374. digitalWrite(motor2, LOW);
  375. digitalWrite(motor3, HIGH);
  376. digitalWrite(motor4, LOW);
  377. delay(300);
  378. digitalWrite(motor1, HIGH);
  379. digitalWrite(motor2, LOW);
  380. digitalWrite(motor3, LOW);
  381. digitalWrite(motor4, LOW);
  382. delay(300);
  383. digitalWrite(motor1, LOW);
  384. digitalWrite(motor2, LOW);
  385. digitalWrite(motor3, HIGH);
  386. digitalWrite(motor4, LOW);
  387. delay(300);
  388. digitalWrite(motor1, HIGH);
  389. digitalWrite(motor2, LOW);
  390. digitalWrite(motor3, LOW);
  391. digitalWrite(motor4, LOW);
  392. delay(300);
  393. digitalWrite(motor1, LOW);
  394. digitalWrite(motor2, LOW);
  395. digitalWrite(motor3, HIGH);
  396. digitalWrite(motor4, LOW);
  397. delay(300);
  398. digitalWrite(motor1, HIGH);
  399. digitalWrite(motor2, LOW);
  400. digitalWrite(motor3, LOW);
  401. digitalWrite(motor4, LOW);
  402. delay(300);
  403. digitalWrite(motor1, LOW);
  404. digitalWrite(motor2, LOW);
  405. digitalWrite(motor3, HIGH);
  406. digitalWrite(motor4, LOW);
  407. delay(300);
  408. digitalWrite(motor1, HIGH);
  409. digitalWrite(motor2, LOW);
  410. digitalWrite(motor3, LOW);
  411. digitalWrite(motor4, LOW);
  412. delay(300);
  413. digitalWrite(motor1, LOW);
  414. digitalWrite(motor2, LOW);
  415. digitalWrite(motor3, HIGH);
  416. digitalWrite(motor4, LOW);
  417.  
  418.  
  419.  
  420.  
  421.  
  422. digitalWrite(motor1, LOW);
  423. digitalWrite(motor2, LOW);
  424. digitalWrite(motor3, LOW);
  425. digitalWrite(motor4, LOW);
  426. }
  427.  
  428.  
  429. void angry(){
  430. leds[0] = CRGB::Black;
  431. leds[2] = CRGB::Black;
  432. leds[3] = CRGB::Black;
  433. leds[4] = CRGB::Black;
  434. leds[5] = CRGB::Black;
  435. leds[7] = CRGB::Black;
  436. leds[8] = CRGB::Black;
  437. leds[9] = CRGB::Black;
  438. leds[11] = CRGB::Black;
  439. leds[12] = CRGB::Black;
  440. leds[14] = CRGB::Black;
  441. leds[15] = CRGB::Black;
  442. leds[16] = CRGB::Black;
  443. leds[23] = CRGB::Black;
  444. leds[24] = CRGB::Black;
  445. leds[27] = CRGB::Black;
  446. leds[28] = CRGB::Black;
  447. leds[31] = CRGB::Black;
  448. leds[32] = CRGB::Black;
  449. leds[33] = CRGB::Black;
  450. leds[38] = CRGB::Black;
  451. leds[39] = CRGB::Black;
  452. leds[40] = CRGB::Black;
  453. leds[42] = CRGB::Black;
  454. leds[43] = CRGB::Black;
  455. leds[44] = CRGB::Black;
  456. leds[45] = CRGB::Black;
  457. leds[47] = CRGB::Black;
  458. leds[49] = CRGB::Black;
  459. leds[50] = CRGB::Black;
  460. leds[51] = CRGB::Black;
  461. leds[52] = CRGB::Black;
  462. leds[53] = CRGB::Black;
  463. leds[54] = CRGB::Black;
  464.  
  465.  
  466. leds[1] = CRGB::Red;
  467. leds[6] = CRGB::Red;
  468. leds[10] = CRGB::Red;
  469. leds[13] = CRGB::Red;
  470. leds[17] = CRGB::Red;
  471. leds[18] = CRGB::Red;
  472. leds[19] = CRGB::Red;
  473. leds[20] = CRGB::Red;
  474. leds[21] = CRGB::Red;
  475. leds[22] = CRGB::Red;
  476. leds[25] = CRGB::Red;
  477. leds[26] = CRGB::Red;
  478. leds[29] = CRGB::Red;
  479. leds[30] = CRGB::Red;
  480. FastLED.show();
  481.  
  482. leds[34] = CRGB::Red;
  483. leds[35] = CRGB::Red;
  484. leds[36] = CRGB::Red;
  485. leds[37] = CRGB::Red;
  486. leds[41] = CRGB::Red;
  487. leds[46] = CRGB::Red;
  488. leds[48] = CRGB::Red;
  489. leds[55] = CRGB::Red;
  490. FastLED.show();
  491.  
  492. }
  493.  
  494. void roam() {
  495. if(distance < 30){
  496. rvr();
  497. delay(1500);
  498. right();
  499. delay(1500);
  500. }
  501. else if(distance2 < 30){
  502. rvr();
  503. delay(1500);
  504. left();
  505. delay(1500);
  506. }
  507. else{
  508. fwrd();
  509. }
  510.  
  511. }
  512.  
  513.  
  514. void loop () {
  515.  
  516.  
  517. Serial.println(analogRead(A1));
  518. int lightsensor = analogRead(A0);
  519. int soundsensor = analogRead(A1);
  520. int tiltsensor = digitalRead(10);
  521. distance = sonar.ping_cm();
  522. distance2 = sonar2.ping_cm();
  523. Serial.print(distance);
  524. Serial.println("cm");
  525.  
  526. if(lightsensor > 950){
  527. sad();
  528. digitalWrite(motor1, LOW);
  529. digitalWrite(motor2, LOW);
  530. digitalWrite(motor3, LOW);
  531. digitalWrite(motor4, LOW);
  532. }
  533. else if(soundsensor > 300 ){
  534. scared();
  535.  
  536.  
  537.  
  538. delay(1000);
  539. }
  540. else if(tiltsensor == 1){
  541. angry();
  542. digitalWrite(motor1, LOW);
  543. digitalWrite(motor2, HIGH);
  544. digitalWrite(motor3, LOW);
  545. digitalWrite(motor4, HIGH);
  546.  
  547. delay(5000);
  548. }
  549. else{
  550. smile();
  551. roam();
  552.  
  553. }
  554. }
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