#include <SoftwareSerial.h> // Allows communication with Bluetooth #include <HCSR04.h> #include <L298N.h> #include <Servo.h> #include <Adafruit_NeoPixel.h> #ifdef AVR #include <avr/power.h> // Required for 16 MHz Adafruit Trinket #endif // Which pin on the Arduino is connected to the NeoPixels? // On a Trinket or Gemma we suggest changing this to 1: #define LED_PIN 5

// How many NeoPixels are attached to the Arduino? #define LED_COUNT 42 Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

SoftwareSerial mySerial(0, 1); // RX, TX int data;

int inputPin = 10; // choose the input pin (for PIR sensor) int pirState = LOW; // we start, assuming no motion detected int val = 0; // variable for reading the pin status

const unsigned int IN1 = 7; const unsigned int IN2 = 8; const unsigned int EN = 6; const unsigned int IN3 = 9; const unsigned int IN4 = 4; const unsigned int ENB = 3; const unsigned int trigPin = 13; const unsigned int echoPin = 12;

int mode = 0; //mode 0 is bluetooth mode, mode 1 is obstacle-avoiding mode boolean hasFlashed = false;

UltraSonicDistanceSensor distanceSensor(13, 12); // Initialize sensor that uses digital pins 13 and 12.

L298N motor(EN, IN1, IN2); L298N motor2(ENB, IN3, IN4);

Servo servo1;

void setup() { // Open serial communications and wait for port to open: mySerial.begin(9600); Serial.begin(9600); while (!Serial) { ; // wait for serial port to connect. Needed for native USB port only } Serial.println("Initiated"); motor.setSpeed(80); //set the speed of the motors, between 0-255 motor2.setSpeed (81); pinMode(trigPin, OUTPUT);// set the trig pin to output (Send sound waves) pinMode(echoPin, INPUT);// set the echo pin to input (recieve sound waves) servo1.attach(11); servo1.write(115); pinMode(2, OUTPUT); pinMode(inputPin, INPUT);

strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED) strip.show(); // Turn OFF all pixels ASAP //strip.setBrightness(50); // Set BRIGHTNESS to about 1/5 (max = 255) } void loop() { Serial.println ("Work already");

while (mode == 0) //changed if to while loop (RA) { if (!hasFlashed) { flashLED(247, 201, 69); hasFlashed = true; } if (mySerial.available()) { data = mySerial.read(); // define data as the num recieved from BT Serial.println(data);

}
if (data == 1) {
  forward_car();
}
else if (data == 2) {
  back_car();
}
else if (data == 3) {
  left_car();
}
else if (data == 4) {
  right_car();
}
else if (data == 5) {
  stop_car();
}

else if (data == 6) {
  mode = 1;
  hasFlashed = false;
  break;
}

}

while (mode == 1) {

if (!hasFlashed)
{
  flashLED(117, 249, 76);
  hasFlashed = true;
}

// Every 500 miliseconds, do a measurement using the sensor and print the distance in centimeters.
int distance = distanceSensor.measureDistanceCm();
motor.forward();
motor2.forward();

Serial.println (distance);

if (distance <= 80 && distance > 15) {
  digitalWrite(2, LOW); // turn the LED on (HIGH is the voltage level)

  int red = map(distance, 0, 100, 255, 0);
  for (int n = 0; n < 42; n++)
  {
    strip.setPixelColor(n, red, 0, 0);
  }
  strip.show();
  motor.forward();
  motor2.forward();

}
else if (distance > 80 && distance < 400)
{ digitalWrite(2, LOW);
  for (int n = 0; n < 42; n++)
  {
    strip.setPixelColor(n, 0, 0, 0);
  }
  strip.show();
  Serial.println("No Lights are on! Go  ahead!");

  Serial.println ("No obstacle detected. going forward");
  motor.forward(); //if there's no obstacle ahead, Go Forward!
  motor2.forward();
  delay (100);

}

else if (distance <= 15 && distance > 0) {
  digitalWrite(2, HIGH);
  Serial.println("Red! Red! Turn Now");
  motor.stop();
  motor2.stop();
  delay(500);
  flashLED(255, 0, 0);
  motor.backward();
  motor2.backward(); //actually backward
  delay(1000);
  motor.stop();
  motor2.stop();
  delay(500);

  int leftdistance = lookLeft();
  int rightdistance = lookRight();


  if (leftdistance > rightdistance) {
    motor.forward();
    motor2.backward();
    delay(500);
    motor.stop();
    motor2.stop();
    delay(200);
    motor.forward();
    motor2.forward();
  }
  else {
    motor.backward(); //this means turn
    motor2.forward();
    delay(500);
    motor.stop();
    motor2.stop();
    delay(200);
    motor.forward();
    motor2.forward();

  }

}


if (mySerial.available()) {
  data = mySerial.read(); // define data as the num recieved from BT
  Serial.println(data);

}

if (data != 6) {
  mode = 0;
  hasFlashed = false;
  break;
}

val = digitalRead(inputPin);  // read input value
if (val == HIGH) {            // check if the input is HIGH
  digitalWrite(2, HIGH);      // turn LED ON
  flashLED(0, 10, 120);
  mySerial.write(7);
  Serial.println("Blue is flashing");
  

  
  if (pirState == LOW) {
    // we have just turned on
    Serial.println("Person detected!");
    // We only want to print on the output change, not state
    pirState = HIGH;
  }
} else {
  digitalWrite(2, LOW); // turn LED OFF
  if (pirState == HIGH) {
    // we have just turned of
    Serial.println("Ready for detection!");
    // We only want to print on the output change, not state
    pirState = LOW;
  }
}

} }

void forward_car() { motor.forward(); motor2.forward();

}

void back_car() { motor.backward(); motor2.backward(); }

void left_car() { motor.forward(); motor2.backward(); }

void right_car() { motor.backward(); motor2.forward(); }

void stop_car() { motor.stop(); motor2.stop(); }

void flashLED(int r, int g, int b) {

for (int d = 0; d < 3; d++) {

for (int n = 0; n < 42; n++)
{
  strip.setPixelColor(n, r, g, b);
}
strip.show();
delay(100);

for (int n = 0; n < 42; n++)
{
  strip.setPixelColor(n, 0, 0, 0);
}
strip.show();
delay(100);

} }

int lookRight() { servo1.write(50); delay(500); int distance = distanceSensor.measureDistanceCm(); delay(100); servo1.write(115); return distance; }

int lookLeft() { servo1.write(170); delay(500); int distance = distanceSensor.measureDistanceCm(); delay(100); servo1.write(115); return distance; delay(100); }