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_MODIFIED____ARDUINO_OBSTACLE_FIRE_FIGHTING_BOT/_MODIFIED____ARDUINO_OBSTACLE_FIRE_FIGHTING_BOT.ino

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+
+
+#include <AFMotor.h>
+#include <NewPing.h>
+#include <Servo.h>
+
+
+
+//Servo
+const int sensorMin = 0;     // sensor min
+const int sensorMax = 1024;  // sensor max
+
+#define TRIG_PIN A3    // ultrasonic sensor
+#define ECHO_PIN A2    // ultrasonic sensor
+#define pump 11   // water pump[DC motor]
+#define MAX_DISTANCE 200
+#define MAX_SPEED 190 // sets speed of DC  motors
+#define MAX_SPEED_OFFSET 20
+int sensorReading = analogRead(A0);
+
+NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
+
+AF_DCMotor motor1(1, MOTOR12_1KHZ);
+AF_DCMotor motor2(2, MOTOR12_1KHZ);
+AF_DCMotor motor3(3, MOTOR34_1KHZ);
+AF_DCMotor motor4(4, MOTOR34_1KHZ);
+Servo myservo;
+
+boolean goesForward = false;
+int distance = 100;
+int speedSet = 0;
+
+int pos = 0;
+
+
+void setup() {
+  Serial.begin(9600);
+  myservo.attach(8);
+  myservo.write(115);
+  delay(2000);
+  distance = readPing();
+  delay(100);
+  distance = readPing();
+  delay(100);
+  distance = readPing();
+  delay(100);
+  distance = readPing();
+  delay(100);
+}
+
+void loop() {
+  int distanceR = 0;
+  int distanceL =  0;
+  delay(40);
+
+  if (distance <= 8)
+  {
+    Serial.println(distance);
+    moveStop();
+    delay(100);
+    sensorReading = analogRead(A0);
+    int range = map(sensorReading, sensorMin, sensorMax, 0, 3);
+    Serial.println("Distance is less than 8");
+    Serial.println(range);
+    if (range == 0)
+    {
+
+      Serial.println("Flame");
+      moveStop();
+      fire_ex();
+      delay(500);
+    }
+    else
+    {
+//      moveStop();
+      moveBackward();
+      delay(300);
+      moveStop();
+      delay(200);
+      distanceR = lookRight();
+      delay(200);
+      distanceL = lookLeft();
+      delay(200);
+
+      if (distanceR >= distanceL)
+      {
+        turnRight();
+        moveStop();
+      }
+      else
+      {
+        turnLeft();
+        moveStop();
+      }
+    }
+  } else
+  {
+    Serial.println(distance);
+    moveForward();
+  }
+  distance = readPing();
+}
+
+int lookRight()
+{
+  myservo.write(50);
+  delay(500);
+  int distance = readPing();
+  delay(100);
+  myservo.write(115);
+  return distance;
+}
+
+int lookLeft()
+{
+  myservo.write(170);
+  delay(500);
+  int distance = readPing();
+  delay(100);
+  myservo.write(115);
+  return distance;
+  delay(100);
+}
+
+int readPing() {
+  delay(70);
+  int cm = sonar.ping_cm();
+  if (cm == 0)
+  {
+    cm = 250;
+  }
+  return cm;
+}
+
+void moveStop() {
+  motor1.run(RELEASE);
+  motor2.run(RELEASE);
+  motor3.run(RELEASE);
+  motor4.run(RELEASE);
+}
+
+void moveForward() {
+
+  if (!goesForward)
+  {
+    goesForward = true;
+    motor1.run(FORWARD);
+    motor2.run(FORWARD);
+    motor3.run(FORWARD);
+    motor4.run(FORWARD);
+    for (speedSet = 0; speedSet < MAX_SPEED; speedSet += 2) // slowly bring the speed up to avoid loading down the batteries too quickly
+    {
+      motor1.setSpeed(speedSet);
+      motor2.setSpeed(speedSet);
+      motor3.setSpeed(speedSet);
+      motor4.setSpeed(speedSet);
+      delay(5);
+    }
+  }
+}
+
+void moveBackward() {
+  goesForward = false;
+  motor1.run(BACKWARD);
+  motor2.run(BACKWARD);
+  motor3.run(BACKWARD);
+  motor4.run(BACKWARD);
+  for (speedSet = 0; speedSet < MAX_SPEED; speedSet += 2) // slowly bring the speed up to avoid loading down the batteries too quickly
+  {
+    motor1.setSpeed(speedSet);
+    motor2.setSpeed(speedSet);
+    motor3.setSpeed(speedSet);
+    motor4.setSpeed(speedSet);
+    delay(5);
+  }
+}
+
+void turnRight() {
+  motor1.run(FORWARD);
+  motor2.run(FORWARD);
+  motor3.run(BACKWARD);
+  motor4.run(BACKWARD);
+  delay(500);
+  motor1.run(FORWARD);
+  motor2.run(FORWARD);
+  motor3.run(FORWARD);
+  motor4.run(FORWARD);
+}
+
+void turnLeft() {
+  motor1.run(BACKWARD);
+  motor2.run(BACKWARD);
+  motor3.run(FORWARD);
+  motor4.run(FORWARD);
+  delay(500);
+  motor1.run(FORWARD);
+  motor2.run(FORWARD);
+  motor3.run(FORWARD);
+  motor4.run(FORWARD);
+}
+void fire_ex()
+{
+  delay (500);
+
+  Serial.println("starting pump");
+  digitalWrite(pump, HIGH); //Turn the pump ON for DC Motor
+  Serial.println("calling pump");
+  delay(500);
+
+  for (pos = 50; pos <= 130; pos += 1) {
+    myservo.write(pos);
+    delay(100);
+  }
+  for (pos = 130; pos >= 50; pos -= 1) {
+    myservo.write(pos);
+    delay(100);
+  }
+  // need to add condition to check if fire is low or high
+   sensorReading = analogRead(A0);
+   int range = map(sensorReading, sensorMin, sensorMax, 0, 3);
+   if (range==0)
+  {
+    fire_ex();
+    }
+  else{
+  digitalWrite(pump, LOW);
+  myservo.write(90);
+  }
+}