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Arduino Fire Fighter Robot CD and Code

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Engineer JO
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515 views

Arduino Fire Fighter Robot CD and Code

Uploaded by

Engineer JO
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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 Circuit Diagram

 Sketch / Code

#define enA 10//Enable1 L298 Pin enA

#define in1 9 //Motor1 L298 Pin in1

#define in2 8 //Motor1 L298 Pin in2

#define in3 7 //Motor2 L298 Pin in3


#define in4 6 //Motor2 L298 Pin in4

#define enB 5 //Enable2 L298 Pin enB

#define ir_R A0

#define ir_F A1

#define ir_L A2

#define servo A4

#define pump A5

int Speed = 160; // Write The Duty Cycle 0 to 255 Enable for Motor Speed

int s1, s2, s3;

void setup(){ // put your setup code here, to run once

Serial.begin(9600); // start serial communication at 9600bps

pinMode(ir_R, INPUT);// declare fire sensor pin as input

pinMode(ir_F, INPUT);// declare fire sensor pin as input

pinMode(ir_L, INPUT);// declare fire sensor pin as input

pinMode(enA, OUTPUT); // declare as output for L298 Pin enA

pinMode(in1, OUTPUT); // declare as output for L298 Pin in1

pinMode(in2, OUTPUT); // declare as output for L298 Pin in2

pinMode(in3, OUTPUT); // declare as output for L298 Pin in3

pinMode(in4, OUTPUT); // declare as output for L298 Pin in4

pinMode(enB, OUTPUT); // declare as output for L298 Pin enB

pinMode(servo, OUTPUT);

pinMode(pump, OUTPUT);

for (int angle = 90; angle <= 140; angle += 5) {

servoPulse(servo, angle); }

for (int angle = 140; angle >= 40; angle -= 5) {

servoPulse(servo, angle); }

for (int angle = 40; angle <= 95; angle += 5) {

servoPulse(servo, angle); }

analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed

analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed

delay(500);

void loop(){

s1 = analogRead(ir_R);

s2 = analogRead(ir_F);
s3 = analogRead(ir_L);

//=============================================================

// Auto Control

//=============================================================

Serial.print(s1);

Serial.print("\t");

Serial.print(s2);

Serial.print("\t");

Serial.println(s3);

delay(50);

if(s1<250){

Stop();

digitalWrite(pump, 1);

for(int angle = 90; angle >= 40; angle -= 3){

servoPulse(servo, angle);

for(int angle = 40; angle <= 90; angle += 3){

servoPulse(servo, angle);

else if(s2<350){

Stop();

digitalWrite(pump, 1);

for(int angle = 90; angle <= 140; angle += 3){

servoPulse(servo, angle);

for(int angle = 140; angle >= 40; angle -= 3){

servoPulse(servo, angle);

for(int angle = 40; angle <= 90; angle += 3){

servoPulse(servo, angle);

else if(s3<250){

Stop();
digitalWrite(pump, 1);

for(int angle = 90; angle <= 140; angle += 3){

servoPulse(servo, angle);

for(int angle = 140; angle >= 90; angle -= 3){

servoPulse(servo, angle);

else if(s1>=251 && s1<=700){

digitalWrite(pump, 0);

backword();

delay(100);

turnRight();

delay(200);

else if(s2>=251 && s2<=800){

digitalWrite(pump, 0);

forword();

else if(s3>=251 && s3<=700){

digitalWrite(pump, 0);

backword();

delay(100);

turnLeft();

delay(200);

}else{

digitalWrite(pump, 0);

Stop();

delay(10);

void servoPulse (int pin, int angle){

int pwm = (angle*11) + 500; // Convert angle to microseconds

digitalWrite(pin, HIGH);

delayMicroseconds(pwm);

digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo

void forword(){ //forword

digitalWrite(in1, HIGH); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, HIGH); //Left Motor forword Pin

void backword(){ //backword

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, HIGH); //Right Motor backword Pin

digitalWrite(in3, HIGH); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

void turnRight(){ //turnRight

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, HIGH); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, HIGH); //Left Motor forword Pin

void turnLeft(){ //turnLeft

digitalWrite(in1, HIGH); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, HIGH); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

void Stop(){ //stop

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

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