Robot/s5_code.html at master · ashu098/Robot · GitHub

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<!DOCTYPE html>
<html>
<head>
	<title>voice code</title>
</head>
<body>
<pre style="font-size: 2em;color: #fff;background-color: #000;">
	<code>
/*------ Arduino Fire Fighting Robot Code----- */

#include <Servo.h>
Servo myservo;

int pos = 0;
boolean fire = false;

/*-------defining Inputs------*/
#define Left_S 9      // left sensor
#define Right_S 10      // right sensor
#define Forward_S 8 //forward sensor

/*-------defining Outputs------*/
#define LM1 2       // left motor
#define LM2 3       // left motor
#define RM1 4       // right motor
#define RM2 5       // right motor
#define pump 6

void setup()
{
  pinMode(Left_S, INPUT);
  pinMode(Right_S, INPUT);
  pinMode(Forward_S, INPUT);
  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);
  pinMode(pump, OUTPUT);

  myservo.attach(11);
  myservo.write(90);
}

void put_off_fire()
{
    delay (500);

    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);

   digitalWrite(pump, HIGH); delay(500);

    for (pos = 50; pos <= 130; pos += 1) {
    myservo.write(pos);
    delay(10);
  }
  for (pos = 130; pos >= 50; pos -= 1) {
    myservo.write(pos);
    delay(10);
  }

  digitalWrite(pump,LOW);
  myservo.write(90);

  fire=false;
}

void loop()
{
   myservo.write(90); //Sweep_Servo();

    if (digitalRead(Left_S) ==1 && digitalRead(Right_S)==1 && digitalRead(Forward_S) ==1) //If Fire not detected all sensors are zero
    {
    //Do not move the robot
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
    }

    else if (digitalRead(Forward_S) ==0) //If Fire is straight ahead
    {
    //Move the robot forward
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
    fire = true;
    }

    else if (digitalRead(Left_S) ==0) //If Fire is to the left
    {
    //Move the robot left
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
    }

    else if (digitalRead(Right_S) ==0) //If Fire is to the right
    {
    //Move the robot right
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
    }

delay(300); //Slow down the speed of robot

     while (fire == true)
     {
      put_off_fire();
     }
}
</code>

</pre>
</body>
</html>