**Robot Control** rev_01

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    - Project: **Robot Control**
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-12-02 15:20:20

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Arduino fire fighting robot */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <Servo.h>  // Include Servo library for controlling the servo motor
#include <IRremote.h> // Include IRremote library for infrared sensor functionality

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

// Pin Definitions
#define enA 5  // Enable1 L298 Pin enA
#define in1 6  // Motor1 L298 Pin in1
#define in2 7  // Motor1 L298 Pin in2
#define in3 8  // Motor2 L298 Pin in3
#define in4 9  // Motor2 L298 Pin in4
#define enB 10 // Enable2 L298 Pin enB
#define ir_R A0 // Right IR sensor pin
#define ir_F A1 // Front IR sensor pin
#define ir_L A2 // Left IR sensor pin
#define servoPin A4 // Servo motor pin
#define pump A5  // Pump control pin

// Global Variables
int Speed = 160; // Duty Cycle (to 255) for motor speed
int s1, s2, s3; // Sensor readings

// Instantiate Servo object
Servo myServo;

void setup(void) {
    // Begin serial communication
    Serial.begin(9600);  // Set baud rate to 9600 bps

    // Pin Modes
    pinMode(ir_R, INPUT);
    pinMode(ir_F, INPUT);
    pinMode(ir_L, INPUT);
    pinMode(enA, OUTPUT);
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);
    pinMode(in3, OUTPUT);
    pinMode(in4, OUTPUT);
    pinMode(enB, OUTPUT);
    pinMode(servoPin, OUTPUT);
    pinMode(pump, OUTPUT);

    // Attach the servo to the pin
    myServo.attach(servoPin);

    // Initialize Servo to sweep
    for (int angle = 90; angle <= 130; angle += 5) {
        myServo.write(angle);
        delay(15); // Allow time for the servo to reach the position
    }
    for (int angle = 130; angle >= 40; angle -= 5) {
        myServo.write(angle);
        delay(15); // Allow time for the servo to reach the position
    }
    for (int angle = 40; angle <= 95; angle += 5) {
        myServo.write(angle);
        delay(15); // Allow time for the servo to reach the position
    }

    // Set initial motor speeds
    analogWrite(enA, Speed);
    analogWrite(enB, Speed);

    delay(500); // Small delay for stability
}

void loop(void) {
    // READ SENSOR VALUES
    s1 = analogRead(ir_R);
    s2 = analogRead(ir_F);
    s3 = analogRead(ir_L);

    // Debugging: Print Sensor Values
    Serial.print("Right: "); Serial.print(s1);
    Serial.print("\tFront: "); Serial.print(s2);
    Serial.print("\tLeft: "); Serial.println(s3);
    delay(50);

    //-------------------------------------------------------------------
    // Fire Detection and Response
    //-------------------------------------------------------------------

    if (s1 < 250) { // Fire detected on the right
        Stop();
        digitalWrite(pump, HIGH); // Activate pump
        for (int angle = 90; angle >= 40; angle -= 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
        for (int angle = 40; angle <= 90; angle += 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
    } else if (s2 < 350) { // Fire detected at the front
        Stop();
        digitalWrite(pump, HIGH); // Activate pump
        for (int angle = 90; angle <= 130; angle += 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
        for (int angle = 130; angle >= 40; angle -= 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
        for (int angle = 40; angle <= 90; angle += 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
    } else if (s3 < 350) { // Fire detected on the left
        Stop();
        digitalWrite(pump, HIGH); // Activate pump
        for (int angle = 90; angle <= 130; angle += 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
        for (int angle = 130; angle >= 90; angle -= 3) {
            myServo.write(angle);
            delay(15); // Allow time for the servo to reach the position
        }
    } else { // No fire detected
        digitalWrite(pump, LOW); // Deactivate pump

        if (s1 >= 251 && s1 <= 700) {
            backward();
            delay(100);
            turnright();
            delay(200);
        } else if (s2 >= 251 && s2 <= 800) {
            forward();
        } else if (s3 >= 251 && s3 <= 700) {
            backward();
            delay(100);
            turnleft();
            delay(200);
        } else {
            Stop();
        }
    }
    delay(10);
}

// Robot Movement Functions
void forward() {
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
}

void backward() {
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
}

void turnright() {
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
}

void turnleft() {
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
}

void Stop() {
    digitalWrite(in1, LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, LOW);
}

/* END CODE */