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#include <MFRC522.
h>
#include <SPI.h>
#define L1_MOTOR 30
#define L2_MOTOR 31
#define L_ENA 6
#define R1_MOTOR 32
#define R2_MOTOR 33
#define R_ENA 7
#define TRIG_PIN 34
#define ECHO_PIN 35
#define L_IR 36
#define R_IR 37
#define RED_LED 38
#define GREEN_LED 39
#define BLUE_LED 40
#define RST_PIN 5
#define SS_PIN 53
MFRC522 mfrc522 (SS_PIN, RST_PIN);
int distance;
int counter;
long duration;
String content;
String command;
bool flag = true;
void setup ()
{
Serial.begin (9600);
SPI.begin ();
mfrc522.PCD_Init ();
Serial.println ("STARTING");
delay (500);
Serial.println ("PLEASE WAIT . . . ");
delay (2500);
pinMode (L1_MOTOR, OUTPUT);

pinMode (L2_MOTOR, OUTPUT);
pinMode (L_ENA, OUTPUT);
pinMode (R1_MOTOR, OUTPUT);

pinMode (R2_MOTOR, OUTPUT);
pinMode (R_ENA, OUTPUT);
pinMode (TRIG_PIN, OUTPUT);

pinMode (ECHO_PIN, INPUT);
pinMode (L_IR, INPUT);

pinMode (R_IR, INPUT);
pinMode (RED_LED, OUTPUT);

pinMode (GREEN_LED, OUTPUT);
pinMode (BLUE_LED, OUTPUT);
}
//----------------------------------------
//LEDs
void RED ()
{
digitalWrite (RED_LED, HIGH);
digitalWrite (GREEN_LED, LOW);
digitalWrite (BLUE_LED, LOW);
}
void GREEN ()
{
digitalWrite (RED_LED, LOW);
digitalWrite (GREEN_LED, HIGH);
}
void BLUE ()
{
digitalWrite (BLUE_LED, HIGH);
}
void RGB ()
{
digitalWrite (RED_LED, HIGH);
delay (500);

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

digitalWrite (BLUE_LED, HIGH);
delay (500);
}
void OFF ()
{
}
//----------------------------------------
//MOTORs
void FORWARD ()
{
Serial.println ("FORWARD");
GREEN ();
digitalWrite (L1_MOTOR, HIGH);
digitalWrite (L2_MOTOR, LOW);
analogWrite (L_ENA, 60);
digitalWrite (R1_MOTOR, HIGH);

digitalWrite (R2_MOTOR, LOW);
analogWrite (R_ENA, 60);
}
void STOP ()
{
Serial.println ("STOP");
RED ();


}
void LEFT ()
{
Serial.println ("LEFT");
BLUE ();


}
void RIGHT ()
{
Serial.println ("RIGHT");
BLUE ();


}
//----------------------------------------
//RETURN
void RETURN ()
{
while (flag)
{
Serial.println ("DONE!");
RGB ();
delay (1500);
OFF ();
if (flag == true)
{
flag = false;
counter = 0;
command = "";
return ;
}
}
}
//----------------------------------------
//RETURNING FROM STATION
void RETURN_ONE ()
{
while (flag)
{
Serial.println ("RETURNING");
RGB ();
delay (1500);
OFF ();
if (flag == true)
{
flag = false;
counter = 1;
command = "";
return ;
}
}
}
void RETURN_TWO ()
{
while (flag)
{
RGB ();
delay (1500);
OFF ();
if (flag == true)
{
flag = false;
counter = 2;
command = "";
return ;
}
}
}
void RETURN_THREE ()
{
while (flag)
{
RGB ();
delay (1500);
OFF ();
if (flag == true)
{
flag = false;
counter = 3;
command = "";
return ;
}
}
}
void RETURN_FOUR ()
{
while (flag)
{
RGB ();
delay (1500);
OFF ();
if (flag == true)
{
flag = false;
counter = 4;
command = "";
return ;
}
}
}
//----------------------------------------
//COMMANDS
//CASHIER
void CASHIER ()
{
digitalWrite (TRIG_PIN, LOW);
delayMicroseconds (2);
digitalWrite (TRIG_PIN, HIGH);
duration = pulseIn (ECHO_PIN, HIGH);

distance = duration * 0.032 / 2;
if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

{
FORWARD ();
}
else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == LOW)
{
LEFT ();
}
else if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == HIGH)
{
RIGHT ();
}
else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == HIGH || distance <=
10)
{
STOP ();
}
if (!mfrc522.PICC_IsNewCardPresent ())
{
return ;
}
if (!mfrc522.PICC_ReadCardSerial ())
{
return ;
}
content = "";
byte letter;
for (byte i = 0 ; i < mfrc522.uid.size ; i++)

{
content.concat (String (mfrc522.uid.uidByte [i] < 0x10 ? " 0" : " "));
content.concat (String (mfrc522.uid.uidByte [i], HEX));
}
content.toUpperCase ();
if (content.substring (1) == "53 E8 28 60 71 00 01")

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN_ONE ();
}
}
void CASHIER_ELEVATOR ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN ();
}
}
//BUSINESS OFFICE
void BUSINESS ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}

{
RIGHT ();
delay (550);
STOP ();
delay (300);
}

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN_TWO ();
}
}
void BUSINESS_ELEVATOR ()
{

{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}

{
FORWARD ();
delay (400);
STOP ();
delay (300);
LEFT ();
delay (550);
STOP ();
delay (300);
}

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN ();
}
}
//TOOL_ROOM
void TOOL ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}

{
RIGHT ();
delay (550);
STOP ();
delay (300);
}
if (content.substring (1) == "53 EB 28 60 71 00 01")
{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN_THREE ();
}
}
void TOOL_ELEVATOR ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}
{
FORWARD ();
delay (400);
STOP ();
delay (300);
LEFT ();
delay (550);
STOP ();
delay (300);
}

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN ();
}
}
//REGISTRAR
void REGISTRAR ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}

{
STOP ();
delay (300);
LEFT ();
delay (550);
STOP ();
delay (300);
}
if (content.substring (1) == "53 EA 28 60 71 00 01")

{
STOP ();
delay (300);
LEFT ();
delay (550);
STOP ();
delay (300);
}
if (content.substring (1) == "53 F3 28 60 71 00 01")

{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN_FOUR ();
}
}
void REGISTRAR_ELEVATOR ()
{


{
FORWARD ();
}
{
LEFT ();
}
{
RIGHT ();
}
10)
{
STOP ();
}
{
return ;
}
{
return ;
}
content = "";
byte letter;

{
}
if (content.substring (1) == "53 3D B5 DF 70 00 01")

{
STOP ();
delay (300);
FORWARD ();
delay (400);
RIGHT ();
delay (550);
STOP ();
delay (300);
}
if (content.substring (1) == "53 D2 A6 DF 70 00 01")

{
STOP ();
delay (300);
FORWARD ();
delay (400);
RIGHT ();
delay (550);
STOP ();
delay (300);
}
{
STOP ();
delay (300);
LEFT ();
delay (800);
STOP ();
RETURN ();
}
}
void loop ()
{
flag = true ;
while (Serial.available ())

{
command = "";
command = Serial.readString ();
}
//FORT
if (command == "*cashier#" || command == "*Cashier#")
{
CASHIER ();
}
if (command == "*business office#" || command == "*Business office#" || command

== "*Business Office#")
{
BUSINESS ();
}
if (command == "*tool room#" || command == "*Tool room#" || command == "*Tool

Room#")
{
TOOL ();
}
if (command == "*registrar#" || command == "*Registrar#" || command ==

("*Register#") || command == "*register#")
{
REGISTRAR ();
}
//BACK
if (counter == 1)
{
CASHIER_ELEVATOR ();
}
if (counter == 2)
{
BUSINESS_ELEVATOR ();
}
if (counter == 3)
{
TOOL_ELEVATOR ();
}
if (counter == 4)
{
REGISTRAR_ELEVATOR ();
}
}

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#include <MFRC522.

pinMode (L1_MOTOR, OUTPUT);

pinMode (R1_MOTOR, OUTPUT);

pinMode (TRIG_PIN, OUTPUT);

pinMode (L_IR, INPUT);

pinMode (RED_LED, OUTPUT);

digitalWrite (RED_LED, LOW);

digitalWrite (RED_LED, LOW);

digitalWrite (R1_MOTOR, HIGH);

digitalWrite (L1_MOTOR, LOW);

digitalWrite (R1_MOTOR, LOW);

digitalWrite (L1_MOTOR, LOW);

digitalWrite (R1_MOTOR, HIGH);

digitalWrite (L1_MOTOR, HIGH);

digitalWrite (R1_MOTOR, LOW);

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E8 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E9 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E2 28 60 71 00 01")

if (content.substring (1) == "53 E0 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E1 28 60 71 00 01")

if (content.substring (1) == "53 E9 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E2 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E9 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 E2 28 60 71 00 01")

if (content.substring (1) == "53 EA 28 60 71 00 01")

if (content.substring (1) == "53 F3 28 60 71 00 01")

duration = pulseIn (ECHO_PIN, HIGH);

if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)

for (byte i = 0 ; i < mfrc522.uid.size ; i++)

if (content.substring (1) == "53 3D B5 DF 70 00 01")

if (content.substring (1) == "53 D2 A6 DF 70 00 01")

while (Serial.available ())

if (command == "*business office#" || command == "*Business office#" || command

if (command == "*tool room#" || command == "*Tool room#" || command == "*Tool

if (command == "*registrar#" || command == "*Registrar#" || command ==

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if (command == "business office#" || command == "Business office#" || command

if (command == "tool room#" || command == "Tool room#" || command == "*Tool

if (command == "registrar#" || command == "Registrar#" || command ==