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15 views2 pages

Op

Uploaded by

bhel13498
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as TXT, PDF, TXT or read online on Scribd
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/*------ Arduino Fire Fighting Robot Code----- */

#include <Servo.h> //include servo.h library


Servo myservo; //create servo object
int pos = 0; //variable to store servo position
int motor_speed = 70; //variable to store motor speed
boolean fire = false; //variable to store fire status

/*-------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 // water pump

void setup()
{
pinMode(Left_S, INPUT); //set left sensor as input
pinMode(Right_S, INPUT); //set right sensor as input
pinMode(Forward_S, INPUT); //set forward sensor as input
pinMode(LM1, OUTPUT); //set left motor pins as output
pinMode(LM2, OUTPUT);
pinMode(RM1, OUTPUT); //set right motor pins as output
pinMode(RM2, OUTPUT);
pinMode(pump, OUTPUT); //set water pump pin as output
myservo.attach(11); //attach servo to pin 11
myservo.write(90); //set servo to 90 degrees
}

void loop()
{
int LS = digitalRead(Left_S); //read left sensor value
int RS = digitalRead(Right_S); //read right sensor value
int FS = digitalRead(Forward_S); //read forward sensor value

if (FS == LOW) //if fire is detected in front


{
fire = true; //set fire status to true
stop_motor(); //stop the motors
myservo.write(90); //set servo to 90 degrees
delay(500); //wait for half a second
digitalWrite(pump, HIGH); //turn on water pump
delay(5000); //spray water for 5 seconds
digitalWrite(pump, LOW); //turn off water pump
delay(1000); //wait for a second
}
else if (LS == LOW) //if fire is detected on left
{
fire = true; //set fire status to true
stop_motor(); //stop the motors
myservo.write(180); //set servo to 180 degrees
delay(500); //wait for half a second
digitalWrite(pump, HIGH); //turn on water pump
delay(5000); //spray water for 5 seconds
digitalWrite(pump, LOW); //turn off water pump
delay(1000); //wait for a second
}
else if (RS == LOW) //if fire is detected on right
{
fire = true; //set fire status to true
stop_motor(); //stop the motors
myservo.write(0); //set servo to 0 degrees
delay(500); //wait for half a second
digitalWrite(pump, HIGH); //turn on water pump
delay(5000); //spray water for 5 seconds
digitalWrite(pump, LOW); //turn off water pump
delay(1000); //wait for a second
}
else //if no fire is detected
{
fire = false; //set fire status to false
move_forward(); //move the robot forward
}
}

void move_forward() //function to move the robot forward


{
analogWrite(LM1, motor_speed); //set left motor speed
analogWrite(LM2, 0);
analogWrite(RM1, motor_speed); //set right motor speed
analogWrite(RM2, 0);
}

void stop_motor() //function to stop the robot


{
analogWrite(LM1, 0); //set left motor speed to zero
analogWrite(LM2, 0);
analogWrite(RM1, 0); //set right motor speed to zero
analogWrite(RM2, 0);
}

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