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Fire Fighting Robot Project

The document provides a detailed guide for wiring and programming an automatic fire-fighting robot using Arduino. It includes specific pin assignments for various components such as IR flame sensors, motor drivers, servo motors, and a water pump. Additionally, the Arduino code is presented, outlining the setup and loop functions to control the robot's movement and fire-fighting actions based on sensor inputs.

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choudharyhammad21
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12 views5 pages

Fire Fighting Robot Project

The document provides a detailed guide for wiring and programming an automatic fire-fighting robot using Arduino. It includes specific pin assignments for various components such as IR flame sensors, motor drivers, servo motors, and a water pump. Additionally, the Arduino code is presented, outlining the setup and loop functions to control the robot's movement and fire-fighting actions based on sensor inputs.

Uploaded by

choudharyhammad21
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 PDF, TXT or read online on Scribd
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Automatic Fire-Fighting Robot Project

Circuit Wiring Guide:


IR Flame Sensors (3-pin)

- Right sensor -> D2

- Front sensor -> D3

- Left sensor -> D4

Wiring:

- VCC -> 5V

- GND -> GND

- OUT -> D2/D3/D4 respectively

L298N Motor Driver

- IN1 -> D9

- IN2 -> D8

- IN3 -> D7

- IN4 -> D6

- ENA -> D10 (PWM)

- ENB -> D5 (PWM)

- VCC -> 12V or motor supply

- GND -> GND

- 5V (optional if jumper is on)

Servo Motor

- Signal -> A4

- VCC -> 5V

- GND -> GND


Water Pump

- Signal -> A5 (use a transistor if needed)

Arduino Pin Assignments:

| Component | Pin |

|----------------|------|

| IR Right | D2 |

| IR Front | D3 |

| IR Left | D4 |

| Motor IN1 | D9 |

| Motor IN2 | D8 |

| Motor IN3 | D7 |

| Motor IN4 | D6 |

| ENA (Motor A) | D10 |

| ENB (Motor B) | D5 |

| Servo | A4 |

| Pump | A5 |
Arduino Code
#define enA 10
#define in1 9
#define in2 8
#define in3 7
#define in4 6
#define enB 5
#define ir_R 2
#define ir_F 3
#define ir_L 4
#define servo A4
#define pump A5

int Speed = 160;


int s1, s2, s3;

void setup() {
Serial.begin(9600);
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(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 <= 90; angle += 5) servoPulse(servo, angle);

analogWrite(enA, Speed);
analogWrite(enB, Speed);
delay(500);
}

void loop() {
s1 = digitalRead(ir_R);
s2 = digitalRead(ir_F);
s3 = digitalRead(ir_L);

Serial.print(s1); Serial.print("\t");
Serial.print(s2); Serial.print("\t");
Serial.println(s3);

delay(50);

if (s1 == LOW) {
Stop();
digitalWrite(pump, HIGH);
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 == LOW) {
Stop();
digitalWrite(pump, HIGH);
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 == LOW) {
Stop();
digitalWrite(pump, HIGH);
for (int angle = 90; angle <= 140; angle += 3) servoPulse(servo, angle);
for (int angle = 140; angle >= 90; angle -= 3) servoPulse(servo, angle);
} else {
digitalWrite(pump, LOW);
if (s1 == HIGH && s2 == HIGH && s3 == HIGH) {
forword();
} else if (s1 == HIGH) {
backword(); delay(100);
turnRight(); delay(200);
} else if (s3 == HIGH) {
backword(); delay(100);
turnLeft(); delay(200);
} else {
Stop();
}
}
delay(10);
}

void servoPulse(int pin, int angle) {


int pwm = (angle * 11) + 500;
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50);
}

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

void backword() {
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);
}

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