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Arduino Fire Fighter Robot CD and Code

The document contains a circuit diagram and Arduino code for controlling a robotic system using an L298 motor driver. It includes definitions for motor control pins, sensor inputs, and a servo, along with functions for movement and auto control based on sensor readings. The code allows the robot to respond to fire sensors and perform actions like moving forward, backward, turning, and stopping.

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choudharyhammad21
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10 views

Arduino Fire Fighter Robot CD and Code

The document contains a circuit diagram and Arduino code for controlling a robotic system using an L298 motor driver. It includes definitions for motor control pins, sensor inputs, and a servo, along with functions for movement and auto control based on sensor readings. The code allows the robot to respond to fire sensors and perform actions like moving forward, backward, turning, and stopping.

Uploaded by

choudharyhammad21
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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 Circuit Diagram

 Sketch / Code

#define enA 10//Enable1 L298 Pin

enA #define in1 9 //Motor1 L298

Pin in1 #define in2 8 //Motor1

L298 Pin in2 #define in3 7


//Motor2 L298 Pin in3
#define in4 6 //Motor2 L298 Pin

in4 #define enB 5 //Enable2 L298

Pin enB #define ir_R A0

#define ir_F A1

#define ir_L A2

#define servo A4

#define pump A5

int Speed = 160; // Write The Duty Cycle 0 to 255 Enable for Motor

Speed int s1, s2, s3;

void setup(){ // put your setup code here, to run once

Serial.begin(9600); // start serial communication at

9600bps pinMode(ir_R, INPUT);// declare fire sensor pin

as input pinMode(ir_F, INPUT);// declare fire sensor pin

as input pinMode(ir_L, INPUT);// declare fire sensor pin

as input pinMode(enA, OUTPUT); // declare as output for

L298 Pin enA pinMode(in1, OUTPUT); // declare as output

for L298 Pin in1 pinMode(in2, OUTPUT); // declare as

output for L298 Pin in2 pinMode(in3, OUTPUT); // declare

as output for L298 Pin in3 pinMode(in4, OUTPUT); //

declare as output for L298 Pin in4 pinMode(enB, OUTPUT);

// declare as output for L298 Pin enB 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 <= 95; angle += 5) {

servoPulse(servo, angle); }

analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed

analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed

delay(500);

void loop(){

s1 =

analogRead(ir_R); s2

= analogRead(ir_F);
s3 = analogRead(ir_L);

//=============================================================

// Auto Control

//=============================================================

Serial.print(s1);

Serial.print("\

t");

Serial.print(s2);

Serial.print("\

t");

Serial.println(s3)

; delay(50);

if(s1<250){

Stop();

digitalWrite(pump,

1);

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<350){

Stop();

digitalWrite(pump,

1);

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<250){

Stop();
digitalWrite(pump, 1);

for(int angle = 90; angle <= 140; angle += 3){

servoPulse(servo, angle);

for(int angle = 140; angle >= 90; angle -= 3){

servoPulse(servo, angle);

else if(s1>=251 && s1<=700){

digitalWrite(pump, 0);

backword();

delay(100);

turnRight();

delay(200);

else if(s2>=251 && s2<=800){

digitalWrite(pump, 0);

forword();

else if(s3>=251 && s3<=700){

digitalWrite(pump, 0);

backword();

delay(100)

turnLeft()

delay(200)

}else{ digitalWrite(

pump, 0); Stop();

delay(10);

void servoPulse (int pin, int angle){

int pwm = (angle*11) + 500; // Convert angle to

microseconds digitalWrite(pin, HIGH);

delayMicroseconds(pwm);

digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo

void forword(){ //forword

digitalWrite(in1, HIGH); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, HIGH); //Left Motor forword Pin

void backword(){ //backword

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, HIGH); //Right Motor backword Pin

digitalWrite(in3, HIGH); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

void turnRight(){ //turnRight

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, HIGH); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, HIGH); //Left Motor forword Pin

void turnLeft(){ //turnLeft

digitalWrite(in1, HIGH); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, HIGH); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

void Stop(){ //stop

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, LOW); //Right Motor backword Pin

digitalWrite(in3, LOW); //Left Motor backword Pin

digitalWrite(in4, LOW); //Left Motor forword Pin

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