#include <Servo.
h> //standard library for the servo
#include <NewPing.h> //for the Ultrasonic sensor function library.
//L298N motor control pins
#define IN1 4 // Motor 1 direction pin 1
#define IN2 5 // Motor 1 direction pin 2
#define IN3 6 // Motor 2 direction pin 1
#define IN4 7 // Motor 2 direction pin 2
//sensor pins
#define TRIG_PIN A1
#define ECHO_PIN A2
#define MAX_DISTANCE 200
#define MAX_SPEED 120 // sets speed of DC motors
#define MAX_SPEED_OFFSET 15
Servo myservo;
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
boolean goesForward = false;
float distance_sonar = 0;
int distance = 100;
//int speedSet = 0;
#define trigPin 12
#define echoPin 11
Servo servo;
//int sound = 250;
const int relayPin = 2;
Servo sprayerservo;
void setup(){
Serial.begin(115200);
myservo.attach(9);
myservo.write(115);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
servo.attach(10);
sprayerservo.attach(3);
}
void loop(){
// Move the servo from 0 to 90 degrees
for (int angle = 0; angle <= 90; angle += 1) {
// Set the servo position
sprayerservo.write(angle);
// Wait for the servo to reach the desired position
delay(15);
}
// Move the servo back from 90 to 0 degrees
for (int angle = 90; angle >= 0; angle -= 1) {
// Set the servo position
sprayerservo.write(angle);
// Wait for the servo to reach the desired position
delay(15);
}
int distanceR = 0;
int distanceL = 0;
//delay(50);
float distance_sonar = readPing();
Serial.print(distance_sonar);
if (distance <= 70) {
moveStop();
// delay(100);
moveBackward();
// delay(300);
moveStop();
// delay(200);
distanceR = lookRight();
// delay(200);
distanceL = lookLeft();
// delay(200);
if (distanceR >= distanceL) {
turnRight();
moveStop();
} else {
turnLeft();
moveStop();
}
} else {
moveForward();
}
distance = readPing();
long duration, distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 5) {
Serial.println("the distance is less than 10");
servo.write(270);
delay(1500);
}
else {
servo.write(0);
}
if (distance > 15 || distance <= 0){
Serial.println("The distance is more than 15");
servo.write(180);
}
else {
Serial.print(distance);
Serial.println(" cm");
}
digitalWrite(relayPin, LOW); // Activate the relay (LOW-triggered)
delay(5000); // Wait for 5 seconds
digitalWrite(relayPin, HIGH); // Deactivate the relay
delay(5000);
}
int lookRight() {
myservo.write(50);
// delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}
int lookLeft() {
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
// delay(100);
}
int readPing() {
delay(70);
int cm = sonar.ping_cm();
if (cm == 0) {
cm = 250;
}
return cm;
}
void moveStop() {
//analogWrite(ENA, 0);
//analogWrite(ENB, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
delay(500);
}
void moveForward() {
if (!goesForward) {
goesForward = true;
// analogWrite(ENA, MAX_SPEED);
// analogWrite(ENB, MAX_SPEED);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN4, HIGH);
digitalWrite(IN3, LOW);
}
delay(500);
}
void moveBackward() {
goesForward = false;
//analogWrite(ENA, MAX_SPEED);
//analogWrite(ENB, MAX_SPEED);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN4, LOW);
digitalWrite(IN3, HIGH);
delay(500);
}
void turnRight() {
//analogWrite(ENA, MAX_SPEED);
//analogWrite(ENB, MAX_SPEED - MAX_SPEED_OFFSET);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN4, LOW);
digitalWrite(IN3, HIGH);
delay(500);
moveStop();
}
void turnLeft() {
//analogWrite(ENA, MAX_SPEED - MAX_SPEED_OFFSET);
//analogWrite(ENB, MAX_SPEED);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN4, HIGH);
digitalWrite(IN3, LOW);
delay(500);
moveStop();
}
