Agribot

1const int trigPin = 13;//Ultrasonic sensor trigger pin
2const int echoPin  = 12;// echo pin
3int solenoid = 9;// solenoid from l293d board one pin to ground  and other to pin 9 ardiuno
4int forka = 8;//fork lift from l293d board one pin  to 8 ardiuno
5int forkb = 7;//fork lift from l293d board other to pin 7 ardiuno
6int  sw=6;// switch one pin to 5v and other to pin 6 ardiuno
7int smoke = 11;
8int  mot = 10;
9int mota = 5;
10int sw1=4;
11int sw2 = 3;
12int sw3 = 2;
13String  aa = "";
14int smk;
15int sensor_pin = A0;// moisture level sensor output pin
16const  int sensor=A1;// temperature sensor output pin
17int output_value ;
18float tempc;
19//  defines variables
20long duration;
21int distanceCm, distanceInch;
22//const  int sensor=A0; // Assigning analog pin A1 to variable 'sensor'
23//float tempc;
24float  vout;
25static unsigned long nextSwitchTime = millis()+500;
26static unsigned  long nextMotTime = millis()+500;
27int a=0;
28int mot_count = 0;
29int sw_o =  0;
30void send_data(){
31  //Serial.print("M");
32  Serial.print("T");
33  Serial.print(tempc);
34  Serial.print("D");
35  Serial.print(distanceCm);
36  Serial.print("M");
37  Serial.print(String(output_value));
38  Serial.print("S");
39  Serial.print(smk);
40  Serial.print("W");
41  Serial.print(sw_o);
42  Serial.println("E");
43}
44
45void  change_mot(){
46  //Serial.println("enter");
47  mot_count++;
48  if(mot_count  == 1){
49    //Serial.println("1");
50    digitalWrite(mot, LOW);
51    digitalWrite(mota,  HIGH);
52    delay(500);
53    digitalWrite(mot, HIGH);
54    digitalWrite(mota,  HIGH);
55  }
56  else if(mot_count == 2){
57    //Serial.println("2");
58    digitalWrite(mot, LOW);
59    digitalWrite(mota, HIGH);
60    delay(500);
61    digitalWrite(mot, HIGH);
62    digitalWrite(mota, HIGH);
63  }
64  else if(mot_count  == 3){
65    //Serial.println("3");
66    digitalWrite(mot, LOW);
67    digitalWrite(mota,  HIGH);
68    delay(500);
69    digitalWrite(mot, HIGH);
70    digitalWrite(mota,  HIGH);
71  }
72  else if(mot_count == 4){
73    //Serial.println("4");
74    mot_count = 0;
75    digitalWrite(mot, LOW);
76    digitalWrite(mota, HIGH);
77    delay(500);
78    digitalWrite(mot, HIGH);
79    digitalWrite(mota, HIGH);
80  }
81}
82void setup() {
83  pinMode(sensor_pin,INPUT);
84  pinMode(sensor,INPUT);
85  pinMode(smoke,INPUT);
86  pinMode(sw1,INPUT);
87  pinMode(sw2,INPUT);
88  pinMode(sw3,INPUT);
89  pinMode(mot, OUTPUT);
90  pinMode(mota, OUTPUT);
91  pinMode(solenoid, OUTPUT);
92  pinMode(forka, OUTPUT);
93  pinMode(forkb, OUTPUT);
94  pinMode(trigPin, OUTPUT);  // Sets the trigPin as an Output
95  pinMode(echoPin, INPUT); // Sets the echoPin  as an Input
96  Serial.begin(9600); // Starts the serial communication
97  digitalWrite(solenoid,  LOW);
98  digitalWrite(forka, LOW);
99  digitalWrite(forkb, LOW);
100  //Serial.print("test");
101}
102
103void  loop() {
104  if(digitalRead(sw)==1 && a==0){
105    Serial.print("a");
106      a=1;
107      digitalWrite(solenoid, HIGH);
108      digitalWrite(forka, HIGH);
109      digitalWrite(forkb,  LOW);
110      delay(200);
111      digitalWrite(forka, LOW);
112      digitalWrite(forkb,  LOW);
113    }
114    if(digitalRead(sw)==1 && a==1){
115      Serial.print("b");
116      a=0;
117      digitalWrite(solenoid, LOW);
118      digitalWrite(forka, LOW);
119      digitalWrite(forkb, HIGH);
120      delay(200);
121      digitalWrite(forka,  LOW);
122      digitalWrite(forkb, LOW);
123    }
124  output_value= analogRead(sensor_pin);
125  output_value = map(output_value,600,250,10,99);
126  //delay(1000);
127  vout=analogRead(sensor);
128  
129  if(digitalRead(sw2)==1){
130      sw_o=2;
131      tempc = 00.00;
132    }
133   else{
134    tempc=(vout*250)/1023;
135   }
136  //digitalWrite(mot, LOW);
137  digitalWrite(trigPin, LOW);
138  delayMicroseconds(2);
139  // Sets the trigPin  on HIGH state for 10 micro seconds
140  digitalWrite(mot, HIGH);
141  digitalWrite(mota,  HIGH);
142  digitalWrite(trigPin, HIGH);
143  delayMicroseconds(10);
144  digitalWrite(trigPin,  LOW);
145  // Reads the echoPin, returns the sound wave travel time in microseconds
146  duration = pulseIn(echoPin, HIGH);
147  // Calculating the distance
148  distanceCm=  duration*0.034/2;
149  distanceInch = duration*0.0133/2;
150  if(digitalRead(smoke)==1){
151    smk=1;
152    //delay(1000);
153    }
154    else{
155      smk=0;
156    }
157   if(digitalRead(sw1)==1){
158    sw_o=1;
159    digitalWrite(mot, LOW);
160    digitalWrite(mota,  LOW);
161    }
162    if(digitalRead(sw2)==1){
163      sw_o=2;
164    }
165    
166    else{
167      sw_o=0;
168    }
169  if(distanceCm <=20){
170    digitalWrite(mot,  LOW);
171    digitalWrite(mota, LOW);
172    delay(2000);
173    distanceCm=10;
174  }
175  else if(distanceCm >20 && distanceCm <= 50){
176    digitalWrite(mot, LOW);
177    digitalWrite(mota, LOW);
178    delay(200);
179    digitalWrite(mot, HIGH);
180    digitalWrite(mota, HIGH);
181    delay(200);
182  }
183  else if (distanceCm>50){
184    digitalWrite(mot, HIGH);
185    digitalWrite(mota, HIGH);
186    distanceCm=99;
187  }
188  delay(10);
189  if( nextSwitchTime < millis() ) 
190   { 
191       send_data();  
192       nextSwitchTime = millis() + 1000;
193   }
194
195   if( nextMotTime <  millis() ) 
196   { 
197       change_mot(); 
198       nextMotTime = millis() +  5000;
199   }
200  //delay(1000);
201  //Serial.println(float(distanceCm));
202}  
203
204
205