DIY Chandrayan 3 Pragyan Rover

1#include <SoftwareSerial.h>
2#include <Servo.h>
3
4SoftwareSerial bluetooth(6, 7); // RX, TX for HC-05 module
5
6Servo servo1;
7Servo servo2;
8
9int trigPin = A0;
10int echoPin = A1;
11int ledIndicator = 13;
12
13// Motor pins on L298 module
14int motor1Pin1 = 8;  // OUT1
15int motor1Pin2 = 9;  // OUT2
16int motor2Pin1 = 10; // OUT3
17int motor2Pin2 = 11; // OUT4
18
19void setup() {
20  Serial.begin(9600);
21  bluetooth.begin(9600);
22  pinMode(trigPin, OUTPUT);
23  pinMode(echoPin, INPUT);
24  pinMode(ledIndicator, OUTPUT);
25
26  servo1.attach(5); // Servo motor 1 on pin 5
27  servo2.attach(4); // Servo motor 2 on pin 4
28  servo1.write(90);
29  servo2.write(90);
30
31  pinMode(motor1Pin1, OUTPUT);
32  pinMode(motor1Pin2, OUTPUT);
33  pinMode(motor2Pin1, OUTPUT);
34  pinMode(motor2Pin2, OUTPUT);
35}
36
37void loop() {
38  if (bluetooth.available()) {
39    char command = bluetooth.read();
40    Serial.println("Received command: " + String(command));
41    executeCommand(command);
42  }
43
44  long duration, distance;
45  digitalWrite(trigPin, LOW);
46  delayMicroseconds(2);
47  digitalWrite(trigPin, HIGH);
48  delayMicroseconds(10);
49  digitalWrite(trigPin, LOW);
50  duration = pulseIn(echoPin, HIGH);
51  distance = (duration / 2) / 29.1;
52
53  Serial.println("Distance: " + String(distance) + " cm");
54
55  if (distance < 20) {
56   
57    //stopMotors();
58  }
59}
60
61void executeCommand(char command) {
62  switch (command) {
63    case 'F':
64      moveForward();
65      break;
66    case 'B':
67      moveBackward();
68      break;
69    case 'L':
70      moveLeft();
71      break;
72    case 'R':
73      moveRight();
74      break;
75    case 'S':
76      stopMotors();
77      break;
78    case 'U':
79      moveServosUp();
80      break;
81    case 'D':
82      moveServosDown();
83      break;
84  }
85}
86
87void moveForward() {
88  digitalWrite(motor1Pin1, HIGH);
89  digitalWrite(motor1Pin2, LOW);
90  digitalWrite(motor2Pin1, HIGH);
91  digitalWrite(motor2Pin2, LOW);
92  digitalWrite(ledIndicator, HIGH);
93}
94
95void moveBackward() {
96  digitalWrite(motor1Pin1, LOW);
97  digitalWrite(motor1Pin2, HIGH);
98  digitalWrite(motor2Pin1, LOW);
99  digitalWrite(motor2Pin2, HIGH);
100  digitalWrite(ledIndicator, HIGH);
101}
102
103void moveLeft() {
104  digitalWrite(motor1Pin1, LOW);
105  digitalWrite(motor1Pin2, HIGH);
106  digitalWrite(motor2Pin1, HIGH);
107  digitalWrite(motor2Pin2, LOW);
108  digitalWrite(ledIndicator, HIGH);
109}
110
111void moveRight() {
112  digitalWrite(motor1Pin1, HIGH);
113  digitalWrite(motor1Pin2, LOW);
114  digitalWrite(motor2Pin1, LOW);
115  digitalWrite(motor2Pin2, HIGH);
116  digitalWrite(ledIndicator, HIGH);
117}
118
119void stopMotors() {
120  digitalWrite(motor1Pin1, LOW);
121  digitalWrite(motor1Pin2, LOW);
122  digitalWrite(motor2Pin1, LOW);
123  digitalWrite(motor2Pin2, LOW);
124  digitalWrite(ledIndicator, LOW);
125}
126
127void moveServosUp() {
128  for (int angle = 90; angle >= 0; angle--) {
129    servo1.write(angle);
130    servo2.write(angle);
131    delay(10); // Add delay for smoother movement
132  }
133}
134
135void moveServosDown() {
136  for (int angle = 0; angle <= 90; angle++) {
137    servo1.write(angle);
138    servo2.write(angle);
139    delay(10); // Add delay for smoother movement
140  }
141}