Project Arva (Autonomous Emergency Bot concept)

Project Arva is an autonomous emergency vehicle concept aimed to be used to check places too dangerous for humans to check.

Oct 30, 2020

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environmental sensing

emergency

robots

Components and supplies

IR Transceiver (Generic)

Arduino UNO

Apps and platforms

MIT App Inventor 2

Project description

Code

The Code

arduino

1#include <dht.h>
2
3//sensor pins
4#define gasSens A4
5dht DHT;
6
7#define  DHT11_PIN 2
8
9//motor driver pins
10#define enA 9
11#define enB 10
12#define  in1 8
13#define in2 7
14#define in3 6
15#define in4 5
16
17//infared pins
18#define  lftIr 12
19#define ctrIr 4
20#define rghIr 3
21
22#define buzzer 13
23
24int  dist=1000;
25int lastVal=0;
26int degVal;
27int leftDist;
28int rightDist;
29int  gasVal;
30int buzzerTrig=0;
31unsigned long curTime;
32String msg="";
33int  spd=150;
34bool swtch=0;
35
36void setup() {
37  // put your setup code here,  to run once:
38  pinMode(enA, OUTPUT);
39  pinMode(enB, OUTPUT);
40  pinMode(in1,  OUTPUT);
41  pinMode(in2, OUTPUT);
42  pinMode(in3, OUTPUT);
43  pinMode(in4,  OUTPUT);
44  
45  pinMode(lftIr,INPUT);
46  pinMode(ctrIr,INPUT);
47  pinMode(rghIr,INPUT);
48
49  pinMode(buzzer, OUTPUT);
50  
51  digitalWrite(in1, LOW);
52  digitalWrite(in2,  LOW);
53  digitalWrite(in3, LOW);
54  digitalWrite(in4, LOW);
55
56  curTime=millis();
57
58  Serial.begin(38400);
59}
60
61void loop() {
62 if(millis()-curTime>=10000){
63    int chk = DHT.read11(DHT11_PIN);
64    gasVal=analogRead(gasSens);
65    Serial.print(DHT.temperature);
66    Serial.print(" C");
67    Serial.print("|");
68    Serial.print(DHT.humidity);
69    Serial.print("%");
70    Serial.print("|");
71    Serial.print(gasVal);
72    Serial.print("|");
73    if(gasVal>500){Serial.println("Dangerous gas levels");buzzerTrig=1;}
74    else{Serial.println("normal");buzzerTrig=0;}
75    curTime=millis();
76  }
77 if(Serial.available()){
78   msg=Serial.readString();
79   }
80  if (msg=="start"){
81    swtch=1;
82  }
83  else if(msg=="stop"){
84    swtch=0;
85  }
86  else  if (msg=="left"){
87    stopAll();
88    analogWrite(enA, spd);
89    analogWrite(enB,  spd);
90    leftMov();
91    delay(500);
92    stopAll();
93  }
94  else if  (msg=="right"){
95    stopAll();
96    analogWrite(enA, spd);
97    analogWrite(enB,  spd);
98    rightMov();
99    delay(500);
100    stopAll();
101  }
102  else if(msg=="back"){
103    stopAll();
104    analogWrite(enA, spd);
105    analogWrite(enB, spd);
106    backMov();
107    delay(500);
108    stopAll();
109  }
110  else if(msg=="foward"){
111    stopAll();
112    analogWrite(enA, spd);
113    analogWrite(enB, spd);
114    fowardMov();
115    delay(500);
116    stopAll();
117  }
118  else if(msg!=""){
119    spd=msg.toInt();
120  }
121  if(swtch==1){
122    moveBot(spd);
123  }
124  else{
125    stopAll();
126    }
127  msg="";
128  
129}
130
131void moveBot(int mSpeed){
132  analogWrite(enA,  mSpeed);
133  analogWrite(enB, mSpeed);
134  int leftIr=digitalRead(lftIr);
135  int centerIr=digitalRead(ctrIr);
136  int rightIr=digitalRead(rghIr);
137  
138
139   if (leftIr==LOW && rightIr==HIGH){
140        stopAll();
141        while(leftIr==LOW){
142          rightMov();
143          leftIr=digitalRead(lftIr);
144        }
145        stopAll();
146       }
147       else if (leftIr==HIGH && rightIr==LOW){
148        stopAll();
149          while(rightIr==LOW){
150            leftMov();
151            rightIr=digitalRead(rghIr);
152          }
153        stopAll(); 
154      }
155      else if (leftIr==LOW && centerIr==LOW  && rightIr==LOW){
156          stopAll();
157              while(leftIr==LOW ||  centerIr==LOW || rightIr==LOW){
158                backMov();
159                leftIr=digitalRead(lftIr);
160                centerIr=digitalRead(ctrIr);
161                rightIr=digitalRead(rghIr);
162                }
163                stopAll();
164          }
165          
166      else if (leftIr==HIGH && centerIr==LOW && rightIr==HIGH){
167          stopAll();
168          while(centerIr==LOW){
169            backMov();
170            centerIr=digitalRead(ctrIr);
171          }
172          stopAll();
173          delay(10);
174          leftMov();
175          delay(500);
176          stopAll();
177        }
178      else{
179        fowardMov();
180      }
181  }
182void fowardMov(){
183  digitalWrite(in2,HIGH);
184  digitalWrite(in4,HIGH);
185  digitalWrite(in1, LOW);
186  digitalWrite(in3, LOW);
187}
188
189void backMov(){
190  digitalWrite(in1,HIGH);
191  digitalWrite(in3,HIGH);
192  digitalWrite(in2, LOW);
193  digitalWrite(in4, LOW);
194}
195
196void rightMov(){
197  digitalWrite(in1, HIGH);
198  digitalWrite(in4, HIGH);
199  digitalWrite(in2, LOW);
200  digitalWrite(in3, LOW);
201}
202
203void  leftMov(){
204  digitalWrite(in2, HIGH);
205  digitalWrite(in3, HIGH);
206  digitalWrite(in1,  LOW);
207  digitalWrite(in4, LOW);
208}
209
210void stopAll(){
211  digitalWrite(in1,  LOW);
212  digitalWrite(in2, LOW);
213  digitalWrite(in3, LOW);
214  digitalWrite(in4,  LOW);
215}
216
217void buzzerCall(){
218    tone(buzzer, 5000);
219    delay(500);
220    noTone(buzzer);
221    tone(buzzer, 1000);
222    delay(500);
223    noTone(buzzer);
224  }

#include <dht.h>

//sensor pins
#define gasSens A4
dht DHT;

#define  DHT11_PIN 2

//motor driver pins
#define enA 9
#define enB 10
#define  in1 8
#define in2 7
#define in3 6
#define in4 5

//infared pins
#define  lftIr 12
#define ctrIr 4
#define rghIr 3

#define buzzer 13

int  dist=1000;
int lastVal=0;
int degVal;
int leftDist;
int rightDist;
int  gasVal;
int buzzerTrig=0;
unsigned long curTime;
String msg="";
int  spd=150;
bool swtch=0;

void setup() {
  // put your setup code here,  to run once:
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1,  OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4,  OUTPUT);
  
  pinMode(lftIr,INPUT);
  pinMode(ctrIr,INPUT);
  pinMode(rghIr,INPUT);

  pinMode(buzzer, OUTPUT);
  
  digitalWrite(in1, LOW);
  digitalWrite(in2,  LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);

  curTime=millis();

  Serial.begin(38400);
}

void loop() {
 if(millis()-curTime>=10000){
    int chk = DHT.read11(DHT11_PIN);
    gasVal=analogRead(gasSens);
    Serial.print(DHT.temperature);
    Serial.print(" C");
    Serial.print("|");
    Serial.print(DHT.humidity);
    Serial.print("%");
    Serial.print("|");
    Serial.print(gasVal);
    Serial.print("|");
    if(gasVal>500){Serial.println("Dangerous gas levels");buzzerTrig=1;}
    else{Serial.println("normal");buzzerTrig=0;}
    curTime=millis();
  }
 if(Serial.available()){
   msg=Serial.readString();
   }
  if (msg=="start"){
    swtch=1;
  }
  else if(msg=="stop"){
    swtch=0;
  }
  else  if (msg=="left"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB,  spd);
    leftMov();
    delay(500);
    stopAll();
  }
  else if  (msg=="right"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB,  spd);
    rightMov();
    delay(500);
    stopAll();
  }
  else if(msg=="back"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB, spd);
    backMov();
    delay(500);
    stopAll();
  }
  else if(msg=="foward"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB, spd);
    fowardMov();
    delay(500);
    stopAll();
  }
  else if(msg!=""){
    spd=msg.toInt();
  }
  if(swtch==1){
    moveBot(spd);
  }
  else{
    stopAll();
    }
  msg="";
  
}

void moveBot(int mSpeed){
  analogWrite(enA,  mSpeed);
  analogWrite(enB, mSpeed);
  int leftIr=digitalRead(lftIr);
  int centerIr=digitalRead(ctrIr);
  int rightIr=digitalRead(rghIr);
  

   if (leftIr==LOW && rightIr==HIGH){
        stopAll();
        while(leftIr==LOW){
          rightMov();
          leftIr=digitalRead(lftIr);
        }
        stopAll();
       }
       else if (leftIr==HIGH && rightIr==LOW){
        stopAll();
          while(rightIr==LOW){
            leftMov();
            rightIr=digitalRead(rghIr);
          }
        stopAll(); 
      }
      else if (leftIr==LOW && centerIr==LOW  && rightIr==LOW){
          stopAll();
              while(leftIr==LOW ||  centerIr==LOW || rightIr==LOW){
                backMov();
                leftIr=digitalRead(lftIr);
                centerIr=digitalRead(ctrIr);
                rightIr=digitalRead(rghIr);
                }
                stopAll();
          }
          
      else if (leftIr==HIGH && centerIr==LOW && rightIr==HIGH){
          stopAll();
          while(centerIr==LOW){
            backMov();
            centerIr=digitalRead(ctrIr);
          }
          stopAll();
          delay(10);
          leftMov();
          delay(500);
          stopAll();
        }
      else{
        fowardMov();
      }
  }
void fowardMov(){
  digitalWrite(in2,HIGH);
  digitalWrite(in4,HIGH);
  digitalWrite(in1, LOW);
  digitalWrite(in3, LOW);
}

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

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

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

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

void buzzerCall(){
    tone(buzzer, 5000);
    delay(500);
    noTone(buzzer);
    tone(buzzer, 1000);
    delay(500);
    noTone(buzzer);
  }

The Code

arduino

1#include <dht.h>
2
3//sensor pins
4#define gasSens A4
5dht DHT;
6
7#define
8  DHT11_PIN 2
9
10//motor driver pins
11#define enA 9
12#define enB 10
13#define
14  in1 8
15#define in2 7
16#define in3 6
17#define in4 5
18
19//infared pins
20#define
21  lftIr 12
22#define ctrIr 4
23#define rghIr 3
24
25#define buzzer 13
26
27int
28  dist=1000;
29int lastVal=0;
30int degVal;
31int leftDist;
32int rightDist;
33int
34  gasVal;
35int buzzerTrig=0;
36unsigned long curTime;
37String msg="";
38int
39  spd=150;
40bool swtch=0;
41
42void setup() {
43  // put your setup code here,
44  to run once:
45  pinMode(enA, OUTPUT);
46  pinMode(enB, OUTPUT);
47  pinMode(in1,
48  OUTPUT);
49  pinMode(in2, OUTPUT);
50  pinMode(in3, OUTPUT);
51  pinMode(in4,
52  OUTPUT);
53  
54  pinMode(lftIr,INPUT);
55  pinMode(ctrIr,INPUT);
56  pinMode(rghIr,INPUT);
57
58
59  pinMode(buzzer, OUTPUT);
60  
61  digitalWrite(in1, LOW);
62  digitalWrite(in2,
63  LOW);
64  digitalWrite(in3, LOW);
65  digitalWrite(in4, LOW);
66
67  curTime=millis();
68
69
70  Serial.begin(38400);
71}
72
73void loop() {
74 if(millis()-curTime>=10000){
75
76    int chk = DHT.read11(DHT11_PIN);
77    gasVal=analogRead(gasSens);
78    Serial.print(DHT.temperature);
79
80    Serial.print(" C");
81    Serial.print("|");
82    Serial.print(DHT.humidity);
83
84    Serial.print("%");
85    Serial.print("|");
86    Serial.print(gasVal);
87
88    Serial.print("|");
89    if(gasVal>500){Serial.println("Dangerous gas levels");buzzerTrig=1;}
90
91    else{Serial.println("normal");buzzerTrig=0;}
92    curTime=millis();
93
94  }
95 if(Serial.available()){
96   msg=Serial.readString();
97   }
98  if (msg=="start"){
99
100    swtch=1;
101  }
102  else if(msg=="stop"){
103    swtch=0;
104  }
105  else
106  if (msg=="left"){
107    stopAll();
108    analogWrite(enA, spd);
109    analogWrite(enB,
110  spd);
111    leftMov();
112    delay(500);
113    stopAll();
114  }
115  else if
116  (msg=="right"){
117    stopAll();
118    analogWrite(enA, spd);
119    analogWrite(enB,
120  spd);
121    rightMov();
122    delay(500);
123    stopAll();
124  }
125  else if(msg=="back"){
126
127    stopAll();
128    analogWrite(enA, spd);
129    analogWrite(enB, spd);
130    backMov();
131
132    delay(500);
133    stopAll();
134  }
135  else if(msg=="foward"){
136    stopAll();
137
138    analogWrite(enA, spd);
139    analogWrite(enB, spd);
140    fowardMov();
141
142    delay(500);
143    stopAll();
144  }
145  else if(msg!=""){
146    spd=msg.toInt();
147
148  }
149  if(swtch==1){
150    moveBot(spd);
151  }
152  else{
153    stopAll();
154
155    }
156  msg="";
157  
158}
159
160void moveBot(int mSpeed){
161  analogWrite(enA,
162  mSpeed);
163  analogWrite(enB, mSpeed);
164  int leftIr=digitalRead(lftIr);
165
166  int centerIr=digitalRead(ctrIr);
167  int rightIr=digitalRead(rghIr);
168  
169
170
171   if (leftIr==LOW && rightIr==HIGH){
172        stopAll();
173        while(leftIr==LOW){
174
175          rightMov();
176          leftIr=digitalRead(lftIr);
177        }
178        stopAll();
179
180       }
181       else if (leftIr==HIGH && rightIr==LOW){
182        stopAll();
183
184          while(rightIr==LOW){
185            leftMov();
186            rightIr=digitalRead(rghIr);
187
188          }
189        stopAll(); 
190      }
191      else if (leftIr==LOW && centerIr==LOW
192  && rightIr==LOW){
193          stopAll();
194              while(leftIr==LOW ||
195  centerIr==LOW || rightIr==LOW){
196                backMov();
197                leftIr=digitalRead(lftIr);
198
199                centerIr=digitalRead(ctrIr);
200                rightIr=digitalRead(rghIr);
201
202                }
203                stopAll();
204          }
205          
206
207      else if (leftIr==HIGH && centerIr==LOW && rightIr==HIGH){
208          stopAll();
209
210          while(centerIr==LOW){
211            backMov();
212            centerIr=digitalRead(ctrIr);
213
214          }
215          stopAll();
216          delay(10);
217          leftMov();
218
219          delay(500);
220          stopAll();
221        }
222      else{
223        fowardMov();
224
225      }
226  }
227void fowardMov(){
228  digitalWrite(in2,HIGH);
229  digitalWrite(in4,HIGH);
230
231  digitalWrite(in1, LOW);
232  digitalWrite(in3, LOW);
233}
234
235void backMov(){
236
237  digitalWrite(in1,HIGH);
238  digitalWrite(in3,HIGH);
239  digitalWrite(in2, LOW);
240
241  digitalWrite(in4, LOW);
242}
243
244void rightMov(){
245  digitalWrite(in1, HIGH);
246
247  digitalWrite(in4, HIGH);
248  digitalWrite(in2, LOW);
249  digitalWrite(in3, LOW);
250}
251
252void
253  leftMov(){
254  digitalWrite(in2, HIGH);
255  digitalWrite(in3, HIGH);
256  digitalWrite(in1,
257  LOW);
258  digitalWrite(in4, LOW);
259}
260
261void stopAll(){
262  digitalWrite(in1,
263  LOW);
264  digitalWrite(in2, LOW);
265  digitalWrite(in3, LOW);
266  digitalWrite(in4,
267  LOW);
268}
269
270void buzzerCall(){
271    tone(buzzer, 5000);
272    delay(500);
273
274    noTone(buzzer);
275    tone(buzzer, 1000);
276    delay(500);
277    noTone(buzzer);
278
279  }

#include <dht.h>

//sensor pins
#define gasSens A4
dht DHT;

#define
  DHT11_PIN 2

//motor driver pins
#define enA 9
#define enB 10
#define
  in1 8
#define in2 7
#define in3 6
#define in4 5

//infared pins
#define
  lftIr 12
#define ctrIr 4
#define rghIr 3

#define buzzer 13

int
  dist=1000;
int lastVal=0;
int degVal;
int leftDist;
int rightDist;
int
  gasVal;
int buzzerTrig=0;
unsigned long curTime;
String msg="";
int
  spd=150;
bool swtch=0;

void setup() {
  // put your setup code here,
  to run once:
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1,
  OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4,
  OUTPUT);
  
  pinMode(lftIr,INPUT);
  pinMode(ctrIr,INPUT);
  pinMode(rghIr,INPUT);


  pinMode(buzzer, OUTPUT);
  
  digitalWrite(in1, LOW);
  digitalWrite(in2,
  LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);

  curTime=millis();


  Serial.begin(38400);
}

void loop() {
 if(millis()-curTime>=10000){

    int chk = DHT.read11(DHT11_PIN);
    gasVal=analogRead(gasSens);
    Serial.print(DHT.temperature);

    Serial.print(" C");
    Serial.print("|");
    Serial.print(DHT.humidity);

    Serial.print("%");
    Serial.print("|");
    Serial.print(gasVal);

    Serial.print("|");
    if(gasVal>500){Serial.println("Dangerous gas levels");buzzerTrig=1;}

    else{Serial.println("normal");buzzerTrig=0;}
    curTime=millis();

  }
 if(Serial.available()){
   msg=Serial.readString();
   }
  if (msg=="start"){

    swtch=1;
  }
  else if(msg=="stop"){
    swtch=0;
  }
  else
  if (msg=="left"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB,
  spd);
    leftMov();
    delay(500);
    stopAll();
  }
  else if
  (msg=="right"){
    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB,
  spd);
    rightMov();
    delay(500);
    stopAll();
  }
  else if(msg=="back"){

    stopAll();
    analogWrite(enA, spd);
    analogWrite(enB, spd);
    backMov();

    delay(500);
    stopAll();
  }
  else if(msg=="foward"){
    stopAll();

    analogWrite(enA, spd);
    analogWrite(enB, spd);
    fowardMov();

    delay(500);
    stopAll();
  }
  else if(msg!=""){
    spd=msg.toInt();

  }
  if(swtch==1){
    moveBot(spd);
  }
  else{
    stopAll();

    }
  msg="";
  
}

void moveBot(int mSpeed){
  analogWrite(enA,
  mSpeed);
  analogWrite(enB, mSpeed);
  int leftIr=digitalRead(lftIr);

  int centerIr=digitalRead(ctrIr);
  int rightIr=digitalRead(rghIr);
  


   if (leftIr==LOW && rightIr==HIGH){
        stopAll();
        while(leftIr==LOW){

          rightMov();
          leftIr=digitalRead(lftIr);
        }
        stopAll();

       }
       else if (leftIr==HIGH && rightIr==LOW){
        stopAll();

          while(rightIr==LOW){
            leftMov();
            rightIr=digitalRead(rghIr);

          }
        stopAll(); 
      }
      else if (leftIr==LOW && centerIr==LOW
  && rightIr==LOW){
          stopAll();
              while(leftIr==LOW ||
  centerIr==LOW || rightIr==LOW){
                backMov();
                leftIr=digitalRead(lftIr);

                centerIr=digitalRead(ctrIr);
                rightIr=digitalRead(rghIr);

                }
                stopAll();
          }
          

      else if (leftIr==HIGH && centerIr==LOW && rightIr==HIGH){
          stopAll();

          while(centerIr==LOW){
            backMov();
            centerIr=digitalRead(ctrIr);

          }
          stopAll();
          delay(10);
          leftMov();

          delay(500);
          stopAll();
        }
      else{
        fowardMov();

      }
  }
void fowardMov(){
  digitalWrite(in2,HIGH);
  digitalWrite(in4,HIGH);

  digitalWrite(in1, LOW);
  digitalWrite(in3, LOW);
}

void backMov(){

  digitalWrite(in1,HIGH);
  digitalWrite(in3,HIGH);
  digitalWrite(in2, LOW);

  digitalWrite(in4, LOW);
}

void rightMov(){
  digitalWrite(in1, HIGH);

  digitalWrite(in4, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
}

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

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

void buzzerCall(){
    tone(buzzer, 5000);
    delay(500);

    noTone(buzzer);
    tone(buzzer, 1000);
    delay(500);
    noTone(buzzer);

  }

Downloadable files

The Circuit

Note i used 3 18650 Li ion batteries NOT 2

The Circuit

The apk

The Circuit

Note i used 3 18650 Li ion batteries NOT 2

The Circuit

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