Blaze Buster

1#include <Servo.h>
2#include "IR_remote.h"
3#include "Keymap.h"
4
5IRremote ir(3);
6
7Servo water_servo;
8int starting_Angle;
9int Avoidance_distance;
10int manual_Or_Automatic;
11byte ir_Status;
12unsigned long previousMillis = 0UL;
13unsigned long interval = 1000UL;
14int currentMillis = 0;
15
16//Flame sensor pin is D7, Pump pin is D8, Rotating platform (Servo) is D12.
17//NOTE: if manual_Or_Automatic value is 0, then it is on Automatic mode. Else its manual.
18//Used with Ultrasonic Avoidance Car made by LAFVIN
19// Fadel Taha {Copyright 2023}
20
21float checkdistance() {
22  digitalWrite(12, LOW);
23  delayMicroseconds(2);
24  digitalWrite(12, HIGH);
25  delayMicroseconds(10);
26  digitalWrite(12, LOW);
27  float distance = pulseIn(13, HIGH) / 58.00;
28  delay(10);
29  return distance;
30}
31
32void Stop() {
33  digitalWrite(2,LOW);
34  analogWrite(5,0);
35  digitalWrite(4,HIGH);
36  analogWrite(6,0);
37}
38
39void Move_Backward(int speed) {
40  digitalWrite(2,LOW);
41  analogWrite(5,speed);
42  digitalWrite(4,HIGH);
43  analogWrite(6,speed);
44}
45
46void Rotate_Left(int speed) {
47  digitalWrite(2,LOW);
48  analogWrite(5,speed);
49  digitalWrite(4,LOW);
50  analogWrite(6,speed);
51}
52
53void Rotate_Right(int speed) {
54  digitalWrite(2,HIGH);
55  analogWrite(5,speed);
56  digitalWrite(4,HIGH);
57  analogWrite(6,speed);
58}
59
60void Move_Forward(int speed) {
61  digitalWrite(2,HIGH);
62  analogWrite(5,speed);
63  digitalWrite(4,LOW);
64  analogWrite(6,speed);
65}
66void setup() {
67  Serial.begin(9600);
68  IRremote ir(3);
69  
70  pinMode(8, OUTPUT);
71  pinMode(7, INPUT);
72  pinMode(12, OUTPUT);
73  pinMode(13, INPUT);
74  pinMode(2, OUTPUT);
75  pinMode(5, OUTPUT);
76  pinMode(4, OUTPUT);
77  pinMode(6, OUTPUT);
78  //water_servo.attach(12);
79  water_servo.attach(11);
80  digitalWrite(8, LOW);
81  manual_Or_Automatic = 0;
82  ir_Status = "";
83}
84
85/*void IR_control_Function() {
86  ir_Status = ir.getIrKey(ir.getCode(),1);
87  if (ir_Status == IR_KEYCODE_UP && manual_Or_Automatic == 1){
88    Move_Forward(100);
89    Serial.println("Moving forward...");
90    delay(300);
91    Stop();
92  } else if (ir_Status == IR_KEYCODE_DOWN && manual_Or_Automatic == 1){
93    Move_Backward(100);
94    Serial.println("Moving backward...");
95    delay(300);
96    Stop();
97  } else if (ir_Status == IR_KEYCODE_LEFT && manual_Or_Automatic == 1){
98    Rotate_Left(70);
99    Serial.println("Moving right...");
100    delay(300);
101    Stop();
102  } else if (ir_Status == IR_KEYCODE_RIGHT && manual_Or_Automatic == 1){
103    Rotate_Right(70);
104    Serial.println("Moving left...");
105    delay(300);
106    Stop();
107  }
108}*/
109
110/*void IR_recieve() 
111{
112  if (ir_Status == IR_KEYCODE_1) 
113  {
114    Serial.println("AUTOMATIC MODE ON");
115    manual_Or_Automatic = 1;
116  } else if (ir_Status == IR_KEYCODE_0) 
117  {
118    Serial.println("MANUAL MODE ON");
119    manual_Or_Automatic = 0;
120  }
121}*/
122
123void is_Fire_Detected() 
124{
125  if (digitalRead(7) == 0) 
126  {                          //IF FIRE IS DETECTED
127    Stop();
128    Serial.println("|||FLAME DETECTED|| Car Stopped. Servo about to start.");
129    water_servo.write(starting_Angle);
130    digitalWrite(8, HIGH);
131    for (int i=0; i < 60; i++) 
132    {
133      water_servo.write(i);
134      Serial.println("ServoLoop "+i);
135      delay(10);
136    }
137   digitalWrite(8, LOW);
138  }
139}
140
141void ultrasonic_Function() 
142{
143  int awareness_Distance = 25;
144  while (true) 
145  {
146    Avoidance_distance = checkdistance();
147    if (Avoidance_distance <= awareness_Distance) 
148    {
149      if (Avoidance_distance <= 15) 
150      {
151        Stop();
152        delay(100);
153        Move_Backward(50);
154        delay(1000);
155      } else 
156      {
157        Stop();
158        delay(100);
159        Rotate_Left(100);
160        delay(600);
161      }
162    }
163    else
164    {
165    Move_Forward(70);
166    delay(1000);
167    break;
168    }
169  }
170}
171
172void loop() {
173  digitalWrite(8, LOW);
174  int starting_Angle = 0;
175  int Avoidance_distance = 0;
176  Avoidance_distance = checkdistance();
177  water_servo.write(starting_Angle);
178  Serial.println("Moving forward.");
179  //Move_Forward(75);
180  //delay(1000);
181  ultrasonic_Function();
182  Stop();
183  delay(1000);
184  if (digitalRead(7) == 0) 
185  {                          //IF FIRE IS DETECTED
186    while (digitalRead(7) == 0) 
187    {
188      water_servo.write(starting_Angle);
189      Serial.println("|||FLAME DETECTED|| Car Stopped. Servo about to start.");
190      digitalWrite(8, HIGH);                       //PUMP WILL START WORKING
191      for (int i=0; i < 60; i++) 
192      {
193        water_servo.write(i);
194        Serial.println("ServoLoop "+i);
195        delay(10);
196      }
197      digitalWrite(8, LOW);
198      }
199    }
200  digitalWrite(8, LOW);
201  Rotate_Left(75);
202  delay(2100);
203  Stop(); 
204  /*else
205  {
206    digitalWrite(8, LOW);
207    Rotate_Left(50);
208    delay(1200);
209    Stop();
210  }*/
211}