Smartphone Controlled Arduino 2WD Robot Car to detect mine b

1#include <AFMotor.h> //for motor sheild
2#include <Servo.h> // for servo  motor
3#include <NewPing.h> //for obstical sensor
4#include <TinyGPS++.h>
5#include  <SoftwareSerial.h>
6
7SoftwareSerial serial_connection(12, 11); //RX=pin 12,  TX=pin 11
8TinyGPSPlus gps;
9#define TRIG_PIN A2 
10#define ECHO_PIN A4 
11#define  MAX_DISTANCE 100
12
13//motors
14 AF_DCMotor motor1(3);
15 AF_DCMotor motor2(2);
16
17  //obstical sensor
18 NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
19int distance  = 0;
20
21//metal sensor
22float metalDetected;
23int monitoring;
24int metalDetection  = 0;
25
26 //servo motor
27Servo servo;               
28int servo_position  =0 ;
29int pos=0;
30
31//test
32int ledPin = 13; 
33int state = 0;
34int flag  = 0; 
35 
36void setup() {
37 // GPS();
38  
39 pinMode(ledPin, OUTPUT);
40  digitalWrite(ledPin, LOW);
41 pinMode(8,OUTPUT);// for speaker
42 pinMode(5,OUTPUT);//  for carLeds
43 pinMode(7,OUTPUT);// for carLeds
44 servo.attach (10);// Define  the servo signal pins
45 Serial.begin(9600); // Default connection rate for my  BT module
46 Serial.println("robot is srtarted");
47 serial_connection.begin(9600);//This  opens up communications to the GPS
48 
49  Serial.println("GPS is srtarted");
50  }
51
52int readPing() { //it is used for ultrasonic obstical sensor
53 delay(70);
54  int cm = sonar.ping_cm();
55 if(cm==0)
56 {
57 cm = 250;
58 }
59 return cm;
60}
61  
62void loop() {
63int last_servo_position=0;
64distance =  readPing();
65
66
67  if(Serial.available() > 0){
68 state = Serial.read();
69 Serial.write(state);
70  flag=0;
71 }
72
73//motor shield
74 if (state == 's') {
75 motor1.setSpeed(0);
76  motor2.setSpeed(0);
77if(pos !=last_servo_position) {
78  servo.write(pos);
79  //last_servo_position = pos;
80  servo.detach();
81}
82 
83 if(flag == 0){
84  Serial.println("state: off");
85 flag = 1;
86 }
87 }
88
89 else if (state  == 'w') { //forward
90     motor2.run(FORWARD);
91     motor2.setSpeed(255);
92  if(flag == 0){
93 Serial.println("state: on");
94 flag = 1;
95 }
96 }
97  else if (state == 'x') { //back
98     motor2.run(BACKWARD);
99     motor2.setSpeed(255);
100  if(flag == 0){
101 Serial.println("state: on");
102 flag = 1;
103 }
104 }
105  else if (state == 'd') { // left
106     motor1.run(FORWARD);
107     motor1.setSpeed(255);
108  if(flag == 0){
109 Serial.println("Left: on");
110 flag = 1;
111 }
112 }
113  else  if (state == 'a') { //right
114     motor1.run(BACKWARD);
115     motor1.setSpeed(255);
116  if(flag == 0){
117 Serial.println("Right: on");
118 flag = 1;
119 }
120 }
121  else if (state == 'y') { //stop motor1 for left and right
122     motor1.setSpeed(0);
123  if(flag == 0){
124 Serial.println("motor1: on");
125 flag = 1;
126 }
127 }
128  else if (state == 'p') { //stop motor2 for forward and backward
129     motor2.setSpeed(0);
130  if(flag == 0){
131 Serial.println("motor2: of");
132 flag = 1;
133 }
134 }
135  else if (state == 'e') { //stop motor 1 to turn right or left
136     motor1.setSpeed(0);
137  if(flag == 0){
138 Serial.println("LED: of");
139 flag = 1;
140 }
141 }
142//  servo motor
143 else if (state == 'q')
144 {
145  servo.attach (10);
146  for (pos  = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
147    // in  steps of 1 degree
148    servo.write(pos);
149    minesFinder();   
150    ultrasonicSensor();
151    delay(15);                       // waits 15ms for the servo to reach the position
152  }
153  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
154    servo.write(pos);              
155    minesFinder();
156    ultrasonicSensor();
157    delay(15);                       // waits 15ms for the servo to reach the position
158  }
159 }
160 ultrasonicSensor();
161minesFinder();
162delay(50);
163    //Serial.println(monitoring);
164    
165}
166
167
168
169
170
171
172void minesFinder()
173{
174  monitoring = analogRead(metalDetection);
175metalDetected  = (float) monitoring*100/1024.0;
176 if (monitoring < 250)
177{
178Serial.println("mine  bomb is Detected");
179//GPS();
180digitalWrite(8,HIGH);
181digitalWrite(5,HIGH);
182digitalWrite(7,HIGH);
183delay(2000);
184}
185else{
186//Serial.println("mine  bomb is not Detected");
187 digitalWrite(8, LOW);
188 digitalWrite(5,LOW );
189  digitalWrite(7,LOW );
190}
191}
192
193void ultrasonicSensor()  // ultrasonic obstical  sensor
194{
195 
196  distance =  readPing();
197  if(distance<=15)
198 {
199  state='s';
200  // motor1.setSpeed(0);
201   //motor2.setSpeed(0);
202
203 Serial.println(distance);
204  }
205 }
206
207  void stopMotorServo()
208  {
209    int last_servo_position;
210    if(pos !=last_servo_position) {
211  servo.write(pos);
212  last_servo_position  = pos;
213}
214 }
215 void GPS()
216 {
217  while(serial_connection.available())//While  there are characters to come from the GPS
218  {
219    gps.encode(serial_connection.read());//This  feeds the serial NMEA data into the library one char at a time
220  }
221  if(gps.location.isUpdated())//This  will pretty much be fired all the time anyway but will at least reduce it to only  after a package of NMEA data comes in
222  {
223    //Get the latest info from the  gps object which it derived from the data sent by the GPS unit
224    Serial.println("Satellite  Count:");
225    Serial.println(gps.satellites.value());
226    Serial.println("Latitude:");
227    Serial.println(gps.location.lat(), 6);
228    Serial.println("Longitude:");
229    Serial.println(gps.location.lng(), 6);
230    Serial.println("Speed MPH:");
231    Serial.println(gps.speed.mph());
232    Serial.println("Altitude Feet:");
233    Serial.println(gps.altitude.feet());
234    Serial.println("");
235  }
236  }
237
238