Robot Car - Shift Register, Sensors, and App interfacing

A bluetooth controlled multi-functionality robot car.

Mar 6, 2021

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cars

data collection

remote control

Components and supplies

BMP180

Capacitor 10 µF

Solderless Breadboard Full Size

Yellow Wheel

5 mm LED: Red

PLA Filament

DC Motor, 12 V

DHT11 Temperature & Humidity Sensor (4 pins)

Dual H-Bridge motor drivers L298

Pack of Resistors

Arduino Nano R3

HM-10

High Brightness LED, White

Jumper wires (generic)

Toggle Switch, Toggle

4xAA battery holder

Grove - Gas Sensor(MQ2)

Female/Female Jumper Wires

Tools and machines

Scissor, Electrician

3D Printer (generic)

Tape, Electrical

Apps and platforms

Dabble

Project description

Code

c_cpp

1#define CUSTOM_SETTINGS
2#define INCLUDE_GAMEPAD_MODULE
3#define INCLUDE_TERMINAL_MODULE
4
5#include   <Dabble.h>
6#include <ShiftRegister74HC595.h>
7#include <Wire.h>
8#include   <SFE_BMP180.h>
9#include <MQ2.h>
10#include <dht.h>
11
12int numberOfShiftRegisters   = 1; 
13int serialDataPin = 12; 
14int clockPin = 10; 
15int latchPin = 11; 
16
17ShiftRegister74HC595<1>   sr(serialDataPin, clockPin, latchPin);
18
19SFE_BMP180 bmp180;
20dht DHT;
21
22const   int dht = 5;
23
24String str = "Pressure Sensor ";
25String str1 = "Gas Sensor   ";
26String str2 = "Humidity Sensor ";
27String str3 = "Light Sensor ";
28
29const   int GAS_SENSOR = A6;
30int lpg, co, smoke;
31
32MQ2 mq2(GAS_SENSOR);
33
34const   int ENA = 0;
35const int N1 = 1;
36const int N2 = 2;
37const int N3 = 3;
38const   int N4 = 4;
39const int ENB = 5;
40
41const int HEADLIGHT = 6;
42int HEADLIGHT_STATUS   = HIGH;
43unsigned long previousMillis = 0;
44const long interval = 500;
45
46const   int BACKLIGHT = 7;
47
48const int RIGHT = A3;
49const int MIDDLE = A2;
50const   int LEFT = A1;
51
52int rightRead, middleRead, leftRead;
53
54int wheelsState   = 1;
55
56const int FRONT1 = 9;
57const int FRONT2 = 8;
58
59const int BACK1   = 7;
60const int BACK2 = 6;
61
62int front1Read, front2Read, back1Read, back2Read;
63
64const   int LDR = A7;
65
66void setup()
67{
68  pinMode(GAS_SENSOR, INPUT);
69
70   Dabble.begin(9600);
71  Serial.begin(9600);
72
73  sr.set(HEADLIGHT, HIGH);
74
75   pinMode(FRONT1, INPUT);
76  pinMode(FRONT2, INPUT);
77  pinMode(BACK1, INPUT);
78   pinMode(BACK2, INPUT);
79
80  mq2.begin();
81  bool success = bmp180.begin();
82
83   if (success) {
84    Serial.println("BMP180 init success");
85  }
86}
87
88void   buttonRead()
89{
90  if (wheelsState == HIGH) {
91    if (GamePad.isUpPressed())
92     {
93      Serial.println("Up");
94      sr.set(BACKLIGHT, LOW);
95      sr.set(ENA,   HIGH);
96      sr.set(N1, LOW);
97      sr.set(N2, HIGH);
98      sr.set(ENB,   HIGH);
99      sr.set(N3, HIGH);
100      sr.set(N4, LOW);
101    }
102
103    else   if (GamePad.isDownPressed())
104    {
105      Serial.println("Down");
106      sr.set(BACKLIGHT,   HIGH);
107      sr.set(ENA, HIGH);
108      sr.set(N1, HIGH);
109      sr.set(N2,   LOW);
110      sr.set(ENB, HIGH);
111      sr.set(N3, LOW);
112      sr.set(N4,   HIGH);
113    }
114
115    else if (GamePad.isLeftPressed())
116    {
117      Serial.println("Left");
118       sr.set(BACKLIGHT, LOW);
119      sr.set(ENA, HIGH);
120      sr.set(N1, HIGH);
121       sr.set(N2, LOW);
122      sr.set(ENB, HIGH);
123      sr.set(N3, HIGH);
124       sr.set(N4, LOW);
125    }
126
127    else if (GamePad.isRightPressed())
128     {
129      Serial.println("Right");
130      sr.set(BACKLIGHT, LOW);
131      sr.set(ENA,   HIGH);
132      sr.set(N1, LOW);
133      sr.set(N2, HIGH);
134      sr.set(ENB,   HIGH);
135      sr.set(N3, LOW);
136      sr.set(N4, HIGH);
137    }
138    else
139     {
140      sr.set(ENA, LOW);
141      sr.set(N1, LOW);
142      sr.set(N2, LOW);
143       sr.set(ENB, LOW);
144      sr.set(N3, LOW);
145      sr.set(N4, LOW);
146     }
147  }
148  else
149  {
150    sr.set(ENA, LOW);
151    sr.set(N1, LOW);
152     sr.set(N2, LOW);
153    sr.set(ENB, LOW);
154    sr.set(N3, LOW);
155    sr.set(N4,   LOW);
156  }
157}
158void headLights() {
159  if (GamePad.isTrianglePressed()) {
160     unsigned long currentMillis = millis();
161
162    if (currentMillis - previousMillis   >= interval) {
163      previousMillis = currentMillis;
164
165      HEADLIGHT_STATUS   = !HEADLIGHT_STATUS;
166      sr.set(HEADLIGHT, HEADLIGHT_STATUS);
167    }
168   }
169}
170
171void sensorReadings()
172{
173  if (Terminal.available() > 0) {
174     if (Terminal.compareString(str)) {
175      char status;
176      double T,   P;
177      bool success = false;
178
179      status = bmp180.startTemperature();
180
181       if (status != 0) {
182        delay(1000);
183        status = bmp180.getTemperature(T);
184
185         if (status != 0) {
186          status = bmp180.startPressure(3);
187
188           if (status != 0) {
189            delay(status);
190            status   = bmp180.getPressure(P, T);
191
192            if (status != 0) {
193              Terminal.println("Pressure:   ");
194              Terminal.println(P);
195              Terminal.println("   hPa");
196
197              Terminal.println("Temperature: ");
198              Terminal.println(T);
199               Terminal.println("C");
200            }
201          }
202        }
203       }
204    }
205    else if (Terminal.compareString(str1)) {
206      float*   values = mq2.read(true);
207      lpg = mq2.readLPG();
208      co = mq2.readCO();
209       smoke = mq2.readSmoke();
210
211      Terminal.println("LPG");
212      Terminal.println(lpg);
213       Terminal.println("CO2");
214      Terminal.println(co);
215      Terminal.println("Smoke");
216       Terminal.println(smoke);
217      Terminal.println("PPM");
218    }
219     else if (Terminal.compareString(str2)) {
220      int chk = DHT.read11(dht);
221       Terminal.println(DHT.humidity);
222      Terminal.println("%");
223    }
224     else if (Terminal.compareString(str3)) {
225      int lightValue = analogRead(LDR);
226       Terminal.println("Light Value: ");
227      if (lightValue >= 900) {
228         Terminal.println("High");
229      }
230      else if (lightValue <= 899   && lightValue >= 880) {
231        Terminal.println("Medium");
232      }
233       else {
234        Terminal.println("Low");
235      }
236    }
237  }
238}
239
240void   liftDetection()
241{
242  rightRead = digitalRead(RIGHT);
243  middleRead = digitalRead(MIDDLE);
244   leftRead = digitalRead(LEFT);
245
246  if (rightRead == 1 || middleRead == 1 ||   leftRead == 1) { //on ground
247    wheelsState = HIGH;
248  }
249  if (rightRead   == 0 && middleRead == 0 && leftRead == 0) { //off ground
250    wheelsState = LOW;
2514   }
252}
253
254
255void obstactleDetection() {
256  front1Read = digitalRead(FRONT1);
257   front2Read = digitalRead(FRONT2);
258  back1Read = digitalRead(BACK1);
259  back2Read   = digitalRead(BACK2);
260
261  if (front1Read == HIGH || front2Read == HIGH || back1Read   == HIGH || back2Read == HIGH) {
262    sr.set(ENA, LOW);
263    sr.set(N1, LOW);
264     sr.set(N2, LOW);
265    sr.set(ENB, LOW);
266    sr.set(N3, LOW);
267    sr.set(N4,   LOW);
268  }
269}
270void loop() {
271  Dabble.processInput();
272
273  obstactleDetection();
274   liftDetection();
275  buttonRead();
276  sensorReadings();
277  headLights();
278}

#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_MODULE
#define INCLUDE_TERMINAL_MODULE

#include   <Dabble.h>
#include <ShiftRegister74HC595.h>
#include <Wire.h>
#include   <SFE_BMP180.h>
#include <MQ2.h>
#include <dht.h>

int numberOfShiftRegisters   = 1; 
int serialDataPin = 12; 
int clockPin = 10; 
int latchPin = 11; 

ShiftRegister74HC595<1>   sr(serialDataPin, clockPin, latchPin);

SFE_BMP180 bmp180;
dht DHT;

const   int dht = 5;

String str = "Pressure Sensor ";
String str1 = "Gas Sensor   ";
String str2 = "Humidity Sensor ";
String str3 = "Light Sensor ";

const   int GAS_SENSOR = A6;
int lpg, co, smoke;

MQ2 mq2(GAS_SENSOR);

const   int ENA = 0;
const int N1 = 1;
const int N2 = 2;
const int N3 = 3;
const   int N4 = 4;
const int ENB = 5;

const int HEADLIGHT = 6;
int HEADLIGHT_STATUS   = HIGH;
unsigned long previousMillis = 0;
const long interval = 500;

const   int BACKLIGHT = 7;

const int RIGHT = A3;
const int MIDDLE = A2;
const   int LEFT = A1;

int rightRead, middleRead, leftRead;

int wheelsState   = 1;

const int FRONT1 = 9;
const int FRONT2 = 8;

const int BACK1   = 7;
const int BACK2 = 6;

int front1Read, front2Read, back1Read, back2Read;

const   int LDR = A7;

void setup()
{
  pinMode(GAS_SENSOR, INPUT);

   Dabble.begin(9600);
  Serial.begin(9600);

  sr.set(HEADLIGHT, HIGH);

   pinMode(FRONT1, INPUT);
  pinMode(FRONT2, INPUT);
  pinMode(BACK1, INPUT);
   pinMode(BACK2, INPUT);

  mq2.begin();
  bool success = bmp180.begin();

   if (success) {
    Serial.println("BMP180 init success");
  }
}

void   buttonRead()
{
  if (wheelsState == HIGH) {
    if (GamePad.isUpPressed())
     {
      Serial.println("Up");
      sr.set(BACKLIGHT, LOW);
      sr.set(ENA,   HIGH);
      sr.set(N1, LOW);
      sr.set(N2, HIGH);
      sr.set(ENB,   HIGH);
      sr.set(N3, HIGH);
      sr.set(N4, LOW);
    }

    else   if (GamePad.isDownPressed())
    {
      Serial.println("Down");
      sr.set(BACKLIGHT,   HIGH);
      sr.set(ENA, HIGH);
      sr.set(N1, HIGH);
      sr.set(N2,   LOW);
      sr.set(ENB, HIGH);
      sr.set(N3, LOW);
      sr.set(N4,   HIGH);
    }

    else if (GamePad.isLeftPressed())
    {
      Serial.println("Left");
       sr.set(BACKLIGHT, LOW);
      sr.set(ENA, HIGH);
      sr.set(N1, HIGH);
       sr.set(N2, LOW);
      sr.set(ENB, HIGH);
      sr.set(N3, HIGH);
       sr.set(N4, LOW);
    }

    else if (GamePad.isRightPressed())
     {
      Serial.println("Right");
      sr.set(BACKLIGHT, LOW);
      sr.set(ENA,   HIGH);
      sr.set(N1, LOW);
      sr.set(N2, HIGH);
      sr.set(ENB,   HIGH);
      sr.set(N3, LOW);
      sr.set(N4, HIGH);
    }
    else
     {
      sr.set(ENA, LOW);
      sr.set(N1, LOW);
      sr.set(N2, LOW);
       sr.set(ENB, LOW);
      sr.set(N3, LOW);
      sr.set(N4, LOW);
     }
  }
  else
  {
    sr.set(ENA, LOW);
    sr.set(N1, LOW);
     sr.set(N2, LOW);
    sr.set(ENB, LOW);
    sr.set(N3, LOW);
    sr.set(N4,   LOW);
  }
}
void headLights() {
  if (GamePad.isTrianglePressed()) {
     unsigned long currentMillis = millis();

    if (currentMillis - previousMillis   >= interval) {
      previousMillis = currentMillis;

      HEADLIGHT_STATUS   = !HEADLIGHT_STATUS;
      sr.set(HEADLIGHT, HEADLIGHT_STATUS);
    }
   }
}

void sensorReadings()
{
  if (Terminal.available() > 0) {
     if (Terminal.compareString(str)) {
      char status;
      double T,   P;
      bool success = false;

      status = bmp180.startTemperature();

       if (status != 0) {
        delay(1000);
        status = bmp180.getTemperature(T);

         if (status != 0) {
          status = bmp180.startPressure(3);

           if (status != 0) {
            delay(status);
            status   = bmp180.getPressure(P, T);

            if (status != 0) {
              Terminal.println("Pressure:   ");
              Terminal.println(P);
              Terminal.println("   hPa");

              Terminal.println("Temperature: ");
              Terminal.println(T);
               Terminal.println("C");
            }
          }
        }
       }
    }
    else if (Terminal.compareString(str1)) {
      float*   values = mq2.read(true);
      lpg = mq2.readLPG();
      co = mq2.readCO();
       smoke = mq2.readSmoke();

      Terminal.println("LPG");
      Terminal.println(lpg);
       Terminal.println("CO2");
      Terminal.println(co);
      Terminal.println("Smoke");
       Terminal.println(smoke);
      Terminal.println("PPM");
    }
     else if (Terminal.compareString(str2)) {
      int chk = DHT.read11(dht);
       Terminal.println(DHT.humidity);
      Terminal.println("%");
    }
     else if (Terminal.compareString(str3)) {
      int lightValue = analogRead(LDR);
       Terminal.println("Light Value: ");
      if (lightValue >= 900) {
         Terminal.println("High");
      }
      else if (lightValue <= 899   && lightValue >= 880) {
        Terminal.println("Medium");
      }
       else {
        Terminal.println("Low");
      }
    }
  }
}

void   liftDetection()
{
  rightRead = digitalRead(RIGHT);
  middleRead = digitalRead(MIDDLE);
   leftRead = digitalRead(LEFT);

  if (rightRead == 1 || middleRead == 1 ||   leftRead == 1) { //on ground
    wheelsState = HIGH;
  }
  if (rightRead   == 0 && middleRead == 0 && leftRead == 0) { //off ground
    wheelsState = LOW;
4   }
}


void obstactleDetection() {
  front1Read = digitalRead(FRONT1);
   front2Read = digitalRead(FRONT2);
  back1Read = digitalRead(BACK1);
  back2Read   = digitalRead(BACK2);

  if (front1Read == HIGH || front2Read == HIGH || back1Read   == HIGH || back2Read == HIGH) {
    sr.set(ENA, LOW);
    sr.set(N1, LOW);
     sr.set(N2, LOW);
    sr.set(ENB, LOW);
    sr.set(N3, LOW);
    sr.set(N4,   LOW);
  }
}
void loop() {
  Dabble.processInput();

  obstactleDetection();
   liftDetection();
  buttonRead();
  sensorReadings();
  headLights();
}

Code

c_cpp

1#define CUSTOM_SETTINGS
2#define INCLUDE_GAMEPAD_MODULE
3#define INCLUDE_TERMINAL_MODULE
4
5#include  <Dabble.h>
6#include <ShiftRegister74HC595.h>
7#include <Wire.h>
8#include  <SFE_BMP180.h>
9#include <MQ2.h>
10#include <dht.h>
11
12int numberOfShiftRegisters  = 1; 
13int serialDataPin = 12; 
14int clockPin = 10; 
15int latchPin = 11; 
16
17ShiftRegister74HC595<1>  sr(serialDataPin, clockPin, latchPin);
18
19SFE_BMP180 bmp180;
20dht DHT;
21
22const  int dht = 5;
23
24String str = "Pressure Sensor ";
25String str1 = "Gas Sensor  ";
26String str2 = "Humidity Sensor ";
27String str3 = "Light Sensor ";
28
29const  int GAS_SENSOR = A6;
30int lpg, co, smoke;
31
32MQ2 mq2(GAS_SENSOR);
33
34const  int ENA = 0;
35const int N1 = 1;
36const int N2 = 2;
37const int N3 = 3;
38const  int N4 = 4;
39const int ENB = 5;
40
41const int HEADLIGHT = 6;
42int HEADLIGHT_STATUS  = HIGH;
43unsigned long previousMillis = 0;
44const long interval = 500;
45
46const  int BACKLIGHT = 7;
47
48const int RIGHT = A3;
49const int MIDDLE = A2;
50const  int LEFT = A1;
51
52int rightRead, middleRead, leftRead;
53
54int wheelsState  = 1;
55
56const int FRONT1 = 9;
57const int FRONT2 = 8;
58
59const int BACK1  = 7;
60const int BACK2 = 6;
61
62int front1Read, front2Read, back1Read, back2Read;
63
64const  int LDR = A7;
65
66void setup()
67{
68  pinMode(GAS_SENSOR, INPUT);
69
70  Dabble.begin(9600);
71  Serial.begin(9600);
72
73  sr.set(HEADLIGHT, HIGH);
74
75  pinMode(FRONT1, INPUT);
76  pinMode(FRONT2, INPUT);
77  pinMode(BACK1, INPUT);
78  pinMode(BACK2, INPUT);
79
80  mq2.begin();
81  bool success = bmp180.begin();
82
83  if (success) {
84    Serial.println("BMP180 init success");
85  }
86}
87
88void  buttonRead()
89{
90  if (wheelsState == HIGH) {
91    if (GamePad.isUpPressed())
92    {
93      Serial.println("Up");
94      sr.set(BACKLIGHT, LOW);
95      sr.set(ENA,  HIGH);
96      sr.set(N1, LOW);
97      sr.set(N2, HIGH);
98      sr.set(ENB,  HIGH);
99      sr.set(N3, HIGH);
100      sr.set(N4, LOW);
101    }
102
103    else  if (GamePad.isDownPressed())
104    {
105      Serial.println("Down");
106      sr.set(BACKLIGHT,  HIGH);
107      sr.set(ENA, HIGH);
108      sr.set(N1, HIGH);
109      sr.set(N2,  LOW);
110      sr.set(ENB, HIGH);
111      sr.set(N3, LOW);
112      sr.set(N4,  HIGH);
113    }
114
115    else if (GamePad.isLeftPressed())
116    {
117      Serial.println("Left");
118      sr.set(BACKLIGHT, LOW);
119      sr.set(ENA, HIGH);
120      sr.set(N1, HIGH);
121      sr.set(N2, LOW);
122      sr.set(ENB, HIGH);
123      sr.set(N3, HIGH);
124      sr.set(N4, LOW);
125    }
126
127    else if (GamePad.isRightPressed())
128    {
129      Serial.println("Right");
130      sr.set(BACKLIGHT, LOW);
131      sr.set(ENA,  HIGH);
132      sr.set(N1, LOW);
133      sr.set(N2, HIGH);
134      sr.set(ENB,  HIGH);
135      sr.set(N3, LOW);
136      sr.set(N4, HIGH);
137    }
138    else
139    {
140      sr.set(ENA, LOW);
141      sr.set(N1, LOW);
142      sr.set(N2, LOW);
143      sr.set(ENB, LOW);
144      sr.set(N3, LOW);
145      sr.set(N4, LOW);
146    }
147  }
148  else
149  {
150    sr.set(ENA, LOW);
151    sr.set(N1, LOW);
152    sr.set(N2, LOW);
153    sr.set(ENB, LOW);
154    sr.set(N3, LOW);
155    sr.set(N4,  LOW);
156  }
157}
158void headLights() {
159  if (GamePad.isTrianglePressed()) {
160    unsigned long currentMillis = millis();
161
162    if (currentMillis - previousMillis  >= interval) {
163      previousMillis = currentMillis;
164
165      HEADLIGHT_STATUS  = !HEADLIGHT_STATUS;
166      sr.set(HEADLIGHT, HEADLIGHT_STATUS);
167    }
168  }
169}
170
171void sensorReadings()
172{
173  if (Terminal.available() > 0) {
174    if (Terminal.compareString(str)) {
175      char status;
176      double T,  P;
177      bool success = false;
178
179      status = bmp180.startTemperature();
180
181      if (status != 0) {
182        delay(1000);
183        status = bmp180.getTemperature(T);
184
185        if (status != 0) {
186          status = bmp180.startPressure(3);
187
188          if (status != 0) {
189            delay(status);
190            status  = bmp180.getPressure(P, T);
191
192            if (status != 0) {
193              Terminal.println("Pressure:  ");
194              Terminal.println(P);
195              Terminal.println("  hPa");
196
197              Terminal.println("Temperature: ");
198              Terminal.println(T);
199              Terminal.println("C");
200            }
201          }
202        }
203      }
204    }
205    else if (Terminal.compareString(str1)) {
206      float*  values = mq2.read(true);
207      lpg = mq2.readLPG();
208      co = mq2.readCO();
209      smoke = mq2.readSmoke();
210
211      Terminal.println("LPG");
212      Terminal.println(lpg);
213      Terminal.println("CO2");
214      Terminal.println(co);
215      Terminal.println("Smoke");
216      Terminal.println(smoke);
217      Terminal.println("PPM");
218    }
219    else if (Terminal.compareString(str2)) {
220      int chk = DHT.read11(dht);
221      Terminal.println(DHT.humidity);
222      Terminal.println("%");
223    }
224    else if (Terminal.compareString(str3)) {
225      int lightValue = analogRead(LDR);
226      Terminal.println("Light Value: ");
227      if (lightValue >= 900) {
228        Terminal.println("High");
229      }
230      else if (lightValue <= 899  && lightValue >= 880) {
231        Terminal.println("Medium");
232      }
233      else {
234        Terminal.println("Low");
235      }
236    }
237  }
238}
239
240void  liftDetection()
241{
242  rightRead = digitalRead(RIGHT);
243  middleRead = digitalRead(MIDDLE);
244  leftRead = digitalRead(LEFT);
245
246  if (rightRead == 1 || middleRead == 1 ||  leftRead == 1) { //on ground
247    wheelsState = HIGH;
248  }
249  if (rightRead  == 0 && middleRead == 0 && leftRead == 0) { //off ground
250    wheelsState = LOW;
2514  }
252}
253
254
255void obstactleDetection() {
256  front1Read = digitalRead(FRONT1);
257  front2Read = digitalRead(FRONT2);
258  back1Read = digitalRead(BACK1);
259  back2Read  = digitalRead(BACK2);
260
261  if (front1Read == HIGH || front2Read == HIGH || back1Read  == HIGH || back2Read == HIGH) {
262    sr.set(ENA, LOW);
263    sr.set(N1, LOW);
264    sr.set(N2, LOW);
265    sr.set(ENB, LOW);
266    sr.set(N3, LOW);
267    sr.set(N4,  LOW);
268  }
269}
270void loop() {
271  Dabble.processInput();
272
273  obstactleDetection();
274  liftDetection();
275  buttonRead();
276  sensorReadings();
277  headLights();
278}

#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_MODULE
#define INCLUDE_TERMINAL_MODULE

#include  <Dabble.h>
#include <ShiftRegister74HC595.h>
#include <Wire.h>
#include  <SFE_BMP180.h>
#include <MQ2.h>
#include <dht.h>

int numberOfShiftRegisters  = 1; 
int serialDataPin = 12; 
int clockPin = 10; 
int latchPin = 11; 

ShiftRegister74HC595<1>  sr(serialDataPin, clockPin, latchPin);

SFE_BMP180 bmp180;
dht DHT;

const  int dht = 5;

String str = "Pressure Sensor ";
String str1 = "Gas Sensor  ";
String str2 = "Humidity Sensor ";
String str3 = "Light Sensor ";

const  int GAS_SENSOR = A6;
int lpg, co, smoke;

MQ2 mq2(GAS_SENSOR);

const  int ENA = 0;
const int N1 = 1;
const int N2 = 2;
const int N3 = 3;
const  int N4 = 4;
const int ENB = 5;

const int HEADLIGHT = 6;
int HEADLIGHT_STATUS  = HIGH;
unsigned long previousMillis = 0;
const long interval = 500;

const  int BACKLIGHT = 7;

const int RIGHT = A3;
const int MIDDLE = A2;
const  int LEFT = A1;

int rightRead, middleRead, leftRead;

int wheelsState  = 1;

const int FRONT1 = 9;
const int FRONT2 = 8;

const int BACK1  = 7;
const int BACK2 = 6;

int front1Read, front2Read, back1Read, back2Read;

const  int LDR = A7;

void setup()
{
  pinMode(GAS_SENSOR, INPUT);

  Dabble.begin(9600);
  Serial.begin(9600);

  sr.set(HEADLIGHT, HIGH);

  pinMode(FRONT1, INPUT);
  pinMode(FRONT2, INPUT);
  pinMode(BACK1, INPUT);
  pinMode(BACK2, INPUT);

  mq2.begin();
  bool success = bmp180.begin();

  if (success) {
    Serial.println("BMP180 init success");
  }
}

void  buttonRead()
{
  if (wheelsState == HIGH) {
    if (GamePad.isUpPressed())
    {
      Serial.println("Up");
      sr.set(BACKLIGHT, LOW);
      sr.set(ENA,  HIGH);
      sr.set(N1, LOW);
      sr.set(N2, HIGH);
      sr.set(ENB,  HIGH);
      sr.set(N3, HIGH);
      sr.set(N4, LOW);
    }

    else  if (GamePad.isDownPressed())
    {
      Serial.println("Down");
      sr.set(BACKLIGHT,  HIGH);
      sr.set(ENA, HIGH);
      sr.set(N1, HIGH);
      sr.set(N2,  LOW);
      sr.set(ENB, HIGH);
      sr.set(N3, LOW);
      sr.set(N4,  HIGH);
    }

    else if (GamePad.isLeftPressed())
    {
      Serial.println("Left");
      sr.set(BACKLIGHT, LOW);
      sr.set(ENA, HIGH);
      sr.set(N1, HIGH);
      sr.set(N2, LOW);
      sr.set(ENB, HIGH);
      sr.set(N3, HIGH);
      sr.set(N4, LOW);
    }

    else if (GamePad.isRightPressed())
    {
      Serial.println("Right");
      sr.set(BACKLIGHT, LOW);
      sr.set(ENA,  HIGH);
      sr.set(N1, LOW);
      sr.set(N2, HIGH);
      sr.set(ENB,  HIGH);
      sr.set(N3, LOW);
      sr.set(N4, HIGH);
    }
    else
    {
      sr.set(ENA, LOW);
      sr.set(N1, LOW);
      sr.set(N2, LOW);
      sr.set(ENB, LOW);
      sr.set(N3, LOW);
      sr.set(N4, LOW);
    }
  }
  else
  {
    sr.set(ENA, LOW);
    sr.set(N1, LOW);
    sr.set(N2, LOW);
    sr.set(ENB, LOW);
    sr.set(N3, LOW);
    sr.set(N4,  LOW);
  }
}
void headLights() {
  if (GamePad.isTrianglePressed()) {
    unsigned long currentMillis = millis();

    if (currentMillis - previousMillis  >= interval) {
      previousMillis = currentMillis;

      HEADLIGHT_STATUS  = !HEADLIGHT_STATUS;
      sr.set(HEADLIGHT, HEADLIGHT_STATUS);
    }
  }
}

void sensorReadings()
{
  if (Terminal.available() > 0) {
    if (Terminal.compareString(str)) {
      char status;
      double T,  P;
      bool success = false;

      status = bmp180.startTemperature();

      if (status != 0) {
        delay(1000);
        status = bmp180.getTemperature(T);

        if (status != 0) {
          status = bmp180.startPressure(3);

          if (status != 0) {
            delay(status);
            status  = bmp180.getPressure(P, T);

            if (status != 0) {
              Terminal.println("Pressure:  ");
              Terminal.println(P);
              Terminal.println("  hPa");

              Terminal.println("Temperature: ");
              Terminal.println(T);
              Terminal.println("C");
            }
          }
        }
      }
    }
    else if (Terminal.compareString(str1)) {
      float*  values = mq2.read(true);
      lpg = mq2.readLPG();
      co = mq2.readCO();
      smoke = mq2.readSmoke();

      Terminal.println("LPG");
      Terminal.println(lpg);
      Terminal.println("CO2");
      Terminal.println(co);
      Terminal.println("Smoke");
      Terminal.println(smoke);
      Terminal.println("PPM");
    }
    else if (Terminal.compareString(str2)) {
      int chk = DHT.read11(dht);
      Terminal.println(DHT.humidity);
      Terminal.println("%");
    }
    else if (Terminal.compareString(str3)) {
      int lightValue = analogRead(LDR);
      Terminal.println("Light Value: ");
      if (lightValue >= 900) {
        Terminal.println("High");
      }
      else if (lightValue <= 899  && lightValue >= 880) {
        Terminal.println("Medium");
      }
      else {
        Terminal.println("Low");
      }
    }
  }
}

void  liftDetection()
{
  rightRead = digitalRead(RIGHT);
  middleRead = digitalRead(MIDDLE);
  leftRead = digitalRead(LEFT);

  if (rightRead == 1 || middleRead == 1 ||  leftRead == 1) { //on ground
    wheelsState = HIGH;
  }
  if (rightRead  == 0 && middleRead == 0 && leftRead == 0) { //off ground
    wheelsState = LOW;
4  }
}


void obstactleDetection() {
  front1Read = digitalRead(FRONT1);
  front2Read = digitalRead(FRONT2);
  back1Read = digitalRead(BACK1);
  back2Read  = digitalRead(BACK2);

  if (front1Read == HIGH || front2Read == HIGH || back1Read  == HIGH || back2Read == HIGH) {
    sr.set(ENA, LOW);
    sr.set(N1, LOW);
    sr.set(N2, LOW);
    sr.set(ENB, LOW);
    sr.set(N3, LOW);
    sr.set(N4,  LOW);
  }
}
void loop() {
  Dabble.processInput();

  obstactleDetection();
  liftDetection();
  buttonRead();
  sensorReadings();
  headLights();
}

Downloadable files

Circuit Diagram

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