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Copy pathCAR_IR_BUTTON_USS_SERVO_BUZZER_LED_UPDATE_5.ino
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CAR_IR_BUTTON_USS_SERVO_BUZZER_LED_UPDATE_5.ino
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#include <Servo.h> //SERVO LIBRARY
#define FORWARD_RM 11 // RIGHT MOTORS FORWARD MOVEMENT
#define FORWARD_LM 6 // LEFT MOTORS FORWARD MOVEMENT
#define BACKWARD_RM 10 // RIGHT MOTORS BACKWARD MOVEMENT
#define BACKWARD_LM 9 // LEFT MOTORS BACKWARD MOVEMENT
#define BUTTON 4 // ON/OFF BUTTON
#define BUZZER 12 // BACKGROUND MUSIC
#define SERVO 5 //SERVO ARM OBSTECALE REMOVE
#define USS_TRIG 3 //ULTRASONIC SENSOR SIGNAL TRANSFER PIN
#define USS_ECHO 2 //ULTRASONIC SENSOR SIGNAL RECIVE PIN
#define LED_BRAKE 7 //RED LED
#define NOTE_C4 262 //PIANO NOTES FREQUENCIES IN Hz
#define NOTE_D4 294
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_G4 392
#define NOTE_A4 440
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_D5 587
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_G5 784
#define NOTE_A5 880
#define NOTE_B5 988
int IR[5] = { A0, A1, A2, A3, A4 };//IR SENSOR SIGNAL PINS
int IR_READ[5]; //IR SENSOR READINGS SAVED IN ARRAY
int PWM_LOW = 20; //MOTOR SPEED CONTROL "SLOW"
int PWM_MED = 120; //MOTOR SPEED CONTROL "MODERATE"
int PWM_HIGH = 140; //MOTOR SPEED CONTROL "FAST"
int OLD_STATE; //OLD STATE FOR BUTTON
int flag = 0; // "START/STOP" FLAG TO AVOID THE CODE AFTER COMPLETING THE MISSION
Servo SERVO_1;
int POS=0;
float USS_READ;
float dist=15;
float SONG_SPEED = 1.0;
//SONG NOTES
int NOTES[] = {
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0, NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0, NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0, NOTE_A4, NOTE_G4, NOTE_A4, 0, NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0, NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0, NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0, NOTE_A4, NOTE_G4, NOTE_A4, 0, NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0, NOTE_A4, NOTE_C5, NOTE_D5, NOTE_D5, 0, NOTE_D5, NOTE_E5, NOTE_F5, NOTE_F5, 0, NOTE_E5, NOTE_D5, NOTE_E5, NOTE_A4, 0, NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0, NOTE_D5, NOTE_E5, NOTE_A4, 0, NOTE_A4, NOTE_C5, NOTE_B4, NOTE_B4, 0, NOTE_C5, NOTE_A4, NOTE_B4, 0
};
// DURATION FOR EACH NOTE IN MILLISECOND
int duration[] = {
125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 375, 125, 125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 375, 125, 125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 250, 125, 125, 125, 125, 125, 250, 125, 125, 125, 250, 125, 125, 250, 125, 250, 125, 125, 125, 250, 125, 125, 125, 125, 375, 375
};
void setup() {
pinMode(FORWARD_RM, OUTPUT);
pinMode(FORWARD_LM, OUTPUT);
pinMode(BACKWARD_RM, OUTPUT);
pinMode(BACKWARD_LM, OUTPUT);
pinMode(BUTTON, INPUT_PULLUP);
pinMode(BUZZER, OUTPUT);
SERVO_1.attach(5);
pinMode(LED_BRAKE, OUTPUT);
pinMode(USS_TRIG, OUTPUT);
pinMode(USS_ECHO, INPUT);
Serial.begin(9600);
}
void MUSIC() {
int TOTAL_NOTES = sizeof(NOTES) / sizeof(int);
// Loop through each note
for (int i = 0; i < TOTAL_NOTES; i++) {
int CURRENT_TONE = NOTES[i];
float WAIT = duration[i] / SONG_SPEED;
// Play tone if CURRENT_TONE is not 0 frequency, otherwise pause (noTone)
if (CURRENT_TONE != 0) {
tone(BUZZER, NOTES[i], WAIT); // tone(pin, frequency, duration)
} else {
noTone(BUZZER);
}
}
}
void FORWARD() {
analogWrite(FORWARD_RM, 100);
analogWrite(FORWARD_LM,100);
}
void STOP() {
analogWrite(FORWARD_RM, LOW);
analogWrite(FORWARD_LM, LOW);
digitalWrite(LED_BRAKE, HIGH);
}
void TURN_RIGHT() {
analogWrite(FORWARD_RM, PWM_LOW);
analogWrite(FORWARD_LM, PWM_MED);
}
void TURN_LEFT() {
analogWrite(FORWARD_RM, PWM_MED);
analogWrite(FORWARD_LM, PWM_LOW);
}
void TURN_RIGHT_FAST() {
analogWrite(FORWARD_RM, PWM_LOW);
analogWrite(FORWARD_LM, PWM_HIGH);
}
void TURN_LEFT_FAST() {
analogWrite(FORWARD_RM, PWM_HIGH);
analogWrite(FORWARD_LM, PWM_LOW);
}
//FUNCTION TO GET THE IR READINGS AND SEND PWM SIGNALS TO THE MOTORS AND CONTROL IT'S MOVEMENT DIRECTION
void CAR_STATE(int IR_READ[]) {
int USS_READ = USS();
while (USS_READ <= dist) { // OBSTACLE CHECK
STOP();
SERVO_M();
USS_READ = USS();
if (USS_READ > dist) {
dist = 10;
}
else
{
dist--;
FORWARD();
}
}
if (IR_READ[0] == 1 && IR_READ[1] == 1 && IR_READ[2] == 0 && IR_READ[3] == 1 && IR_READ[4] == 1 && USS_READ>15) {
FORWARD();
} else if (IR_READ[0] == 1 && IR_READ[1] == 1 && IR_READ[2] == 1 && IR_READ[3] == 0 && IR_READ[4] == 1 && USS_READ>15 ) {
TURN_RIGHT();
} else if (IR_READ[0] == 1 && IR_READ[1] == 1 && IR_READ[2] == 1 && IR_READ[3] == 1 && IR_READ[4] == 0 && USS_READ>15 ) {
TURN_RIGHT_FAST();
} else if (IR_READ[0] == 1 && IR_READ[1] == 0 && IR_READ[2] == 1 && IR_READ[3] == 1 && IR_READ[4] == 1 && USS_READ>15 ) {
TURN_LEFT();
} else if (IR_READ[0] == 0 && IR_READ[1] == 1 && IR_READ[2] == 1 && IR_READ[3] == 1 && IR_READ[4] == 1 && USS_READ>15) {
TURN_LEFT_FAST();
} else if (IR_READ[0] == 0 && IR_READ[1] == 0 && IR_READ[2] == 0 && IR_READ[3] == 0 && IR_READ[4] == 0) {
STOP();
flag = 1;
}
}
// ON/OFF FUNCTION
int BUTTON_STATE() {
int NEW_STATE = digitalRead(BUTTON);
if (NEW_STATE != OLD_STATE) {
OLD_STATE = NEW_STATE;
flag = 0;
return NEW_STATE;
} else {
analogWrite(FORWARD_RM, LOW); //STOP THE CAR
analogWrite(FORWARD_LM, LOW);
flag = 1; //FLAG
}
}
//OBSTACLE DISTANCE DETECTION
int USS() {
float DURATION, DISTANCE;
digitalWrite(USS_TRIG, LOW);
//delayMicroseconds(2);
digitalWrite(USS_TRIG, HIGH);
//delayMicroseconds(10);
digitalWrite(USS_TRIG, LOW);
DURATION = pulseIn(USS_ECHO, HIGH);
DISTANCE = (DURATION * 0.0343) / 2;
//delay(100);
return DISTANCE;
}
//OBSTACLE REMOVAL
int SERVO_M() {
for (POS = 0; POS <= 180; POS += 1) {
SERVO_1.write(POS);
// Serial.print("A7A");
delayMicroseconds(1000);
}
for (POS = 180; POS >= 0; POS -= 1) {
SERVO_1.write(POS);
//Serial.print("A7777A");
delayMicroseconds(1000);
}
}
void loop() {
SERVO_1.write(POS);
int STATE = BUTTON_STATE(); //IF BUTTON STATE "ON"
if (STATE == LOW) {
USS_READ=USS();
while (flag == 0)
{
for (int i = 0; i < 5; i++) {
IR_READ[i] = digitalRead(IR[i]); //STORE IR READINGS IN ARRAY
}
CAR_STATE(IR_READ);
}
}
}