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@faresherif
faresherif authored Nov 12, 2023
1 parent 2bad679 commit ee16635
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154 changes: 154 additions & 0 deletions MECHATRONICS_7TH_PROJECT_CODE_12-11-2023.ino
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#include <pitches.h> //PIANO NOTES FREQUENCIES IN Hz
#include <Servo.h> //SERVO LIBRARY
#include"CAR_INTERFACE.h" //LINE FOLLOWER LIBRARY
#define 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=2;
float songSpeed = 0.5;
//SONG NOTES & DURTION OF EACH NOTE
int MELODY[] = {NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_E4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_E4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_E4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_E4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4,NOTE_D4,NOTE_F4, NOTE_AS3, NOTE_DS4, NOTE_D4, NOTE_F4, NOTE_AS3,NOTE_DS4, NOTE_D4, NOTE_C4,NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_D4, NOTE_F4, NOTE_AS3, NOTE_DS4, NOTE_D4, NOTE_F4, NOTE_AS3, NOTE_DS4, NOTE_D4, NOTE_C4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C4, NOTE_DS4, NOTE_F4,NOTE_D4,NOTE_F4, NOTE_AS3,NOTE_D4, NOTE_DS4, NOTE_D4, NOTE_AS3,NOTE_C4,NOTE_C5,NOTE_AS4,NOTE_C4,NOTE_G4,NOTE_DS4, NOTE_DS4, NOTE_F4, NOTE_G4, NOTE_C5,NOTE_AS4,NOTE_C4, NOTE_G4, NOTE_DS4, NOTE_DS4, NOTE_D4,NOTE_C5, NOTE_G4, NOTE_GS4, NOTE_AS4, NOTE_C5, NOTE_G4, NOTE_GS4, NOTE_AS4, NOTE_C5, NOTE_G4, NOTE_GS4, NOTE_AS4, NOTE_C5, NOTE_G4, NOTE_GS4, NOTE_AS4,REST, NOTE_GS5, NOTE_AS5, NOTE_C6, NOTE_G5, NOTE_GS5, NOTE_AS5, NOTE_C6, NOTE_G5, NOTE_GS5, NOTE_AS5, NOTE_C6, NOTE_G5, NOTE_GS5, NOTE_AS5};
int DURATIONS[] = { 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 4, 4,16, 16, 4, 4, 16, 16, 1, 4, 4, 16, 16, 4, 4, 16, 16, 1, 4, 4, 16, 16, 4, 4, 16, 16, 1, 4, 4, 16, 16, 4, 4, 16, 16, 1, 4, 4, 16, 16, 4, 4, 16, 16, 2, 4, 4, 8, 8, 8, 8, 1, 2, 2, 2, 2, 2,4, 4, 1, 2, 2, 2, 2, 2, 4, 4, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16, 8, 8, 16, 16,4, 16, 16, 8, 8, 16, 16, 8, 16, 16, 16, 8, 8, 16, 16};
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 SIZE = sizeof(DURATIONS) / sizeof(int);

for (int NOTE = 0; NOTE < SIZE; NOTE++) {
int duration = 1000 / DURATIONS[NOTE];
tone(BUZZER, MELODY[NOTE], duration); //PLAY SONG

int PAUSE_BETWEEN_NOTES = duration * 1.30; //TIME TO SEPARATE BETWEEN NOTES= NOTE DURATION +"30% DURATION" "tried it and it works well"
delay(PAUSE_BETWEEN_NOTES);

noTone(BUZZER);//STOP SONG
}
}
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[1] == 0 && IR_READ[3] == 1 && IR_READ[2] == 1 && USS_READ>2) {
FORWARD();
} else if (IR_READ[0] == 1 && IR_READ[1] == 1 && IR_READ[1] == 1 && IR_READ[3] == 0 && IR_READ[2] == 1 && USS_READ>2 ) {
TURN_RIGHT();
} else if (IR_READ[0] == 1 && IR_READ[1] == 1 && IR_READ[1] == 1 && IR_READ[3] == 1 && IR_READ[2] == 0 && USS_READ>2 ) {
TURN_RIGHT_FAST();
} else if (IR_READ[0] == 1 && IR_READ[1] == 0 && IR_READ[1] == 1 && IR_READ[3] == 1 && IR_READ[2] == 1 && USS_READ>2 ) {
TURN_LEFT();
} else if (IR_READ[0] == 0 && IR_READ[1] == 1 && IR_READ[1] == 1 && IR_READ[3] == 1 && IR_READ[2] == 1 && USS_READ>2) {
TURN_LEFT_FAST();
} else if (IR_READ[0] == 0 && IR_READ[1] == 0 && IR_READ[1] == 0 && IR_READ[3] == 0 && IR_READ[2] == 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(1);
digitalWrite(USS_TRIG, HIGH);
//delayMicroseconds(10);
digitalWrite(USS_TRIG, LOW);
DURATION = pulseIn(USS_ECHO, HIGH);
DISTANCE = (DURATION * 0.0343) / 1;
//delay(100);
return DISTANCE;
}
//OBSTACLE REMOVAL
int SERVO_M() {
for (POS = 0; POS <= 180; POS += 1) {
SERVO_1.write(POS);
delayMicroseconds(1000);
}
for (POS = 180; POS >= 0; POS -= 1) {
SERVO_1.write(POS);
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)
{
MUSIC();
for (int i = 0; i < 5; i++) {
IR_READ[i] = digitalRead(IR[i]); //STORE IR READINGS IN ARRAY
}
CAR_STATE(IR_READ);
}
}
}

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