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int obstacle = 15;
int enableR = 13, enableL = 12, flag = 1, MEMORY = 0, PANIC = 2; String a = "9999298724",direction;
double duration, distance;
void setup()
{
pinMode(PANIC, INPUT);
pinMode(motorRin1, OUTPUT);
pinMode(motorRin2, OUTPUT);
pinMode(motorLin1, OUTPUT);
pinMode(motorLin2, OUTPUT);
pinMode(enableR, OUTPUT);
pinMode(enableL, OUTPUT);
pinMode(echo, INPUT);
pinMode(trig, OUTPUT);
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, LOW);
digitalWrite(enableL, LOW);
Serial.begin(9600);
// put your setup code here, to run once:
}
double DistanceSensor()
{
digitalWrite(trig, LOW);
delayMicroseconds(2);
digitalWrite(trig, HIGH);
delayMicroseconds(10);
digitalWrite(trig, LOW);
duration = pulseIn(echo, HIGH);
double D = duration / 29.387 / 2;
Serial.println(D);
if(D>15)
{ Serial.println("OBSTACLE NOT WITHIN RANGE");
}
else
("REMOVE OBSTACLE");
return (D);
}
void loop() {
// put your main code here, to run repeatedly:
distance = DistanceSensor();
if (distance >= obstacle)
{
while (Serial.available() == 0 && distance >= obstacle && digitalRead(PANIC) == LOW)
{
distance = DistanceSensor();
digitalRead(PANIC);
}
direction = Serial.readString();
if (digitalRead(PANIC) == HIGH)
{
stopNcall();
}
if (direction.equals("shubham"))
{
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, HIGH);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, HIGH);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
MEMORY = 8;
}
else if (direction.equals("c"))
{
digitalWrite(motorRin1, HIGH);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, HIGH);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
MEMORY = 2;
}
else if (MEMORY == 8 && direction.equals("d"))
{
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, HIGH);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
}
else if (MEMORY == 2 && direction.equals("f"))
{
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, HIGH);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
}
else if (MEMORY == 8 && direction.equals("f"))
{
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, HIGH);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
}
else if (MEMORY == 2 &&direction.equals("d"))
{
digitalWrite(motorRin1, HIGH);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
}
else if (direction.equals(" "))
{
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, LOW);
digitalWrite(enableL, LOW);
}
}
else
{
if (digitalRead(PANIC) == HIGH)
{
stopNcall();
}
Serial.println("REMOVE OBSTACLE");
digitalWrite(motorRin1, LOW);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, LOW);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, LOW);
digitalWrite(enableL, LOW);
while (Serial.available() == 0 && digitalRead(PANIC) == LOW)
{
digitalRead(PANIC);
}
direction = Serial.readString();
if (direction.equals("c"))
{
digitalWrite(motorRin1, HIGH);
digitalWrite(motorRin2, LOW);
digitalWrite(motorLin1, HIGH);
digitalWrite(motorLin2, LOW);
digitalWrite(enableR, HIGH);
digitalWrite(enableL, HIGH);
while(distance<obstacle)
{
distance=DistanceSensor();
}
MEMORY = 2;
}
}
}
void stopNcall()
{
while (0 == 0)
{
Serial.println("calling " + a);
Serial.println("ENTER 1 IF YOU WANT TO CHANGE NUMBER");
while (Serial.available() == 0) {
}
if (Serial.read() == '1')
{
Serial.println("ENTER NEW NUMBER");
while (Serial.available() == 0) {
}
a = Serial.readString();
}
}
}
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