Code_RoboGleam

/*

Project Name: RoboGleam: A Smart House Cleaning Robot (Economic Prototype)
Author: Dhyey Shah
Date Modified: 26th July, 2022

*/

/*-----------------------------------------------------------------------------START OF MAIN PROGRAM------------------------------------------------------------------------------*/

// Include Libraries
#include <NewPing.h>

// Defining Variables
#define RX 0
#define TX 1
#define irSensorFront 2
#define irSensorBack 3
#define modeSwitch 4
#define ENA 6                  // Enable Pin for Right Motor
#define ENB 5                  // Enable Pin for Left Motor
#define ledGreen A0
#define ledWhite 7
#define in1 8                  // Right Motor Forward
#define in2 9                  // Right Motor Backward
#define in3 10                 // Left Motor Forward
#define in4 11                 // Left Motor Backward
#define echoUS1 12
#define trigUS1 13
#define echoUS2 A3
#define trigUS2 A2
#define echoUS3 A5
#define trigUS3 A4

// #define servoAngle 105

char val;


// Creating Object Instances for Peripherals
NewPing sonar1(trigUS1, echoUS1, 300);
NewPing sonar2(trigUS2, echoUS2, 200);
NewPing sonar3(trigUS3, echoUS3, 200);


/*-------------------------------------------------------------------------------------*/


void setup() {

  Serial.begin(9600);
  
//  servo.attach(servoMotor);
//  servo.write(servoAngle);

  pinMode(ledGreen, OUTPUT);
  pinMode(ledWhite, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  analogWrite(ENA, 145);
  analogWrite(ENB, 255);
  
  pinMode(irSensorFront, INPUT);
  pinMode(irSensorBack, INPUT);
  pinMode(modeSwitch, INPUT_PULLUP);

  digitalWrite(ledGreen, LOW);
  digitalWrite(ledWhite, LOW);
  
}

void loop() {

  if (digitalRead(modeSwitch) == HIGH){
    digitalWrite(ledGreen, HIGH);
    digitalWrite(ledWhite, LOW);
    automatic();
    }
  else if (digitalRead(modeSwitch) == LOW){
    digitalWrite(ledWhite, HIGH);
    digitalWrite(ledGreen, LOW);
    manual();
    }

  // Controlling both Sweeper & Scrubber Motors ( x4 Motors ) with 2 seperate Switches & 2 Batteries.
  
}


/*----------------------------PRIMARY USER FUNCTIONS-------------------------------*/


void automatic(){

  unsigned int dist_val1 = readDistance1();
  unsigned int dist_val2 = readDistance2();
  unsigned int dist_val3 = readDistance3();
                           
  if ( dist_val1 <= 15 && dist_val1 != 0 ){
    
      Serial.println("Nearby Object Detected in Centre !");
      stopRobot();
      delay(150);
      moveBack();
      delay(400);
      stopRobot();
      delay(150);

      if ( dist_val2 > dist_val3){                  // dist_val2 for Sensor on Left, dist_val3 for Sensor on Right

          turnLeft();
          delay(400);
          stopRobot();
          delay(150);
        
        }

       else if ( dist_val2 < dist_val3){               // dist_val2 for Sensor on Left, dist_val3 for Sensor on Right

          turnRight();
          delay(400);
          stopRobot();
          delay(150);
        
        }
      
  }

  else if ( dist_val2 <= 15 && dist_val2 != 0 ){       // dist_val2 for Sensor on Left, dist_val3 for Sensor on Right

          Serial.println("Nearby Object Detected on Left Side !");
          stopRobot();
          delay(150);
          moveBack();
          delay(150);
          turnRight();
          delay(400);
          stopRobot();
          delay(150);
    
    }

   else if ( dist_val3 <= 15 && dist_val3 != 0 ){      // dist_val2 for Sensor on Left, dist_val3 for Sensor on Right

          Serial.println("Nearby Object Detected on Right Side !");
          stopRobot();
          delay(150);
          moveBack();
          delay(150);
          turnLeft();
          delay(400);
          stopRobot();
          delay(150);
    
    }
    
  else {
    
      moveForward();
      
    }
    
}

void manual(){

  unsigned int dist_value1 = readDistance1();
  
  if (Serial.available() > 0){

    stopRobot();
    val = Serial.read();
    Serial.println("The Bluetooth Value = ");
    Serial.println(val);
    delay(10);
    
  if ( val == '1' ){
      if ( dist_value1 <= 15 && dist_value1 != 0 ){
        stopRobot();
      }
      else {
        moveForward();
        }
    }

  else if ( val == '2' ){
      moveBack();
    }

  else if ( val == '3' ){
      turnRight();
    }

  else if ( val == '4' ){
      turnLeft();
    }

  else if ( val == '5' ){
      stopRobot();
    }
 
  }
  
}

/*----------------------------SECONDARY USER FUNCTIONS-------------------------------*/


unsigned int readDistance1(){

    unsigned int dist1 = sonar1.ping_cm();
    Serial.print("Distance is: ");
    Serial.println(dist1);
    return dist1;
    delay(10);
}

unsigned int readDistance2(){

    unsigned int dist2 = sonar2.ping_cm();
    Serial.print("Distance on Left is: ");
    Serial.println(dist2);
    return dist2;
    delay(10);
}

unsigned int readDistance3(){

    unsigned int dist3 = sonar3.ping_cm();
    Serial.print("Distance on Right is: ");
    Serial.println(dist3);
    return dist3;
    delay(10);
}
  
void moveForward(){

    if (digitalRead(irSensorFront) == HIGH){          // Detects Floor below in front, if Low = Stops
        stopRobot();
        delay(50);
      }
    else {
        digitalWrite(in1, LOW);
        digitalWrite(in2, HIGH);
        digitalWrite(in3, LOW);
        digitalWrite(in4, HIGH);
      }

}

void moveBack(){
  
    if (digitalRead(irSensorBack) == LOW){           // Detects Object behind at back, if High = Stops
        stopRobot();
        delay(50);
      }
    else{
        digitalWrite(in1, HIGH);
        digitalWrite(in2, LOW);
        digitalWrite(in3, HIGH);
        digitalWrite(in4, LOW);
      }
  
}

void turnRight(){

    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
    delay(300);
    
}

void turnLeft(){

    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    delay(300);
    
}

void stopRobot(){

    digitalWrite(in1, LOW);
    digitalWrite(in2, LOW);
    digitalWrite(in3, LOW);
    digitalWrite(in4, LOW);

}