third commit

walkin-car-control-panel.ino

@@ -0,0 +1,246 @@
+#include<Wire.h> // for the mpu
+//                                                                                                                                         the starred points vary the speed of the system
+// here we define the global variables
+int trigger =9; // a digital pin
+int echo =10; // a digital pin
+int sonarmotor =11; // a digital pin
+const int MPU=0*68;
+int16_t AcX,AcY,AcZ,TmpGyX,TmpGyY,TmpGyZ;
+int gear1speed=255; // speed of gear1 setup, can be changed----- changed to set motor rpm    ----*
+int gear2speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm    ----*
+int gear3speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm    ----*
+int gear4speed=255; // speed of gear2 setup, can be changed----- changed to set motor rpm    ----*
+int gear1enable=19; // an analog pin
+int gear2enable=20; // an analog pin
+int gear3enable=21; // an analog pin
+int gear4enable=22; // an analog pin
+int gear11=5;
+int gear12=6;
+int gear21=7;
+int gear22=8;
+int gear31=12;
+int gear32=13;
+int gear41=14;
+int gear42=15;
+int indicator1=23; // an analog pin
+int indicator2=24; // an analog pin
+int headlight=25; // an analog pin
+int backlight=26; // an analog pin
+boolean headlightflag=false; // watches if headlight is previously on or off
+void setup() {
+  // put your setup code here, to run once:
+  pinMode(sonarmotor,OUTPUT);
+  pinMode(trigger,OUTPUT);
+  pinMode(echo,INPUT);
+  Wire.begin();
+  Wire.beginTransmission(MPU);
+  Wire.write(0);
+  Wire.endTransmission(true);
+  Serial.begin(9600);
+  pinMode(gear1speed,OUTPUT);
+  pinMode(gear2speed,OUTPUT);
+  pinMode(gear3speed,OUTPUT);
+  pinMode(gear4speed,OUTPUT);
+  pinMode(gear1enable,OUTPUT);
+  pinMode(gear2enable,OUTPUT);
+  pinMode(gear3enable,OUTPUT);
+  pinMode(gear4enable,OUTPUT);
+  pinMode(gear11,OUTPUT);
+  pinMode(gear12,OUTPUT);
+  pinMode(gear21,OUTPUT);
+  pinMode(gear22,OUTPUT);
+  pinMode(gear31,OUTPUT);
+  pinMode(gear32,OUTPUT);
+  pinMode(gear41,OUTPUT);
+  pinMode(gear42,OUTPUT);
+}
+double angleis() // this controls the angle of rotation of th emotor controlling the SONAR untrasonic sensor
+{
+  digitalWrite(sonarmotor, HIGH);
+  delay(1000); // based on rpm
+  sonarmotor+= sonarmotor;
+  if (sonarmotor==360)
+  sonarmotor=0;
+  return sonarmotor;
+}
+void sonar() // here we define how our vehicle understands it's surroundings by SONAR system
+{
+  double angle= angleis();
+  long duration, distance;
+  double xposition ,yposition;
+  digitalWrite(trigger, LOW);
+  delay(2);
+  digitalWrite(trigger, HIGH);
+  delay(10);
+  digitalWrite(trigger, LOW);
+  duration= pulseIn(echo, HIGH);
+  distance= duration*2*29.1;
+  // now we divide the planes into four quadrants 
+  if(angle<=90)
+  {
+    xposition=cos(angle);
+    yposition=sin(angle);
+  }
+  else if(angle>90 && angle<=180)
+  {
+    xposition=sin(angle);   
+    yposition=cos(angle); 
+  }
+
+  else if(angle>180 && xposition<=270)
+  {
+    xposition=sin(angle);
+    yposition=cos(angle);
+  }
+  else if(angle>270 && angle<=360)
+  {
+    xposition=cos(angle);
+    yposition=sin(angle);
+  }
+
+}
+void gpu() // here we code the gpu
+{
+  Wire.beginTransmission(MPU);
+  Wire.write(0*3B);
+  Wire.endTransmission(false);
+  Wire.requestFrom(MPU,12,true);
+  AcX=Wire.read()<<81 Wire.read();
+  AcY=Wire.read()<<81 Wire.read();
+  AcZ=Wire.read()<<81 Wire.read();
+  GyX=Wire.read()<<81 Wire.read();
+  GyY=Wire.read()<<81 Wire.read();
+  GyZ=Wire.read()<<81 Wire.read();
+  Serial.print("Accelerometer reading:-");
+  Serial.print("X or movement sideways is :-");
+  Serial.println(AcX);
+  Serial.print("Y or movement forward or backward is :-");
+  Serial.println(AcY);
+  Serial.print("Z or movement upwards or downwards is :-");
+  Serial.println(AcZ);
+  delay(333);
+
+}
+void forward() // here we define how our vehicle goes forward
+{
+  analogWrite(gear1enable,gear1speed);
+  analogWrite(gear2enable,gear2speed);
+  analogWrite(gear3enable,gear3speed);
+  analogWrite(gear4enable,gear4speed);
+  digitalWrite(gear11,HIGH);
+  digitalWrite(gear12,LOW);
+  digitalWrite(gear41,HIGH);
+  digitalWrite(gear42,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear21,HIGH);
+  digitalWrite(gear22,LOW);
+  digitalWrite(gear31,HIGH);
+  digitalWrite(gear32,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+}
+void backward() // here we define how our vehicle goes backward
+{
+  analogWrite(gear1enable,gear1speed);
+  analogWrite(gear2enable,gear2speed);
+  analogWrite(gear3enable,gear3speed);
+  analogWrite(gear4enable,gear4speed);
+  analogWrite(backlight,HIGH); // turning on backlight
+  digitalWrite(gear11,LOW);
+  digitalWrite(gear12,HIGH);
+  digitalWrite(gear41,LOW);
+  digitalWrite(gear42,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear21,LOW);
+  digitalWrite(gear22,HIGH);
+  digitalWrite(gear31,LOW);
+  digitalWrite(gear32,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  analogWrite(backlight,LOW); // turning indicator off
+}
+void rightturn() // here we define how our vehicle gradually rotates right
+{
+  analogWrite(gear1enable,gear1speed);
+  analogWrite(gear2enable,gear2speed);
+  analogWrite(gear3enable,gear3speed);
+  analogWrite(gear4enable,gear4speed);
+  analogWrite(indicator2,HIGH); // turning the indicator on
+  digitalWrite(gear11,HIGH);
+  digitalWrite(gear12,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear41,LOW);
+  digitalWrite(gear42,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear21,LOW);
+  digitalWrite(gear22,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear31,HIGH);
+  digitalWrite(gear32,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  analogWrite(indicator1, HIGH); // turning the indicator off
+}
+void leftturn() // here we define how our vehicle gradually rotates left
+{
+  analogWrite(gear1enable,gear1speed);
+  analogWrite(gear2enable,gear2speed);
+  analogWrite(gear3enable,gear3speed);
+  analogWrite(gear4enable,gear4speed);
+  analogWrite(indicator1,HIGH); // turning the indicator on
+  digitalWrite(gear11,LOW);
+  digitalWrite(gear12,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear41,HIGH);
+  digitalWrite(gear42,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear21,HIGH);
+  digitalWrite(gear22,LOW);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*
+  digitalWrite(gear31,LOW);
+  digitalWrite(gear32,HIGH);
+  delayMicroseconds(1000000); // depends on the rpm, can be customized for specific motors            ----*  
+  analogWrite(indicato12,LOW); // turning the indicator off
+}
+void light() // here we define the lights and indicators
+{
+  Serial.print("You want normal lighting up or you want all the lights to turn on?");
+  if(Serial,available()>0)
+  Serial.readString(a);
+  if(a=="normal")
+  analogWrite(headlight,HIGH);
+  else if(a=="all")
+  {
+    analogWrite(headlight,HIGH);
+    analogWrite(indicator1,HIGH);
+    analogWrite(indicator2,HIGH);
+    analogWrite(backlight,HIGH);
+  }
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+  angle=sonarmotor();
+  sonar();
+  if(headlightflag==true)
+  analogWrite(headlight, HIGH);
+  if(headlightflag==false)
+  analogWrite(headlight,LOW);
+  if(Serial.available()>0)
+  {
+    a=Serial.readString();
+    Serial.println(a);
+    if(a=="forward");
+    forward();
+    else if(a=="backward");
+    backward();
+    else if(a=="rightturn")
+    rightturn();
+    else if(a=="leftturn")
+    leftturn();
+    // now prepare the lighting system here
+    else if(a=="headlight")
+    {
+      if(headlightflag==false)
+        headlightflag=true;
+      else if (headlightflag==true)
+        headlightflag=false;
+    }
+  }
+}