#include <SoftwareSerial.
h>
SoftwareSerial BT_Serial(2, 3); // RX, TX
#define enA 10//Enable1 L298 Pin enA
#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB
#define R_S A0 //ir sensor Right
#define L_S A1 //ir sensor Left
int bt_data; // variable to receive data from the serial port
int Speed = 130;
int mode=0;
void setup(){ // put your setup code here, to run once
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
Serial.begin(9600); // start serial communication at 9600bps
BT_Serial.begin(9600);
delay(500);
}
void loop(){
if(BT_Serial.available() > 0){ //if some date is sent, reads it and saves in state
bt_data = BT_Serial.read();
if(bt_data > 20){Speed = bt_data;}
}
if(bt_data == 8){mode=1; Speed=130;} //Auto Line Follower Command
else if(bt_data == 9){mode=0; Stop();} //Manual Android Application Control
Command
analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1
Speed
analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2
Speed
if(mode==0){
//===============================================================================
// Key Control Command
//===============================================================================
if(bt_data == 1){forword(); } // if the bt_data is '1' the DC motor will go
forward
else if(bt_data == 2){backword();} // if the bt_data is '2' the motor will Reverse
else if(bt_data == 3){turnLeft();} // if the bt_data is '3' the motor will turn
left
else if(bt_data == 4){turnRight();} // if the bt_data is '4' the motor will turn
right
else if(bt_data == 5){Stop(); } // if the bt_data '5' the motor will Stop
//===============================================================================
// Voice Control Command
//===============================================================================
else if(bt_data == 6){turnLeft(); delay(400); bt_data = 5;}
else if(bt_data == 7){turnRight(); delay(400); bt_data = 5;}
}else{
//===============================================================================
// Line Follower Control
//===============================================================================
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forword();} //if Right Sensor
and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();}//if Right Sensor
is Black and Left Sensor is White then it will call turn Right function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();} //if Right Sensor
is White and Left Sensor is Black then it will call turn Left function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor
and Left Sensor are at Black color then it will call Stop function
}
delay(10);
}
void forword(){ //forword
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}
void backword(){ //backword
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}
