WALL-E Inspired Multipurpose Robot - Connection and Code Guide
1. Connection Table
Component | Arduino Pin / Connection
------------------|------------------------
Ultrasonic Sensor | Trig -> D12, Echo -> D13
IR Sensor | A0
Flame Sensor | A1
Servo Motor | D9
Low RPM Motor | Connected via L298N motor driver
L298N Motor Driver| IN1 -> D2, IN2 -> D3, IN3 -> D4, IN4 -> D5, ENA & ENB -> 5V (or PWM pins D6/D7)
Bluetooth Module | TX -> D10, RX -> D11 (SoftwareSerial)
Emergency LED | D8
Power | 14V battery connected to VIN and L298N 12V input
2. Arduino UNO Code
#include <Servo.h>
#include <SoftwareSerial.h>
// Pins
#define TRIG_PIN 12
#define ECHO_PIN 13
#define IR_PIN A0
#define FLAME_PIN A1
#define EMERGENCY_LED 8
#define SERVO_PIN 9
// Motor driver pins
#define IN1 2
#define IN2 3
#define IN3 4
#define IN4 5
Servo armServo;
SoftwareSerial bluetooth(10, 11); // RX, TX
// Variables
long duration;
int distance;
int flameVal;
int irVal;
void setup() {
Serial.begin(9600);
bluetooth.begin(9600);
pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
pinMode(EMERGENCY_LED, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
armServo.attach(SERVO_PIN);
armServo.write(90); // Start position
Serial.println("Robot Initialized");
bluetooth.println("Robot Ready");
}
int getDistance() {
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
duration = pulseIn(ECHO_PIN, HIGH);
distance = duration * 0.034 / 2;
return distance;
}
void moveForward() {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void moveBackward() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void turnLeft() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void turnRight() {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void stopMotors() {
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
void setupEmergencyLight(bool state) {
digitalWrite(EMERGENCY_LED, state ? HIGH : LOW);
}
void loop() {
// Read sensors
distance = getDistance();
flameVal = analogRead(FLAME_PIN);
irVal = analogRead(IR_PIN);
// Check flame sensor (assuming threshold)
if (flameVal < 300) {
setupEmergencyLight(true);
bluetooth.println("FIRE ALERT");
stopMotors();
armServo.write(0); // Move arm as alert
} else if (distance < 20) {
// Obstacle detected
setupEmergencyLight(true);
bluetooth.println("OBSTACLE ALERT");
stopMotors();
} else {
setupEmergencyLight(false);
}
// Bluetooth command processing
if (bluetooth.available()) {
char cmd = bluetooth.read();
switch (cmd) {
case 'F': moveForward(); bluetooth.println("Moving Forward"); break;
case 'B': moveBackward(); bluetooth.println("Moving Backward"); break;
case 'L': turnLeft(); bluetooth.println("Turning Left"); break;
case 'R': turnRight(); bluetooth.println("Turning Right"); break;
case 'S': stopMotors(); bluetooth.println("Stopped"); break;
case 'A': armServo.write(45); bluetooth.println("Arm Raised"); break;
case 'D': armServo.write(90); bluetooth.println("Arm Lowered"); break;
case 'E': setupEmergencyLight(true); bluetooth.println("Emergency Light ON"); break;
case 'e': setupEmergencyLight(false); bluetooth.println("Emergency Light OFF"); break;
}
}
}
3. Python Code for Voice Control and Radar Visualization
import speech_recognition as sr
import pyttsx3
import serial
import time
# Initialize speech engine
engine = pyttsx3.init()
recognizer = sr.Recognizer()
mic = sr.Microphone()
# Setup serial communication (change COM port as per your system)
arduino = serial.Serial('COM3', 9600, timeout=1)
time.sleep(2) # Wait for connection
def speak(text):
engine.say(text)
engine.runAndWait()
def listen():
with mic as source:
print("Listening...")
audio = recognizer.listen(source)
try:
command = recognizer.recognize_google(audio).lower()
print(f"Recognized: {command}")
return command
except sr.UnknownValueError:
return ""
except sr.RequestError:
return ""
def send_command(cmd):
arduino.write(cmd.encode())
while True:
command = listen()
if command:
if "forward" in command:
send_command('F')
speak("Moving forward")
elif "backward" in command:
send_command('B')
speak("Moving backward")
elif "left" in command:
send_command('L')
speak("Turning left")
elif "right" in command:
send_command('R')
speak("Turning right")
elif "stop" in command:
send_command('S')
speak("Stopping")
elif "arm up" in command or "raise arm" in command:
send_command('A')
speak("Arm raised")
elif "arm down" in command or "lower arm" in command:
send_command('D')
speak("Arm lowered")
elif "emergency light on" in command:
send_command('E')
speak("Emergency light on")
elif "emergency light off" in command:
send_command('e')
speak("Emergency light off")
elif "exit" in command or "quit" in command:
speak("Goodbye!")
break
