Fire_Bot_2.ino

#include <Servo.h>
#include <AFMotor.h>
Servo myservo;


int pos = 0;
const int flamePin = 11;
char Flame = LOW;
int distancer;
int distancel;

//#define LM1 0        // left motor
//#define LM2 1        // left motor
//#define RM1 2        // right motor
//#define RM2 4        // right motor
//#define ENA 5        // motor driver
//#define ENB 6        // motor driver
#define MAX_SPEED 190 // sets speed of DC  motors
#define MAX_SPEED_OFFSET 20



AF_DCMotor motor1(1, MOTOR12_1KHZ); 
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
 

//boolean goesForward=false;
int speedSet = 0;
#define trigPin A1    // ultrasonic sensor
#define echoPin A0    // ultrasonic sensor
#define pump 10      // water pump[DC motor]
 //#define FS 11        // forward sensor
//#define LS 12        // left sensor
//#define RS 13        // right sensor
#define FS A3        // flame sensor

const int sensorMin = 0;     // sensor min
const int sensorMax = 1024;  // sensor max

// defines variables
long duration; // variable for the duration of sound wave travel
int distance;  // variable for the distance measurement
int ultrasonic();

void setup()
{
  //pinMode(LS, INPUT);
  //pinMode(RS, INPUT);
  //pinMode(FS, INPUT);
//  pinMode(ENA,OUTPUT);
//  pinMode(ENB,OUTPUT);
//  pinMode(LM1, OUTPUT);
//  pinMode(LM2, OUTPUT);
//  pinMode(RM1, OUTPUT);
//  pinMode(RM2, OUTPUT);
  pinMode(pump, OUTPUT);
  pinMode(FS, INPUT);
//
//  digitalWrite(ENA,HIGH);
//  digitalWrite(ENB,HIGH);

  

  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 

  Serial.begin(9600); 

  myservo.attach(3); //Water Pump's Base Servo Motor
  myservo.write(90);const int buzzerPin = 12;


  //pinMode(buzzerPin, OUTPUT);
  pinMode(FS, INPUT);
  Serial.begin(9600);

}

 /*void flame(){
  
  int sensorReading = analogRead(TS); // analog pin A0:
  
  int range = map(sensorReading, sensorMin, sensorMax, 0, 3); //mapping the values sensormin, sensormax, sensorreading
  
  switch (range) {
  case 0:    
    Serial.println("* Close Fire *"); // closer than 1.5 feet away.
    break;
  case 1:    
    Serial.println("* Distant Fire *"); // between 1-3 feet away.
    break;
  case 2:    
    Serial.println("No Fire"); // No fire detected.
    break;
  }
  delay(1);  
  
}*/

void fire_ex()
{    
 delay (500);

//    digitalWrite(LM1, HIGH);
//    digitalWrite(LM2, HIGH);
//    digitalWrite(RM1, HIGH);
//    digitalWrite(RM2, HIGH);
         moveForward();

   digitalWrite(pump, HIGH); //Turn the pump ON for DC Motor
   delay(500);

  for (pos = 50; pos <= 130; pos += 1) { 
    myservo.write(pos);
    delay(100);
  }
  for (pos = 130; pos >= 50; pos -= 1) {
    myservo.write(pos);
    delay(100);
  }

  digitalWrite(pump,LOW);
  myservo.write(90);

  Flame=LOW;
}

int ultrasonic()
{
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  // Calculating the distance
  distance = duration * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
  // Displays the distance on the Serial Monitor
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");
  return distance;
}

int right()
{
    myservo.write(50); 
    delay(500);
    int dist = ultrasonic();
    delay(100);
    myservo.write(110); 
    return dist;
  }
  int left()
{
    myservo.write(170); 
    delay(500);
    int dist = ultrasonic();
    delay(100);
    myservo.write(110); 
    return dist;
  }
  void moveStop() {
  motor1.run(RELEASE); 
  motor2.run(RELEASE);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
  } 
  
void moveForward() {

// if(!goesForward)
//  {
//    goesForward=true;
//    motor1.run(FORWARD);      
//    motor2.run(FORWARD);
//    motor3.run(FORWARD); 
//    motor4.run(FORWARD);     
   for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
   {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet);
    motor3.setSpeed(speedSet);
    motor4.setSpeed(speedSet);
    delay(5);
   }
 
}

//void moveBackward() {
////    goesForward=false;
////    motor1.run(BACKWARD);      
////    motor2.run(BACKWARD);
////    motor3.run(BACKWARD);
////    motor4.run(BACKWARD);  
//  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
//  {
//    motor1.setSpeed(speedSet);
//    motor2.setSpeed(speedSet);
//    motor3.setSpeed(speedSet);
//    motor4.setSpeed(speedSet);
//    delay(5);
//  }
//}  

void turnRight() {
  motor1.run(FORWARD);
  motor2.run(FORWARD);
  motor3.run(BACKWARD);
  motor4.run(BACKWARD);     
  delay(500);
  motor1.run(FORWARD);      
  motor2.run(FORWARD);
  motor3.run(FORWARD);
  motor4.run(FORWARD);      
} 
 
void turnLeft() {
  motor1.run(BACKWARD);     
  motor2.run(BACKWARD);  
  motor3.run(FORWARD);
  motor4.run(FORWARD);   
  delay(500);
  motor1.run(FORWARD);     
  motor2.run(FORWARD);
  motor3.run(FORWARD);
  motor4.run(FORWARD);
}  

void loop()
{
  ultrasonic();
  myservo.write(pos);
  

  /*if (digitalRead(LS) ==1 && digitalRead(RS)==1 && digitalRead(FS) ==1) //no fire // If US not detect => move
  {
    //To move 
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
  }
  else if (digitalRead(FS) ==0) //straight
  {
    //Move the robot forward
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
    fire = true;
  }
  else if (digitalRead(LS) ==0) //left
  {
    //Move the robot left
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
  }
  else if (digitalRead(RS) ==0) // right
  {
    //Move the robot right
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }*/
    Flame = digitalRead(flamePin);
  if (Flame== HIGH)
  {
    Serial.println("Fire!!!");
    fire_ex();
    //digitalWrite(buzzerPin, HIGH);
  }
  else
  {
    Serial.println("No worries");
    //digitalWrite(buzzerPin, LOW);
  }
  if(distance>8)
  { 
//    digitalWrite(LM1, HIGH);
//    digitalWrite(LM2, HIGH);
//    digitalWrite(RM1, HIGH);
//    digitalWrite(RM2, HIGH);
         moveForward();
    }
  
      else if(distance<8 & Flame==HIGH)
      {
//  digitalWrite(LM1, LOW);
//    digitalWrite(LM2, LOW);
//    digitalWrite(RM1, LOW);
//    digitalWrite(RM2, LOW);
             moveStop();
    fire_ex();
    delay(500);
      }
      else if(distance<8)
      {
        distancer=right();
        distancel=left();
        if(distancer>distancel)
        {
//         digitalWrite(LM1, HIGH);
//    digitalWrite(LM2, HIGH);
//    digitalWrite(RM1, HIGH);
//    digitalWrite(RM2, LOW);
             turnRight();
        }
       else if(distancer<distancel)
        {
//        digitalWrite(LM1, HIGH);
//    digitalWrite(LM2, LOW);
//    digitalWrite(RM1, HIGH);
//    digitalWrite(RM2, HIGH);
            turnLeft();
        }
      }
    
 
  delay(300); //Slow down the speed of robot
  
//   Flame = digitalRead(flamePin);
//  if (Flame== HIGH)
//  {
//    Serial.println("Fire!!!");
//    //fire_ex();
//    //digitalWrite(buzzerPin, HIGH);
//  }
//  else
//  {
//    Serial.println("No worries");
//    //digitalWrite(buzzerPin, LOW);
//  }

  /*while (Flame == 1)
  {
    fire_ex();
  }*/

  //flame();
  }