#include <AFMotor.h> library
#include <Servo.h>
String voice;
AF_DCMotor motor1 (1, MOTOR12_1KHZ); //create motor #1 using M1 output on Motor Drive Shield, set to 1kHz PWM frequency
AF_DCMotor motor2 (2, MOTOR12_1KHZ); //create motor #2 using M2 output on Motor Drive Shield, set to 1kHz PWM frequency
Servo myServo; //define servo name
int LED1 = A0; //define LED 1 pin
int LED2 = A1; //define LED 2 pin
int buzzerPin = A2; //define buzzer pin
void setup()
{
Serial.begin(9600); //start serial communication
myServo.attach(10); //define our servo pin (the motor shield servo1 input = digital pin 10)
myServo.write(90); //servo position is 90 degrees
pinMode(LED1, OUTPUT); //A0 is output pin
pinMode(LED2, OUTPUT); //A1 is output pin
pinMode(buzzerPin, OUTPUT); //A2 is output pin
}
void loop()
{
while (Serial.available()){ //Check if there is an available byte to read
delay(10); //Delay added to make thing stable
char c = Serial.read(); //Conduct a serial read
if (c == '#') {break;} //Exit the loop when the # is detected after the word
voice += c; //Shorthand for voice = voice + c
}
if (voice.length() > 0){
if(voice == "go"){
forward_car();
}
else if(voice == "back"){
back_car();
}
else if(voice == "right") {
right_car();
}
else if(voice == "left") {
left_car();
}
else if(voice == "turn on light") {
LED_on();
}
else if(voice == "*turn off light") {
LED_off();
}
else if(voice == "*buzzer") {
buzzer_on();
}
else if(voice == "*stop") {
stop_car();
}
else if(voice=="rotate"){
rotate_car();
}
voice=""; //Reset the variable after initiating
}
}
void forward_car()
{
motor1.run(FORWARD);
motor1.setSpeed(170);
motor2.run(FORWARD);
motor2.setSpeed(170);
delay(3500);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void back_car()
{
motor1.run(BACKWARD);
motor1.setSpeed(170);
motor2.run(BACKWARD);
motor2.setSpeed(170);
delay(3500);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void right_car()
{
myServo.write(0);
delay(1000);
myServo.write(90);
delay(1000);
motor1.run(FORWARD);
motor1.setSpeed(170);
motor2.run(BACKWARD);
motor2.setSpeed(170);
delay(500);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void left_car()
{
myServo.write(180);
delay(1);
myServo.write(90);
delay(1);
motor1.run(BACKWARD);
motor1.setSpeed(170);
motor2.run(FORWARD);
motor2.setSpeed(170);
delay(500);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void LED_on ()
{
digitalWrite(LED1, HIGH);
digitalWrite(LED2, HIGH);
}
void LED_off ()
{
digitalWrite(LED1, LOW);
digitalWrite(LED2, LOW);
}
void buzzer_on ()
{
tone(buzzerPin, 100);
delay(800);
noTone(buzzerPin);
}
void stop_car ()
{
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void rotate_car()
{
myServo.write(0);
delay(1000);
myServo.write(90);
delay(1000);
motor1.run(FORWARD);
motor1.setSpeed(170);
motor2.run(BACKWARD);
motor2.setSpeed(170);
delay(5000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
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