SERVING ROBOT ( DAISY ) || HOME MADE || DIY || MKINVENTIONS PRESENTING

DAISY : THE SERVING ROBOT

 

CIRCUIT : 

         

           

        SOURCE CODE :

//MKINVENTIONS : PLACE OF INNOVATIVE INVENTIONS.

//YOUTUBE/MKINVENTIONS MADHAN CHIRUGURI.

//FACEBOOK/MADHAN KUMAR CHIRUGURI

//************************************************************

#include <Wire.h> // Library for I2C communication

#include <LiquidCrystal_I2C.h> // Library for LCD

// Wiring: SDA pin is connected to A4 and SCL pin to A5.

// Connect to LCD via I2C, default address 0x27 (A0-A2 not jumpered)

LiquidCrystal_I2C lcd = LiquidCrystal_I2C(0x3F, 16, 2); // Change to (0x27,16,2) for 16x2 LCD.my address is (0x3F)

#include <Stepper.h>

const int STEPS = 250;

Stepper myStepper(STEPS, 13, 10, 12, 11);

int x = 0;

// the 8 arrays that form each segment of the custom numbers

byte LT[8] = 

{

  B00111,

  B01111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111

};

byte UB[8] =

{

  B11111,

  B11111,

  B11111,

  B00000,

  B00000,

  B00000,

  B00000,

  B00000

};

byte RT[8] =

{

  B11100,

  B11110,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111

};

byte LL[8] =

{

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B01111,

  B00111

};

byte LB[8] =

{

  B00000,

  B00000,

  B00000,

  B00000,

  B00000,

  B11111,

  B11111,

  B11111

};

byte LR[8] =

{

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11111,

  B11110,

  B11100

};

byte UMB[8] =

{

  B11111,

  B11111,

  B11111,

  B00000,

  B00000,

  B00000,

  B11111,

  B11111

};

byte LMB[8] =

{

  B11111,

  B00000,

  B00000,

  B00000,

  B00000,

  B11111,

  B11111,

  B11111

};

//***************************************************

char command; 

int LMT1  = 5;//left motor 1

int LMT2  = 6;//left motor 2

int RMT1  = 7;//right motor 1

int RMT2  = 8;//right motor 2

int LED1  = A0;//HEAD LEDS

int LED2  = A1;//BACK LED

int LED3  = A2;//BOTTOM LED

int trigPin = 2;

int echoPin = 3;

int BUZZER = 1;

long distance;

long duration;

void setup() 

{       

  Serial.begin(9600); 

  

  lcd.init();

  lcd.backlight();

  lcd.createChar(8,LT);

  lcd.createChar(1,UB);

  lcd.createChar(2,RT);

  lcd.createChar(3,LL);

  lcd.createChar(4,LB);

  lcd.createChar(5,LR);

  

  pinMode(LMT1, OUTPUT);

  pinMode(LMT2, OUTPUT);

  pinMode(RMT1, OUTPUT);

  pinMode(RMT2, OUTPUT);

  pinMode(trigPin, OUTPUT);

  pinMode(echoPin, INPUT);

  

  pinMode(BUZZER, OUTPUT);

  pinMode(LED1, OUTPUT);

  pinMode(LED2, OUTPUT);

  pinMode(LED3, OUTPUT);

}

void loop(){

    EYES();

  

 if(Serial.available() > 0){ 

    command = Serial.read(); 

    Serial.println(command); 

//FORWARD..............

if(command == 'F' ){

  forward();

}

//BACKWARD..............

else if(command == 'B' ){

  backward();

}

//LEFT..............

else if(command == 'L' ){

  left();

}

//RIGHT..............

else if(command == 'R' ){

  right();

}

//FORWARD LEFT........

else if(command == 'F' && command == 'L' ){

  forwardleft();

}

//FORWARD RIGHT........

else if(command == 'F' && command == 'R' ){

  forwardright();

}

//BACKWARD LEFT........

else if(command == 'B' && command == 'L' ){

  backwardleft();

}

//BACKWARD RIGHT........

else if(command == 'B' && command == 'R' ){

  backwardright();

}

//STOP..............

else{

  stp();

}

//LED1..............

if(command == 'U' ){

  digitalWrite(LED1, HIGH);

}

if(command == 'u' ){

  digitalWrite(LED1, LOW);

}

//LED3..............

if(command == 'W' ){

  digitalWrite(LED3, HIGH);

}

if(command == 'w' ){

  digitalWrite(LED3, LOW);

}

//STEPPER MOTOR..............

if(command == 'X' ){

  myStepper.setSpeed(60);

  myStepper.step(STEPS);

}

if(command == 'x' ){

  myStepper.setSpeed(60);

  myStepper.step(-STEPS);

}

}

ULTRASONIC();

if(distance <= 10){

  stp();//ROBOT STOP

lcd.setCursor(1, 0);

lcd.print("   OBSTACLE   ");

lcd.setCursor(0, 1);

lcd.print("  PLEASE  MOVE  ");

  analogWrite(LED2, 150);

  delay(500);

  analogWrite(LED2, 0);

  delay(500);

lcd.clear();  

}

 }

void ULTRASONIC(){

  digitalWrite(trigPin, LOW);

  delayMicroseconds(2);

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10);

  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  distance = duration*0.034/2;

  }

void EYES(){

  //LEFT EYE

  lcd.setCursor(1, 0); 

  lcd.write(8);  

  lcd.write(1);

  lcd.write(1);

  lcd.write(1);  

  lcd.write(2);

  lcd.setCursor(1, 1); 

  lcd.write(3);  

  lcd.write(4);

  lcd.write(4);

  lcd.write(4);  

  lcd.write(5);

//NOSE

  lcd.setCursor(7,1);

  lcd.write(4);

  //RIGHT EYE

  lcd.setCursor(9, 0); 

  lcd.write(8);  

  lcd.write(1);

  lcd.write(1);

  lcd.write(1);  

  lcd.write(2);

  lcd.setCursor(9, 1); 

  lcd.write(3);  

  lcd.write(4);

  lcd.write(4);

  lcd.write(4);  

  lcd.write(5);

}

void forward(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 130);

  analogWrite(RMT1, 130);

  analogWrite(RMT2, 0); 

}

void backward(){

  analogWrite(LMT1, 130);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 130);

}

void left(){

  analogWrite(LMT1, 130);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 130);

  analogWrite(RMT2, 0);

}

void right(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 130);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 130);

}

void stp(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 0);

}

void forwardleft(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 130);

  analogWrite(RMT2, 0);

}

void forwardright(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 130);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 0);

}

void backwardleft(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 130);

}

void backwardright(){

  analogWrite(LMT1, 130);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 0);

}