/*obstacle avoiding, Bluetooth control, voice control robot car.

https://srituhobby.com
*/
#include <Servo.h>
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define motor 10
#define Speed 170
#define spoint 103
char value;
int distance;
int Left;
int Right;
int L = 0;
int R = 0;
int L1 = 0;
int R1 = 0;
Servo servo;
AF_DCMotor M1(1);
AF_DCMotor M2(2);
AF_DCMotor M3(3);
AF_DCMotor M4(4);
void setup() {
Serial.begin(9600);
pinMode(Trig, OUTPUT);
pinMode(Echo, INPUT);
servo.attach(motor);
M1.setSpeed(Speed);
M2.setSpeed(Speed);
M3.setSpeed(Speed);
M4.setSpeed(Speed);
}
void loop() {
//Obstacle();
//Bluetoothcontrol();
//voicecontrol();
}
void Bluetoothcontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
}
if (value == 'F') {
forward();
} else if (value == 'B') {
backward();
} else if (value == 'L') {
left();
} else if (value == 'R') {
right();
} else if (value == 'S') {
Stop();
}
}
void Obstacle() {
 distance = ultrasonic();
if (distance <= 12) {
Stop();
backward();
delay(100);
Stop();
L = leftsee();
servo.write(spoint);
delay(800);
R = rightsee();
servo.write(spoint);
if (L < R) {
right();
delay(500);
Stop();
delay(200);
} else if (L > R) {
left();
delay(500);
Stop();
delay(200);
}
} else {
forward();
}
}
void voicecontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
if (value == '^') {
forward();
} else if (value == '-') {
backward();
} else if (value == '<') {
L = leftsee();
servo.write(spoint);
if (L >= 10 ) {
left();
delay(500);
Stop();
} else if (L < 10) {
Stop();
}
} else if (value == '>') {
R = rightsee();
servo.write(spoint);
if (R >= 10 ) {
right();
delay(500);
Stop();
} else if (R < 10) {
Stop();
}
} else if (value == '*') {
Stop();
 }
}
}
// Ultrasonic sensor distance reading function
int ultrasonic() {
digitalWrite(Trig, LOW);
delayMicroseconds(4);
digitalWrite(Trig, HIGH);
delayMicroseconds(10);
digitalWrite(Trig, LOW);
long t = pulseIn(Echo, HIGH);
long cm = t / 29 / 2; //time convert distance
return cm;
}
void forward() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void backward() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(BACKWARD);
M4.run(BACKWARD);
}
void right() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void left() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(BACKWARD);
M4.run(BACKWARD);
}
void Stop() {
M1.run(RELEASE);
M2.run(RELEASE);
M3.run(RELEASE);
M4.run(RELEASE);
}
int rightsee() {
servo.write(20);
delay(800);
Left = ultrasonic();
return Left;
}
int leftsee() {
servo.write(180);
delay(800);
Right = ultrasonic();
return Right;
}