Circuit Diagram
Sketch / Code
#define enA 10//Enable1 L298 Pin enA
#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in2
#define in3 7 //Motor2 L298 Pin in3
#define in4 6 //Motor2 L298 Pin in4
#define enB 5 //Enable2 L298 Pin enB
#define ir_R A0
#define ir_F A1
#define ir_L A2
#define servo A4
#define pump A5
int Speed = 160; // Write The Duty Cycle 0 to 255 Enable for Motor Speed
int s1, s2, s3;
void setup(){ // put your setup code here, to run once
Serial.begin(9600); // start serial communication at 9600bps
pinMode(ir_R, INPUT);// declare fire sensor pin as input
pinMode(ir_F, INPUT);// declare fire sensor pin as input
pinMode(ir_L, INPUT);// declare fire sensor pin as input
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
pinMode(servo, OUTPUT);
pinMode(pump, OUTPUT);
for (int angle = 90; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
for (int angle = 140; angle >= 40; angle -= 5) {
servoPulse(servo, angle); }
for (int angle = 40; angle <= 95; angle += 5) {
servoPulse(servo, angle); }
analogWrite(enA, Speed); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
analogWrite(enB, Speed); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
delay(500);
void loop(){
s1 = analogRead(ir_R);
s2 = analogRead(ir_F);
s3 = analogRead(ir_L);
//=============================================================
// Auto Control
//=============================================================
Serial.print(s1);
Serial.print("\t");
Serial.print(s2);
Serial.print("\t");
Serial.println(s3);
delay(50);
if(s1<250){
Stop();
digitalWrite(pump, 1);
for(int angle = 90; angle >= 40; angle -= 3){
servoPulse(servo, angle);
for(int angle = 40; angle <= 90; angle += 3){
servoPulse(servo, angle);
else if(s2<350){
Stop();
digitalWrite(pump, 1);
for(int angle = 90; angle <= 140; angle += 3){
servoPulse(servo, angle);
for(int angle = 140; angle >= 40; angle -= 3){
servoPulse(servo, angle);
for(int angle = 40; angle <= 90; angle += 3){
servoPulse(servo, angle);
else if(s3<250){
Stop();
digitalWrite(pump, 1);
for(int angle = 90; angle <= 140; angle += 3){
servoPulse(servo, angle);
for(int angle = 140; angle >= 90; angle -= 3){
servoPulse(servo, angle);
else if(s1>=251 && s1<=700){
digitalWrite(pump, 0);
backword();
delay(100);
turnRight();
delay(200);
else if(s2>=251 && s2<=800){
digitalWrite(pump, 0);
forword();
else if(s3>=251 && s3<=700){
digitalWrite(pump, 0);
backword();
delay(100);
turnLeft();
delay(200);
}else{
digitalWrite(pump, 0);
Stop();
delay(10);
void servoPulse (int pin, int angle){
int pwm = (angle*11) + 500; // Convert angle to microseconds
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo
void forword(){ //forword
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
void backword(){ //backword
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
void Stop(){ //stop
digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
