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Arduino Code Pesticide Spraying Robot.cs (4)

The document is an Arduino sketch that controls a robotic system using servos and DC motors via Bluetooth communication. It defines various states for movement and actions such as moving forward, backward, turning, and controlling a pump. The code includes setup and loop functions to handle motor control and servo position adjustments based on received commands.

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oshman.alshamere123
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2 views

Arduino Code Pesticide Spraying Robot.cs (4)

The document is an Arduino sketch that controls a robotic system using servos and DC motors via Bluetooth communication. It defines various states for movement and actions such as moving forward, backward, turning, and controlling a pump. The code includes setup and loop functions to handle motor control and servo position adjustments based on received commands.

Uploaded by

oshman.alshamere123
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <Servo.

h>
#include <SoftwareSerial.h>
SoftwareSerial BT(A0, A1);

Servo servo_1;
Servo servo_2;

int motor_r2 = 6;
int motor_r1 = 7;

int motor_l2 = 8;
int motor_l1 = 9;

int state;
int speed = 130;

int pos1 = 90;


int pos2 = 90;

int pump = 4;
int pwm = 5;

void setup(){
servo_1.attach(2);
servo_2.attach(3);
servo_1.write(pos1);
servo_2.write(pos2);

pinMode(motor_l1, OUTPUT);
pinMode(motor_l2, OUTPUT);
pinMode(motor_r1, OUTPUT);
pinMode(motor_r2, OUTPUT);

pinMode(pump, OUTPUT);

pinMode(pwm, OUTPUT);

// initialize serial communication at 9600 bits per second:


Serial.begin(9600);
BT.begin(9600); // Setting the baud rate of Software Serial Library

delay(1000);
}

void loop(){
//if some date is sent, reads it and saves in state
if(BT.available() > 0){
state = BT.read();
Serial.println(state);
if(state > 15){speed = state;}
}

// if the state is '1' the DC motor will go forward


if (state == 1){forword();Serial.println("Forward!");}

// if the state is '2' the motor will Backword


else if (state == 2){backword();Serial.println("Backword!");}

// if the state is '3' the motor will turn left


else if (state == 3){turnLeft();Serial.println("Turn LEFT");}

// if the state is '4' the motor will turn right


else if (state == 4){turnRight();Serial.println("Turn RIGHT");}

// if the state is '5' the motor will Stop


else if (state == 5) {stop();Serial.println("STOP!");}

else if (state == 6) {Serial.println("lift"); if(pos1<180){pos1 = pos1+1;}}


else if (state == 7) {Serial.println("right"); if(pos1>0){pos1 = pos1-1;}}
else if (state == 8) {Serial.println("up"); if(pos2>0){pos2 = pos2-1;}}
else if (state == 9) {Serial.println("down"); if(pos2<180){pos2 = pos2+1;}}

else if (state == 10){Serial.println("pump on");digitalWrite(pump, HIGH);}


else if (state == 11){Serial.println("pump off");digitalWrite(pump, LOW);}

servo_1.write(pos1);
servo_2.write(pos2);

analogWrite(pwm, speed);
delay(30);
}

void stop(){
digitalWrite(motor_l1, LOW);
digitalWrite(motor_l2, LOW);
digitalWrite(motor_r1, LOW);
digitalWrite(motor_r2, LOW);
}

void forword(){
digitalWrite(motor_l1, LOW);
digitalWrite(motor_l2, HIGH);
digitalWrite(motor_r1, HIGH);
digitalWrite(motor_r2, LOW);
}

void backword(){
digitalWrite(motor_l1, HIGH);
digitalWrite(motor_l2, LOW);
digitalWrite(motor_r1, LOW);
digitalWrite(motor_r2, HIGH);
}

void turnRight(){
digitalWrite(motor_l1, LOW);
digitalWrite(motor_l2, HIGH);
digitalWrite(motor_r1, LOW);
digitalWrite(motor_r2, HIGH);
}

void turnLeft(){
digitalWrite(motor_l1, HIGH);
digitalWrite(motor_l2, LOW);
digitalWrite(motor_r1, HIGH);
digitalWrite(motor_r2, LOW);
}

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