// Surveillance Robot
#define HALT 0
#define CLOCKWISE 1
#define COUNTER_CLOCKWISE 2
int leftAPin = 7;
int leftBPin = 6;
int rightAPin = 5;
int rightBPin = 4;
int posPin = 14;
int negPin = 15;
int proxPin = 2;
int pirPin = 3;
int buzzPlusPin = 9;
int buzzMinusPin = 8;
float proxThreshold = 500;
float alpha = 0.5;
int pirThreshold = 10;
int monitorDuration = 120; // seconds
int alarmDuration = 10; // seconds
void setup()
{
pinMode(leftAPin, OUTPUT);
pinMode(leftBPin, OUTPUT);
pinMode(rightAPin, OUTPUT);
pinMode(rightBPin, OUTPUT);
pinMode(pirPin, INPUT);
digitalWrite(leftAPin, LOW);
digitalWrite(leftBPin, LOW);
digitalWrite(rightAPin, LOW);
digitalWrite(rightBPin, LOW);
pinMode(posPin, OUTPUT);
pinMode(negPin, OUTPUT);
pinMode(buzzPlusPin, OUTPUT);
pinMode(buzzMinusPin, OUTPUT);
digitalWrite(posPin, HIGH);
digitalWrite(negPin, LOW);
Serial.begin(9600);
}
void loop()
{
monitor();
moveToNewPlace();
delay(1000);
}
void monitor()
{
int alarmTimeout = 0;
for (int i = 1; i < monitorDuration;
i++)
{
int pirValue =
analogRead(pirPin);
if (pirValue > 10)
{
digitalWrite(buzzPlusPin, HIGH);
alarmTimeout = alarmDuration;
}
if (alarmTimeout <= 0)
{
digitalWrite(buzzPlusPin, LOW);
}
alarmTimeout "”;
delay(1000);
}
}
void moveToNewPlace()
{
turnInRandomDirection();
forwardOrProximity(1500);
}
void turnInRandomDirection()
{
int duration = random(100, 3000);
left();
delay(duration);
halt();
}
void forwardOrProximity(int duration)
{
int x = 0;
forward();
static float lastProx = 0;
float prox = 0;
while (x < duration)
{
int rawProx = analogRead(proxPin);
prox = alpha * rawProx + (1 -
alpha) * lastProx;
Serial.print(rawProx);
Serial.print(" ");
Serial.print(lastProx);
Serial.print(" ");
Serial.println(prox);
lastProx = prox;
if (prox > proxThreshold)
{
halt();
buzz(50); buzz(50);
delay(100);
back();
delay(700);
halt();
return;
}
x += 10;
delay(10);
}
}
void forward()
{
setLeft(CLOCKWISE);
setRight(CLOCKWISE);
}
void back()
{
setLeft(COUNTER_CLOCKWISE);
setRight(COUNTER_CLOCKWISE);
}
void left()
{
setLeft(CLOCKWISE);
setRight(COUNTER_CLOCKWISE);
}
void right()
{
setLeft(COUNTER_CLOCKWISE);
setRight(CLOCKWISE);
}
void halt()
{
setLeft(HALT);
setRight(HALT);
}
void setLeft(int rotation)
{
if (rotation == HALT)
{
digitalWrite(leftAPin, LOW);
digitalWrite(leftBPin, LOW);
}
else if (rotation == CLOCKWISE)
{
digitalWrite(leftAPin, HIGH);
digitalWrite(leftBPin, LOW);
}
else if (rotation ==
COUNTER_CLOCKWISE)
{
digitalWrite(leftAPin, LOW);
digitalWrite(leftBPin, HIGH);
}
}
void setRight(int rotation)
{
if (rotation == HALT)
{
digitalWrite(rightAPin, LOW);
digitalWrite(rightBPin, LOW);
}
else if (rotation == CLOCKWISE)
{
digitalWrite(rightAPin, HIGH);
digitalWrite(rightBPin, LOW);
}
else if (rotation ==
COUNTER_CLOCKWISE)
{
digitalWrite(rightAPin, LOW);
digitalWrite(rightBPin, HIGH);
}
}
void buzz(int duration)
{
digitalWrite(buzzPlusPin, HIGH);
delay(duration);
digitalWrite(buzzPlusPin, LOW);
delay(duration);
}
