//Hydrobot Robot _ Rahul Mishra file 

 

#include <Servo.h> 

Servo myservo; 

#define SOIL_MOISTURE_PIN A0  // Analog pin connected to the soil moisture sensor 

#define SMOKE_SENSOR_PIN A1  // Analog pin connected to the smoke sensor 

const int buzzerPin = 2; 

const int PUMP_PIN = 3;           // Digital pin connected to the water pump relay 

 

// Define moisture thresholds for watering 

const int dryThreshold = 700;   // Adjust this value according to your soil moisture sensor 

const int wetThreshold = 500;   // Adjust this value according to your soil moisture sensor 

const int smokeThreshold = 105;// Adjust this value according to your smoke sensor value 

 

const int trigPin = 7; 

const int echoPin = 8; 

const int motor1Pin1 = 13; 

const int motor1Pin2 = 12; 

const int motor2Pin1 = 11; 

const int motor2Pin2 = 10; 

// Define the maximum distance to detect obstacles 

const int maxDistance = 20; // in centimeters 

int pos = 0;    // variable to store the servo position 

 

void setup() { 

  // Initialize serial communication 

  Serial.begin(9600); 

  pinMode(buzzerPin,OUTPUT); 

  // Initialize motor control pins 

  pinMode(motor1Pin1, OUTPUT); 

  pinMode(motor1Pin2, OUTPUT); 

  pinMode(motor2Pin1, OUTPUT); 

  pinMode(motor2Pin2, OUTPUT); 

  pinMode (5, OUTPUT);// enb2 

  pinMode (6, OUTPUT);//enb1 

  // Initialize the ultrasonic sensor pins 

  pinMode(trigPin, OUTPUT); 

  pinMode(echoPin, INPUT); 

   pinMode(SOIL_MOISTURE_PIN, INPUT); 

  pinMode(PUMP_PIN, OUTPUT); 

  myservo.attach(9); 

} 

 

void loop() { 

  // Measure the distance using the ultrasonic sensor 

 smoke(); 

  long duration, distance; 

  digitalWrite(trigPin, LOW); 

  delayMicroseconds(2); 

  digitalWrite(trigPin, HIGH); 

  delayMicroseconds(10); 

  digitalWrite(trigPin, LOW); 

  duration = pulseIn(echoPin, HIGH); 

  distance = (duration / 2) / 29.1; // Convert duration to distance in centimeters 

 

  // Print the distance to the serial monitor 

  Serial.print("Distance: "); 

  Serial.println(distance); 

  delay(200);  

    

int soilMoisture = analogRead(SOIL_MOISTURE_PIN); 

 Serial.println("soilMoisture"); 

 Serial.println(soilMoisture); 

  int smokeLevel = analogRead(SMOKE_SENSOR_PIN); 

   

  // Print the smoke level to the serial monitor 

  Serial.print("Smoke Level: "); 

  Serial.println(smokeLevel);                                   // If an obstacle is detected within the maximum distance 

  if (distance <= maxDistance) { 

                                    // Move backward and turn right to avoid the obstacle 

    analogWrite (5, 120); 

    analogWrite(6, 120); 

    digitalWrite(motor1Pin1, LOW); 

    digitalWrite(motor1Pin2, LOW); 

    digitalWrite(motor2Pin1, LOW); 

    digitalWrite(motor2Pin2, LOW); 

    delay(100); // Adjust delay as needed 

      for (pos = 0; pos <= 130; pos += 1) 

    myservo.write(pos);  

    delay(15); 

     if (soilMoisture >= dryThreshold) { 

    // Soil is dry, turn on the water pump 

    digitalWrite(PUMP_PIN, HIGH); 

    Serial.println("Soil is dry. Watering..."); 

    delay(3000);  // Run the pump for 5 seconds (adjust as needed) 

    digitalWrite(PUMP_PIN, LOW); 

  } 

  else if (soilMoisture <= wetThreshold) { 

    // Soil is wet enough, no need to water 

     for (pos = 130; pos >= 0; pos -= 1) 

    myservo.write(pos);  

    delay(15); 

    digitalWrite(PUMP_PIN, LOW); 

    Serial.println("Soil is wet enough. No watering needed."); 

    delay(3000); 

    digitalWrite(motor1Pin1, 0); 

    digitalWrite(motor1Pin2, 1); 

    digitalWrite(motor2Pin1, 1); 

    digitalWrite(motor2Pin2, 0);  

    delay(2000); 

  } 

  }  

  if (distance > maxDistance ){ 

    // Move forward 

    analogWrite (3, 150); 

    analogWrite(5, 150); 

    digitalWrite(motor1Pin1, 0); 

    digitalWrite(motor1Pin2, 1); 

    digitalWrite(motor2Pin1, 1); 

    digitalWrite(motor2Pin2, 0); 

     myservo.write(0); 

  } 

  

} 

void smoke() 

{  int smokeLevel = analogRead(SMOKE_SENSOR_PIN); 

  digitalWrite(buzzerPin,HIGH); 

  // Print the smoke level to the serial monitor 

  Serial.print("Smoke Level: "); 

  Serial.println(smokeLevel); 

  // Check if the smoke level exceeds the threshold 

  if (smokeLevel > smokeThreshold) { 

    // Play high frequency 

    digitalWrite(buzzerPin,HIGH); 

    delay(200); 

    digitalWrite(buzzerPin,LOW); 

    delay(200); 

      } 

      else 

      {digitalWrite(buzzerPin,LOW); 

    }}