Fire car with obstacle avoidance

Projects General Guidance
8 
#include <Servo.h>
#include <NewPing.h>

#define TRIGGER_PIN  12  
#define ECHO_PIN     11  
#define MAX_DISTANCE 200 
#define MAX_SPEED 150  // set the speed of the dc motors
int distance= 100;

Servo flameservo;
Servo Sonarservo;
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

// L298 pins
const int ENa = 9;
const int ENb = 10;
const int IN1 = 2;
const int IN2 = 7;
const int IN3 = 4;
const int IN4 = 6;

// flame sensor pins
const int Dflame = 6;
const int Aflame = A0;

//flame extinguisher
const int fan =A5; 
void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);

  pinMode(ENa, OUTPUT);
  pinMode(ENb, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
//set the pwm duty cycle for the Enable pin
 // analogWrite(ENa ,MAX_SPEED);
 // analogWrite(ENb , MAX_SPEED);

  flameservo.attach(5);  // attach flame servo to pin 5
  Sonarservo.attach(3); // attach sonar servo to pin 3
  Sonarservo.write(100); // set sonar servo to 100 degree
  delay(2000);     // wait for 2 secs

  // check the distance
distance = readPing();
delay(100);
distance = readPing();
delay(100);


}

void loop() {
  // put your main code here, to run repeatedly:
 analogWrite(ENa ,MAX_SPEED);
  analogWrite(ENb , MAX_SPEED);
int distanceR = 0;
int distanceL = 0;
delay(40);

if(distance <=15){
move_stop();
delay(100);
move_backward();
delay(300);
move_stop();
delay(200);

distanceR = look_right();
delay(300);
distanceL = look_left();
delay(300);

if (distanceR >= distanceL){
  turn_right();
  move_stop();
  }
  else {
  turn_left();
  move_stop();
  }
  }
  else {
  move_forward();
  }

  distance = readPing();




}

void move_forward(){
  digitalWrite(IN1 , HIGH);
  digitalWrite(IN2 , LOW);
  digitalWrite(IN3 , HIGH);
  digitalWrite(IN4 , LOW);
}

void move_backward(){
  digitalWrite(IN1 , LOW);
  digitalWrite(IN2 , HIGH);
  digitalWrite(IN3 , LOW);
  digitalWrite(IN4 , HIGH); 
}

void move_stop(){
  digitalWrite(IN1 , HIGH);
  digitalWrite(IN2 , HIGH);
  digitalWrite(IN3 , HIGH);
  digitalWrite(IN4 , HIGH);  
}

void turn_left(){
   digitalWrite(IN1 , HIGH);
  digitalWrite(IN2 , HIGH);
  digitalWrite(IN3 , HIGH);
  digitalWrite(IN4 , LOW); 
  delay(10);
}

void turn_right(){
   digitalWrite(IN1 , HIGH);
  digitalWrite(IN2 , LOW);
  digitalWrite(IN3 , HIGH);
  digitalWrite(IN4 , HIGH); 
  delay(10);
}
// calculate distance of the ultrasonic sensor
int readPing(){
  delay(70);
  int cm = sonar.ping_cm();
  if(cm==0){
    cm = 250;
  }
  return cm;
  }
//make the servo the ultrasonic sensor is mounted on look left and 
//return the distance of obstacle away from it
int look_left() {
  Sonarservo.write(170);
  int distance =readPing();
  delay(2000);
  Sonarservo.write(100);
  return distance;
  delay(100);
}

//make the servo the ultrasonic sensor is mounted on look left and 
//return the distance of obstacle away from it
int look_right(){
  Sonarservo.write(20);
  int distance =readPing();
  delay(2000);
  Sonarservo.write(100);
  return distance;
  delay(100);
}