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code.c
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code.c
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#include<p89v51rd2.h>
#include<uart.h>
#include<lcd.h>
#include<delay.h>
void main()
{
unsigned char c;
LCD_Init();
UART_Init(9600);
while(1)
{
c=UART_getdata();
while(c=='F') //fire sensor//
{
LCD_cmd(0X80);
LCD_data("fire sensor active");
if(P1_2==1)
{
TX_Data("fire detected and water pump activated");//water pump//
P2_6=0;
P2_7=1;
}
else
{
P2_6=0;
P2_7=0;
}
}
while(c=='S')//smoke//
{
LCD_cmd(0X80);
LCD_data("smoke sensor active");
if(P1_3==1)
{
TX_Data("smoke detector");
}
}
while(c=='O')//gripper is opened//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("Gripper is open");
TX_Data("Gripper is open");
P2_2=1;
P2_3=0;
delay_ms(50);
P2_2=0;
P2_3=0;
}
while(c=='L')//light sensor is on//
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("LDR is active");
if(P1_5==1)
TX_Data("LDR is detected");
{
P2_0=1; //forward
P2_1=0;
P2_4=1;
P2_5=0;
delay_ms(100);
}
else
{
P2_0=0; //stop
P2_1=0;
P2_4=0;
P2_5=0;
}
while(c=='C')//gripper is closed//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("Gripper is closed");
TX_Data("Gripper is closed");
P2_2=0;
P2_3=1;
delay_ms(50);
P2_2=0;
P2_3=0;
}
while(c=='f')//forward//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("forward");
P2_0=1;
P2_1=0;
P2_4=1;
P2_5=0;
delay_ms(50);
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(5);
}
while(c=='r')//reverse//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("reverse");
P2_0=0;
P2_1=1;
P2_4=0;
P2_5=1;
delay_ms(50);
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(5);
}
while(c=='l')//left//
{
LCD_cmd(0X80);
LCD_data("left");
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=1;
delay_ms(50);
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(5);
}
while(c=='r')//right//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("right");
P2_0=1;
P2_1=0;
P2_5=0;
delay_ms(50);
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(5);
}
while(c=='H')//pir sensor//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("pir active");
if(P1_4==1)
{
TX_Data("human detected");
}
}
while(c=='W')//Wall sensor//
{
LCD_clrdisp();
LCD_cursorpos(1,1);
LCD_data("wall sensor active");
if(P3_2==1 && P3_3==0)
{
TX_Data("obstacle is in fornt direction");
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(20);
TX_Data("robot is moving backward");
P2_0=0;
P2_1=1;
P2_4=0;
P2_5=1;
delay_ms(40);
TX_Data("robot is moving right direction");
P2_0=1;
P2_1=0;
P2_4=1;
P2_5=1;
delay_ms(100);
}
if(P3_2==1 && P3_3==1)
{
TX_Data("obstacle detected on left and fornt direction");
P2_0=0;
P2_1=0;
P2_4=0;
P2_5=0;
delay_ms(20);
TX_Data("robot is moving backwards");
P2_0=0;
P2_1=1;
P2_4=0;
P2_5=1;
delay_ms(40);
TX_Data("robot is moving ryt direction");
P2_0=1;
P2_1=0;
P2_4=1;
P2_5=1;
delay_ms(100);
}
if(P3_2==0 && P3_3==1)
{
TX_Data("obstacle detected on left direction");
{
P2_0=1; //moving right
P2_1=0;
P2_4=1;
P2_5=1;
delay_ms(10);
}
else
{
P2_0=1; //moving left
P2_1=1;
P2_4=1;
P2_5=0;
delay_ms(10);
}
}
}
}
}