Smart and Sustainable Agriculture System

#include <AFMotor.h>
#include <Wire.h>
#include <Servo.h>
#include <SoftwareSerial.h>
#define trigpin 12
#define echopin 13
#define ENA 5
#define ENB 6
#define IN1 3
#define IN2 4
#define IN3 2
#define IN4 7
Servo pan; //pan tilt azimus
Servo tilt; // pan tilt elevation
int distance_L, distance_F, distance_R;
long distance;
long data(void);
int set = 20;
int speed =255;
int x = 0;
//float cm; //Distance variable
//float temp; //
SoftwareSerial mySerial(8, 17); // RX, TX
void setup() {
  // Start the I2C Bus as Slave on address 9
  Wire.begin(50);
  // Attach a function to trigger when something is received.
  Wire.onReceive(receiveEvent);
  Serial.begin(9600);
  // set the data rate for the SoftwareSerial port
  mySerial.begin(9600);
  mySerial.println("Hello Hover Gamers");
  pinMode(trigpin, OUTPUT);
  pinMode(echopin, INPUT);
  
  pan.attach(10);
  tilt.attach(11);
  
  pan.write(70);
  tilt.write(50);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);

  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
}
void   receiveEvent(int bytes) {
  x = Wire.read();    // read one character from the   I2C
  Serial.println(x);
}
void loop() {
 // STOP();
   ///////////////////////////////////////////////////////////////////////////
//If value received is 0 blink LED for 200 ms
   if (x == 'F') {
    Serial.println("Forward");
     forward(); // turn it on going forward
     delay(500);
     x =0;
  }
  //If value received is 3 blink LED for 400   ms
  else if (x == 'B') {
    Serial.println("REVERSE");
     back();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'L') {
    Serial.println("LEFT");
     Left();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'R') {
    Serial.println("RIGHT");
     Right();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'S') {
    Serial.println("STOP");
     STOP();                    // turn it on going forward
     delay(500);
     x =0;
  }
  else if (x == 'W') {
    Serial.println("nospeed");
     speed =0;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'X') {
    Serial.println("LOW SPEED");
     speed =170;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'Y') {
    Serial.println("REGULAR SPEED");
     speed =200;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'Z') {
    Serial.println("HIGH SPEED");
     speed =255;                    // turn it on going forward
     //delay(500);
     x =0;
  }
  ///////////////////////PAN CONTROL////////////////////////////////
  else if (x == 'a') {
    Serial.println("center");
     pan.write(70);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'b') {
    Serial.println("leftpan");
     pan.write(170);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'c') {
    Serial.println("rightpan");
     pan.write(7);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'd') {
    Serial.println("left c");
     pan.write(120);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'e') {
    Serial.println("right c");
     pan.write(35);                    // turn it on going forward
     //delay(500);
     x =0;
  }

  ///////////////////////Tilt CONTROL////////////////////////////////
  else if (x == 'g') {
    Serial.println("center tilt");
     tilt.write(70);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'h') {
    Serial.println("downtilt");
     tilt.write(110);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'i') {
    Serial.println("up tilt");
     tilt.write(7);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'j') {
    Serial.println("down center");
     tilt.write(120);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else if (x == 'k') {
    Serial.println("up center");
     tilt.write(35);                    // turn it on going forward
     //delay(500);
     x =0;
  }
  else{
    STOP();
    }
  ////////////////////////////////////////////////////////////////////////////
  // this is the main function routine for autonomous car drive 
  /*
 distance_F = data();
 Serial.print("S=");
 Serial.println(distance_F);
  if (distance_F > set)
    {
     Serial.println("Forward");
     forward();                    // turn it on going forward
    }
   else
    {
      hc_sr4();
    }

  if (distance_F < 10)
 {
   STOP();
  }
  */
}

long data(){
  digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin, HIGH);
  delayMicroseconds(10);
  distance = pulseIn (echopin, HIGH);
  return distance / 29 / 2;
}
  
  //digitalWrite(Trig, LOW);
  //delayMicroseconds(2);
 // digitalWrite(Trig, HIGH);
 // delayMicroseconds(10);
 // digitalWrite(Trig, LOW);

//  temp = float(pulseIn(Echo, HIGH));
//  cm = (temp * 17 ) / 1000;
//  if (cm < 25 && cm > 10)
//  {
//    back();
//    delay(500);
//    Left();
//    delay(200);
//  }
//  if (cm >= 25)
//  {
//    forward();
//    delay(100);
//  }
//
//
//  if (cm < 10)
//  {
//    STOP();
//  }
//  Serial.print("Echo =");
//  Serial.print(temp);
//  Serial.print(" | | Distance = ");
//  Serial.print(cm);
//  Serial.println("cm");
//  delay(100);
//}

void compareDistance(){
  if (distance_L > distance_R){
  back();
  delay(200);
  Left();   // turn it on going left
  delay(350);
  }
  else if (distance_R > distance_L){
  back();
  delay(200);
  Right();  // the other right
  delay(350);
  }
  else{
  back();  // the other way
   
   delay(300);
  Left();   // turn it on going left
  
    delay(500);
  }
}



void hc_sr4(){
    Serial.println("Stop");
   STOP();         // stopped
  
   
    pan.write(10);
    delay(300);
    distance_R = data();
    delay(100);
    pan.write(170);
    delay(500);
    distance_L = data();
    delay(100);
    pan.write(70);
    delay(300);
    compareDistance();
}
void forward() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);

  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Forward");
}

void back() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Back");
}


void Left() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Left");
}

void Right() {
  analogWrite(ENA, speed);
  analogWrite(ENB, speed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Right");
}

void STOP() {
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  Serial.println("STOP");
}