Super-Go: An Industrial IoT bot

//#include <Wire.h>

char c=0;
//L2
int m1= 8;//forward
int m12=7;//forward
int m2=5;//end point
int m22=4;//end point
//L1
int m3=9;//circle
int m32=10;//circle
//L3
int m4=11;
int m42=12;
//for chasis
int m5= 3;//forward
int m52=2;//reverse

void L1();
void L11();
void L1_stop();
void L2_stop();
void gripper_stop();

void L2();
void L22();

void gripper();
void grip();

void L3();
void L33();
void L3_stop();

void sensor();

void robo_forward();
void robo_reverse();
void robo_stop();
char state;


void rice();
void sugar();
void dal();

void stop_all();

void setup() {
  Serial.begin (9600);

  

  pinMode(m1, OUTPUT);
  pinMode(m12, OUTPUT);
  pinMode(m2,OUTPUT);
  pinMode(m22,OUTPUT);
  pinMode(m3,OUTPUT);
  pinMode(m32,OUTPUT);
  pinMode(m4,OUTPUT);
  pinMode(m42,OUTPUT);
  pinMode(m5,OUTPUT);
  pinMode(m52,OUTPUT);
  
}

void L1_stop()
{
   digitalWrite(m3,LOW);
  digitalWrite(m32,LOW);
}


void L1()// rotation
{
digitalWrite(m3,HIGH);
  digitalWrite(m32,LOW);
}

void L11()//anticlockwise rotation
{
  digitalWrite(m3,LOW);
  digitalWrite(m32,HIGH);
}

void L2_stop()
{
  digitalWrite(m1,LOW);
  digitalWrite(m12,LOW);  
}
void L2()//bending arm
{
  digitalWrite(m1,LOW);
  digitalWrite(m12,HIGH);  
}

void L22()//arm up
{
  digitalWrite(m1,HIGH);
  digitalWrite(m12,LOW);
}

void gripper_stop()
{
  digitalWrite(m2,LOW);
  digitalWrite(m22,LOW);
}

void gripper()
{
  digitalWrite(m2,HIGH);
  digitalWrite(m22,LOW);
}

void grip()
{
  digitalWrite(m2,LOW);
  digitalWrite(m22,HIGH);
}

void L3_stop()
{
  digitalWrite(m4,LOW);
  digitalWrite(m42,LOW);  
}
void L3()
{
  digitalWrite(m4,LOW);
  digitalWrite(m42,HIGH);  
}

void L33()
{
  digitalWrite(m4,HIGH);
  digitalWrite(m42,LOW);
}

void robo_forward()
{
  digitalWrite(m5,HIGH);
   digitalWrite(m52,LOW);
}

void robo_reverse()
{
 digitalWrite(m5,LOW);
 digitalWrite(m52,HIGH);
}

void robo_stop()
{
   digitalWrite(m5,LOW);
 digitalWrite(m52,LOW);
}

void loop() {
  
if(Serial.available()>0)
{
  while(Serial.available()!=1)
  {
      state=Serial.read();
      Serial.print(state);
      }
}

switch(state)
{
  case 'k':rice();
           state=0;
            break;

  case 'z':sugar();
            state=0;
            break;

  case 'b': dal();
            state=0;
            break;

  default: stop_all();
          break;
}

}

void rice()
{
// if(state=='k')//rice
// {
  int i;
 Serial.print("2");
 robo_forward();
 delay(500);
 robo_stop();
 delay(50);

 gripper();
 delay(1500);
 gripper_stop();
 delay(50);
 
 
for(i=0;i<8;i++)
{
  L2();
 delay(50);
 L2_stop();
 delay(35);
}
 L2_stop();
 delay(50);
 grip();
 delay(1700);
 
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L1();
 delay(1200);
 L1_stop();
 delay(50);
 for(i=0;i<8;i++)
 {
 L2();
 delay(50);
 L2_stop();
 delay(35);
 }
 L2_stop();
 delay(50);
 gripper_stop();
 delay(50);
 gripper();
 delay(1500);
 grip();
 delay(1700);
 gripper_stop();
 delay(50);
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L11();
 delay(910);
 L1_stop();
 delay(50);
  robo_reverse();
 delay(490);
 robo_stop();
  state=0;
 }

void sugar()
{
//else if(state=='b')//sugar
//{
int i;
gripper();
 delay(1500);
 gripper_stop();
 delay(50);
 for(i=0;i<8;i++)
{
  L2();
 delay(50);
 L2_stop();
 delay(35);
}
 L2_stop();
 delay(50);
 grip();
 delay(1700);
 
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L1();
 delay(1200);
 L1_stop();
 delay(50);
 for(i=0;i<8;i++)
 {
 L2();
 delay(50);
 L2_stop();
 delay(35);
 }
 L2_stop();
 delay(50);
 gripper_stop();
 delay(50);
 gripper();
 delay(1500);
 grip();
 delay(1700);
 gripper_stop();
 delay(50);
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L11();
 delay(910);
 L1_stop();
 delay(50);
  state=0;
}

void dal()
{

//else if(state=='z')//dal
//{
int i;
 Serial.print("2");
 robo_reverse();
 delay(520);
 robo_stop();
 delay(50);

 gripper();
 delay(1500);
 gripper_stop();
 delay(50);
 
 
for(i=0;i<8;i++)
{
  L2();
 delay(50);
 L2_stop();
 delay(35);
}
 L2_stop();
 delay(50);
 grip();
 delay(1700);
 
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L1();
 delay(1200);
 L1_stop();
 delay(50);
 for(i=0;i<8;i++)
 {
 L2();
 delay(50);
 L2_stop();
 delay(35);
 }
 L2_stop();
 delay(50);
 gripper_stop();
 delay(50);
 gripper();
 delay(1500);
 grip();
 delay(1700);
 gripper_stop();
 delay(50);
 L22();
 delay(600);
 L2_stop();
 delay(50);
 L11();
 delay(910);
 L1_stop();
 delay(50);
  robo_forward();
 delay(520);
 robo_stop();
  state=0;
}


void stop_all()
{

//else
//{
   L1_stop();
 L2_stop();
 L3_stop();
 gripper_stop();
  robo_stop();
}