Circuit Documentation

Summary of the Circuit

This circuit is designed to control a robotic system that can detect flames using multiple flame sensors and respond by activating a water pump and maneuvering to put out the fire. The system is controlled by an Arduino UNO microcontroller, which interfaces with flame sensors, a servo motor, DC motors for movement, and a water pump for extinguishing the fire. The Arduino UNO also controls the speed and direction of the DC motors through an L298N DC motor driver. A 12V battery powers the system, with a rocker switch to control power flow.

Component List

Arduino UNO

• Microcontroller board based on the ATmega328P
• Provides digital and analog I/O pins for interfacing with various sensors and actuators

L298N DC Motor Driver

• Dual H-bridge motor driver
• Capable of driving two DC motors or one stepper motor

L293D Motor Driver Module

• Motor driver module for controlling DC motors
• Provides an H-bridge for controlling the direction of a motor

12V Battery

• Provides the power source for the circuit
• Powers the motors and the motor driver modules

Mini Diaphragm Water Pump

• Used for pumping water to extinguish detected flames
• Powered by the motor driver module

Rocker Switch

• Acts as a power switch for the circuit
• Controls the connection between the battery and the motor drivers

Servo

• A rotary actuator that allows for precise control of angular position
• Used for directing the water pump nozzle

KY-026 Flame Sensor (x3)

• Detects the presence of a flame or fire
• Provides both analog and digital outputs

DC Motor (x4)

• Converts electrical energy into mechanical motion
• Used for the movement of the robotic system

Wiring Details

Arduino UNO

• 5V connected to VCC of all KY-026 Flame Sensors and Servo
• GND connected to GND of all KY-026 Flame Sensors, Servo, L298N DC motor driver, and L293D Motor Driver Module
• Vin connected to 5V of L298N DC motor driver
• Digital pins D2 to D12 connected to various control pins of the L298N DC motor driver, Servo, and KY-026 Flame Sensors

L298N DC Motor Driver

• 5V connected to Vin of Arduino UNO
• GND connected to GND of Arduino UNO
• IN1, IN2, IN3, IN4, ENA, and ENB connected to corresponding digital pins on Arduino UNO
• OUT1, OUT2, OUT3, OUT4 connected to DC Motors
• 12V connected to the output of the rocker switch

L293D Motor Driver Module

• GND connected to GND of 12V Battery
• M1 connected to Mini Diaphragm Water Pump
• 12V connected to the output of the rocker switch

12V Battery

• + connected to the input of the rocker switch and 12V of L293D Motor Driver Module
• - connected to GND of L293D Motor Driver Module, L298N DC motor driver, and Arduino UNO

Mini Diaphragm Water Pump

• Negative (-) connected to M1 of L293D Motor Driver Module
• Positive (+) connected to M1 of L293D Motor Driver Module

Rocker Switch

• input connected to + of 12V Battery
• output connected to 12V of L298N DC motor driver and 12V of L293D Motor Driver Module

Servo

• vcc connected to 5V of Arduino UNO
• gnd connected to GND of Arduino UNO
• pulse connected to D11 of Arduino UNO

KY-026 Flame Sensors

• VCC connected to 5V of Arduino UNO
• GND connected to GND of Arduino UNO
• D0 connected to digital pins D8, D9, and D10 of Arduino UNO for each sensor respectively

DC Motors

• pin 1 and pin 2 of each motor connected to OUT1, OUT2, OUT3, and OUT4 of L298N DC motor driver

Documented Code

#include <Servo.h>  // Include the Servo library

Servo myservo;  // Create a servo object

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

int motor_speed = 70;  // Set the motor speed

boolean fire = false;  // Flag for fire detection

// Define sensor and motor control pins
#define Left 9      // Left sensor
#define Right 10    // Right sensor
#define Forward 8   // Front sensor
#define LM1 2       // Left motor
#define LM2 7       // Left motor
#define RM1 4       // Right motor
#define RM2 12      // Right motor
#define pump 6      // Water pump

void setup() {
  // Set pin modes
  pinMode(Left, INPUT);
  pinMode(Right, INPUT);
  pinMode(Forward, INPUT);
  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);
  pinMode(pump, OUTPUT);

  // Set motor speed
  analogWrite(3, motor_speed);
  analogWrite(5, motor_speed);

  // Attach the servo to pin D11 and set initial position
  myservo.attach(11);
  myservo.write(90);
}

void put_off_fire() {
  delay(500);
  // Activate motors and pump
  digitalWrite(LM1, HIGH);
  digitalWrite(LM2, HIGH);
  digitalWrite(RM1, HIGH);
  digitalWrite(RM2, HIGH);
  digitalWrite(pump, HIGH);

  delay(500);
  // Sweep the servo from 50 to 130 degrees
  for (pos = 50; pos <= 130; pos += 1) {
    myservo.write(pos);
    delay(10);
  }
  // Sweep the servo back to 50 degrees
  for (pos = 130; pos >= 50; pos -= 1) {
    myservo.write(pos);
    delay(10);
  }

  // Turn off the pump and reset servo position
  digitalWrite(pump, LOW);
  myservo.write(90);
  fire = false;
}

void loop() {
  myservo.write(90);  // Reset servo position

  // Check flame sensors and control motors accordingly
  if (digitalRead(Left) == 1 && digitalRead(Right) == 1 && digitalRead(Forward) == 1) {
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
  } else if (digitalRead(Forward) == 0) {
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
    fire = true;
  } else if (digitalRead(Left) == 0) {
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, HIGH);
  } else if (digitalRead(Right) == 0) {
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, HIGH);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }

  delay(300);  // Delay for sensor reading stability

  // If fire is detected, activate fire extinguishing routine
  while (fire == true) {
    put_off_fire();
  }
}

This code controls the robotic system's response to flame detection. It reads inputs from the flame sensors and activates the motors and water pump to navigate towards the fire and extinguish it. The servo motor is used to sweep the water stream across the area to ensure the fire is put out effectively.