Fire Fighting Robot Circuit Documentation

Summary

This document provides a detailed overview of a fire-fighting robot circuit. The robot is designed to detect fire using flame sensors and navigate towards the fire using ultrasonic sensors. It then extinguishes the fire using a water pump controlled by a motor driver. The robot is powered by a combination of 9V and 12V batteries, and an Arduino Mega ADK microcontroller is used to control the various components.

Component List

1. 9V Battery

   • Description: Provides 9V power supply.
   • Pins: +, -

2. KY-026 Flame Sensor

   • Description: Detects the presence of fire.
   • Pins: A0, GND, VCC, D0

3. HC-SR04 Ultrasonic Sensor

   • Description: Measures distance to objects.
   • Pins: VCC, TRIG, ECHO, GND

4. Step Up Boost Power Converter, Adjustable Voltage Regulator

   • Description: Boosts voltage to a required level.
   • Pins: VOUT+, VOUT-, VIN+, VIN-

5. Rocker Switch (SPST)

   • Description: Simple on/off switch.
   • Pins: 1, 2

6. Tower Pro SG90 Servo

   • Description: Small servo motor for precise control.
   • Pins: Signal, +5V, GND

7. Water Pump

   • Description: Pumps water to extinguish fire.
   • Pins: VCC, GND

8. Battery 12V

   • Description: Provides 12V power supply.
   • Pins: +, -

9. Motor Driver (L298N)

   • Description: Controls the motors and water pump.
   • Pins: OUT 1, OUT 2, OUT 3, OUT 4, +12V INPUT, GND, +5V OUTPUT, ENA, IN 1, IN 2, IN 3, IN 4, ENB

10. DC Motor with Encoder

    • Description: Motor with encoder for precise control.
    • Pins: Encoder B, Encoder A, GND, VCC, Motor +ve, Motor -ve

11. Arduino Mega ADK (Rev3)

    • Description: Microcontroller for controlling the robot.
    • Pins: A0-A15, D0-D53, ICSP, RESET, 3V3, 5V, GND, VIN, USB

Wiring Details

9V Battery

• + connected to Rocker Switch (SPST) pin 2
• - connected to GND net

KY-026 Flame Sensor

• GND connected to GND net
• VCC connected to 5V net
• D0 connected to:
  • Arduino Mega ADK pin D22
  • Arduino Mega ADK pin D23
  • Arduino Mega ADK pin D24

HC-SR04 Ultrasonic Sensor

• GND connected to GND net
• VCC connected to 5V net
• TRIG connected to:
  • Arduino Mega ADK pin D47
  • Arduino Mega ADK pin D49
• ECHO connected to:
  • Arduino Mega ADK pin D46
  • Arduino Mega ADK pin D48

Step Up Boost Power Converter, Adjustable Voltage Regulator

• VIN+ connected to 12V Battery +
• VIN- connected to GND net
• VOUT+ connected to +5V net
• VOUT- connected to GND net

Rocker Switch (SPST)

• 1 connected to 5V net
• 2 connected to 9V Battery +

Tower Pro SG90 Servo

• GND connected to GND net
• +5V connected to +5V net
• Signal connected to:
  • Arduino Mega ADK pin D11
  • Arduino Mega ADK pin D13

Water Pump

• VCC connected to Motor Driver (L298N) pin OUT 1
• GND connected to Motor Driver (L298N) pin OUT 2

Battery 12V

• + connected to:
  • Motor Driver (L298N) +12V INPUT
  • Step Up Boost Power Converter, Adjustable Voltage Regulator VIN+
• - connected to GND net

Motor Driver (L298N)

• OUT 1 connected to:
  • Water Pump VCC
  • DC Motor with Encoder Motor +ve
• OUT 2 connected to:
  • Water Pump GND
  • DC Motor with Encoder Motor -ve
• OUT 3 connected to DC Motor with Encoder Motor +ve
• OUT 4 connected to DC Motor with Encoder Motor -ve
• +12V INPUT connected to 12V Battery +
• GND connected to GND net
• ENA connected to Arduino Mega ADK pin D9
• ENB connected to Arduino Mega ADK pin D10
• IN 1 connected to:
  • Arduino Mega ADK pin D7
  • Arduino Mega ADK pin D36
• IN 2 connected to:
  • Arduino Mega ADK pin D6
  • Arduino Mega ADK pin D38
• IN 3 connected to Arduino Mega ADK pin D5
• IN 4 connected to Arduino Mega ADK pin D4

DC Motor with Encoder

• Encoder B connected to:
  • Arduino Mega ADK pin D3
  • Arduino Mega ADK pin D19
• Encoder A connected to:
  • Arduino Mega ADK pin D2
  • Arduino Mega ADK pin D18
• GND connected to GND net
• VCC connected to 5V net
• Motor +ve connected to Motor Driver (L298N) pin OUT 1
• Motor -ve connected to Motor Driver (L298N) pin OUT 2

Arduino Mega ADK (Rev3)

• GND connected to GND net
• 5V connected to 5V net
• D2 connected to DC Motor with Encoder Encoder A
• D3 connected to DC Motor with Encoder Encoder B
• D4 connected to Motor Driver (L298N) IN 4
• D5 connected to Motor Driver (L298N) IN 3
• D6 connected to Motor Driver (L298N) IN 2
• D7 connected to Motor Driver (L298N) IN 1
• D8 connected to Motor Driver (L298N) ENA
• D9 connected to Motor Driver (L298N) ENA
• D10 connected to Motor Driver (L298N) ENB
• D11 connected to Tower Pro SG90 Servo Signal
• D13 connected to Tower Pro SG90 Servo Signal
• D18 connected to DC Motor with Encoder Encoder A
• D19 connected to DC Motor with Encoder Encoder B
• D22 connected to KY-026 Flame Sensor D0
• D23 connected to KY-026 Flame Sensor D0
• D24 connected to KY-026 Flame Sensor D0
• D36 connected to Motor Driver (L298N) IN 1
• D38 connected to Motor Driver (L298N) IN 2
• D46 connected to HC-SR04 Ultrasonic Sensor ECHO
• D47 connected to HC-SR04 Ultrasonic Sensor TRIG
• D48 connected to HC-SR04 Ultrasonic Sensor ECHO
• D49 connected to HC-SR04 Ultrasonic Sensor TRIG

Documented Code

// Fire Fighting Robot Code
#include <Servo.h>

// Define pins for Motor Driver (L298N)
#define ENA 9
#define ENB 10
#define IN1 7
#define IN2 6
#define IN3 5
#define IN4 4

// Define pins for Encoders
#define ENCODER_A1 2
#define ENCODER_B1 3
#define ENCODER_A2 18
#define ENCODER_B2 19

// Define pins for Flame Sensors
#define FLAME_SENSOR_1 22
#define FLAME_SENSOR_2 23
#define FLAME_SENSOR_3 24

// Define pins for Ultrasonic Sensors
#define TRIG_1 49
#define ECHO_1 48
#define TRIG_2 47
#define ECHO_2 46

// Define pins for Servo Motors
#define SERVO_VERTICAL 11
#define SERVO_HORIZONTAL 13

// Define pins for Water Pump
#define PUMP_ENA 8
#define PUMP_IN1 36
#define PUMP_IN2 38

// Servo objects
Servo verticalServo;
Servo horizontalServo;

// Function to read distance from ultrasonic sensor
long readUltrasonicDistance(int trigPin, int echoPin)