Our Electrical Circuit and Code

Circuit diagram:

Arduino Code:

//---Tempreature Sensor---
#include <OneWire.h>
int DS18S20_Pin = 2; //DS18S20 Signal pin on digital 2
OneWire ds(DS18S20_Pin); // on digital pin 2

//---cmps---
#include "Wire.h"
#include "CMPS03.h"
CMPS03 cmps03;
volatile float cmpsValue;   //compass reading
volatile float cmpsTurn;    //the turning degree

//----infra---
const int InfraredSensorPin = 8;
volatile int countTurns = 0;

//---Motors---
int E1 = 5;
int M1 = 4;
int E2 = 6;
int M2 = 7;

//---LED---
int rightLed= 13;
int leftLed= 12;
int infraLed=11;

void setup() {
 pinMode(M1, OUTPUT);
 pinMode(M2, OUTPUT);
 pinMode(E1, OUTPUT);
 pinMode(E2, OUTPUT);
 pinMode(rightLed,OUTPUT);
 pinMode(leftLed,OUTPUT);
 pinMode(infraLed,OUTPUT);
 Serial.begin(9600);
 pinMode(InfraredSensorPin,INPUT);
 Wire.begin();
 volatile char c;
 volatile int a = 0;
 while(Serial.available()){
     c = Serial.read();
  }
  while(a !=1){
    stopBoat();
    c = Serial.read();
    if(c == 'r'){
      a=1;
    }
    if(c=='l'){
      a=1;
    }
  }
  if(c=='r'){
    while(digitalRead(InfraredSensorPin) == HIGH){
    forward();
  }
  Serial.println("wall");
  digitalWrite(infraLed,HIGH);
  reverseRight();
  turnRight();
  digitalWrite(infraLed,LOW);
  digitalWrite(rightLed,LOW);
  shortForward();
  turnRight();
  digitalWrite(rightLed,LOW);
  countTurns++;
  forward();
}
if(c=='l'){
  while(digitalRead(InfraredSensorPin) == HIGH){
    forward();
  }
  Serial.println("wall");
  digitalWrite(infraLed,HIGH);
  reverseLeft();
  turnLeft();
  digitalWrite(infraLed,LOW);
  digitalWrite(leftLed,LOW);
  shortForward();
  turnLeft();
  digitalWrite(leftLed,LOW);
  forward();
}
}


void loop() {
  volatile char c;   // incoming data from phone
  int toggle =0;     // Keep track of whether its in auto or manual
    while(Serial.available()){
     c = Serial.read();
  }
  if(c == 'm'){
    toggle =1;
    while( toggle == 1){
    switch(c){
   
      case'a':manForward();
      c= Serial.read();
      break;
   
   
      case'c':manRight();
      c= Serial.read();
      break;
   
      case'd':manLeft();
      c= Serial.read();
      break;

      case'u':toggle = 0;
      //Serial.println("Now going to automatic mode");
      break;

      default: stopBoat();
      c= Serial.read();
      break;
    }
  }
  }
 else{
  c = Serial.read();
  if(c == 'm'){
    toggle = 1;
  }
  /*if(digitalRead(InfraredSensorPin) == HIGH){
    forward();
  }
  else{
    if(countTurns%2 == 0){
    reverseLeft();
    digitalWrite(infraLed,HIGH);
    turnRight();
    digitalWrite(rightLed,LOW);
    digitalWrite(infraLed,LOW);
    shortForward();
    turnRight();
    digitalWrite(rightLed,LOW);
    forward();
    }
    else{
      reverseRight();
      digitalWrite(infraLed,HIGH);
      turnLeft();
      digitalWrite(leftLed,LOW);
      digitalWrite(infraLed,LOW);
      shortForward();
      turnLeft();
      digitalWrite(leftLed,LOW);
      forward();
    }
  }*/
}
}




void forward(){
  volatile char c;
  int stopcount = 0;
  c = Serial.read();
    if(c == 'r'){
      stopcount = 1;
    }
  while(stopcount==1){
    stopBoat();
    c = Serial.read();
    if(c=='l'){
      stopcount=0;
    }
  }
  digitalWrite(M1,LOW);
  digitalWrite(M2, LOW);
  analogWrite(E1, 88);
  analogWrite(E2, 120);
  digitalWrite(leftLed,LOW);
  digitalWrite(rightLed,LOW);
  /*float temperature = getTemp();
  Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");*/
  Serial.println("forward");
  delay(1000);
}

void shortForward(){
  digitalWrite(M1,LOW);
  digitalWrite(M2, LOW);
  analogWrite(E1, 88);
  analogWrite(E2, 120);
  float temperature = getTemp();
  /*Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");*/
  Serial.println("shortforward");
  delay(5000);
}

void turnRight() {
  for(int turnTimer=0; turnTimer <6; turnTimer++){
    digitalWrite(rightLed,HIGH);
    digitalWrite(M1,LOW);
    digitalWrite(M2, HIGH);
    analogWrite(E1, 88);
    analogWrite(E2, 120);
    /*float temperature = getTemp();
    Serial.print("The Water is ");
    Serial.print(temperature);
    Serial.println("°C");*/
    Serial.println("right");
    delay(500);
  }
  countTurns++;
  }

void turnLeft() {
  for(int turnTimer=0;turnTimer<6;turnTimer++){
    digitalWrite(M1,HIGH);
    digitalWrite(M2, LOW);
    analogWrite(E1, 88);
    analogWrite(E2, 120);
    digitalWrite(leftLed,HIGH);
    /*float temperature = getTemp();
    Serial.print("The Water is ");
    Serial.print(temperature);
    Serial.println("°C");*/
    Serial.println("Left");
    delay(500);
  }
  countTurns++;
  }

void reverseLeft(){
  digitalWrite(M1,HIGH);
  digitalWrite(M2, LOW);
  analogWrite(E1, 150);
  digitalWrite(E2, LOW);
  Serial.println("reverse left");
  delay(10000);

}

void reverseRight(){
  digitalWrite(M1,LOW);
  digitalWrite(M2, HIGH);
  digitalWrite(E1, LOW);
  analogWrite(E2, 150);
  Serial.println("reverse right");
  delay(10000);
}

void manForward(){
  digitalWrite(M1,LOW);
  digitalWrite(M2, LOW);
  analogWrite(E1, 88);
  analogWrite(E2, 110);
  float temperature = getTemp();
  Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");
  delay(3000);
}

void manRight(){
  digitalWrite(M1,LOW);
  digitalWrite(M2, HIGH);
  analogWrite(E1, 120);
  analogWrite(E2, 80);
  digitalWrite(rightLed,HIGH);
  float temperature = getTemp();
  Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");
  delay(3000);
  digitalWrite(rightLed,LOW);
  }

void manLeft(){
  digitalWrite(M1,HIGH);
  digitalWrite(M2, LOW);
  analogWrite(E1, 120);
  analogWrite(E2, 87);
  digitalWrite(leftLed,HIGH);
  float temperature = getTemp();
  Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");
  delay(3000);
  digitalWrite(leftLed,LOW);
  }

void stopBoat(){
  digitalWrite(M1,HIGH);
  digitalWrite(M2, HIGH);
  digitalWrite(E1, LOW);
  digitalWrite(E2, LOW);
  float temperature = getTemp();
  Serial.print("The Water is ");
  Serial.print(temperature);
  Serial.println("°C");
  delay(1000);
  }

float getTemp(){
 //returns the temperature from one DS18S20 in DEG Celsius

 byte data[12];
 byte addr[8];

 if ( !ds.search(addr)) {
   //no more sensors on chain, reset search
   ds.reset_search();
   return -1000;
 }

 if ( OneWire::crc8( addr, 7) != addr[7]) {
   Serial.println("CRC is not valid!");
   return -1000;
 }

 if ( addr[0] != 0x10 && addr[0] != 0x28) {
   Serial.print("Device is not recognized");
   return -1000;
 }

 ds.reset();
 ds.select(addr);
 ds.write(0x44,1); // start conversion, with parasite power on at the end

 byte present = ds.reset();
 ds.select(addr);
 ds.write(0xBE); // Read Scratchpad


 for (int i = 0; i < 9; i++) { // we need 9 bytes
  data[i] = ds.read();
 }

 ds.reset_search();

 byte MSB = data[1];
 byte LSB = data[0];

 float tempRead = ((MSB << 8) | LSB); //using two's compliment
 float TemperatureSum = tempRead / 16;

 return TemperatureSum;

}