char t;

unsigned long oldtime=0;

String Mode="Auto";

void setup() {

pinMode(12,OUTPUT); //left motors forward

pinMode(11,OUTPUT); //left motors reverse

pinMode(10,OUTPUT); //right motors forward

pinMode(9,OUTPUT); //right motors reverse

pinMode(8,OUTPUT); //Relay

pinMode(7,INPUT); //flame

pinMode(6,INPUT); //Gas

Serial.begin(9600);

void loop() {

if(Mode=="Auto")

int flame = digitalRead(7);

int gas = digitalRead(6);

if(flame==LOW)
{

digitalWrite(8,HIGH);

oldtime=millis();

Serial.println("Flame Detected");

if((millis()-oldtime)>5000)

digitalWrite(8,LOW);

Serial.println("Entering2");

if(gas==LOW)

digitalWrite(8,HIGH);

oldtime=millis();

Serial.println("Gas Detected");

if((millis()-oldtime)>5000)

digitalWrite(8,LOW);

Serial.println("Entering2");

}
}

if(Serial.available()){

t = Serial.read();

Serial.println(t);

if(t == 'F'){ //move forward(all motors rotate in forward direction)

digitalWrite(12,HIGH);

digitalWrite(11,LOW);

digitalWrite(10,HIGH);

digitalWrite(9,LOW);

else if(t == 'B'){ //move reverse (all motors rotate in reverse direction)

digitalWrite(12,LOW);

digitalWrite(11,HIGH);

digitalWrite(10,LOW);

digitalWrite(9,HIGH);

else if(t == 'L'){ //turn right (left side motors rotate in forward direction, right side motors doesn't
rotate)

digitalWrite(12,HIGH);

digitalWrite(11,LOW);
 digitalWrite(10,LOW);

digitalWrite(9,HIGH);

else if(t == 'R'){ //turn left (right side motors rotate in forward direction, left side motors doesn't
rotate)

digitalWrite(12,LOW);

digitalWrite(11,HIGH);

digitalWrite(10,HIGH);

digitalWrite(9,LOW);

else if(t == 'X'){

Mode="Manual";

Serial.println("Manual Mode Received");

else if(t == 'x'){

Mode="Auto";

Serial.println("Auto Mode Received");

else if(t == 'V'){

if(Mode=="Manual")

digitalWrite(8,HIGH);

else if(t == 'v'){

 if(Mode=="Manual")

digitalWrite(8,LOW);

else if(t == 'S'){ //STOP (all motors stop)

digitalWrite(12,LOW);

digitalWrite(11,LOW);

digitalWrite(10,LOW);

digitalWrite(9,LOW);

//delay(100);