#include <EEPROM.

h>
#include <AFMotor.h>
#include <NewPing.h>
#include <SoftwareSerial.h>
#include <Servo.h>

AF_DCMotor motor1 (1, MOTOR12_1KHZ); //create motor #1 using M1 output on Motor

Driver Shield, set to 1Khz PWM frequency
AF_DCMotor motor2 (2, MOTOR12_1KHZ); //create motor #2 using M1 output on Motor
Driver Shield, set to 1Khz PWM frequency
AF_DCMotor motor3 (3, MOTOR34_1KHZ); //create motor #3 using M1 output on Motor
Driver Shield, set to 1Khz PWM frequency
AF_DCMotor motor4 (4, MOTOR34_1KHZ); //create motor #4 using M1 output on Motor
Driver Shield, set to 1Khz PWM frequency

#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 100

NewPing sonar(TRIG_PIN,ECHO_PIN,MAX_DISTANCE);
SoftwareSerial BT(0,1);

Servo myServo;
bool goesRover = false;
bool updateMemory =false;
int distanceF = 100;
int distanceR = 0;
int distanceL = 0;
int i = 200; //sets Motor speed
int j = 300; //sets turn angle
int k = 0;
int range;
int addr = 0;
int addr_Start = 1;
int addr_End = 0;
String myVoice = "forward";
char cmd;

void setup() // put your setup code here, to run once:

{
BT.begin(9600);
myServo.attach(10); // the Motor Shield Servo1 pin corresponds to
D2 of arduino Uno Board
myServo.write(90); // Servo motor position itself to 90 degrees

distanceF = readPing();
delay(2000);
cmd = '9';
range = MAX_DISTANCE-20;
delay(100);
k = EEPROM.read(200);
}

void Stop()
{
motor1.run(RELEASE);
motor4.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
}

int readPing()
{
int cm = sonar.ping_cm();
delay(200);
if(cm == 0)
{
cm = range;
}
return cm;
}

void goBackward()
{
motor1.run(BACKWARD);
motor4.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);

motor1.setSpeed(i+3);
motor4.setSpeed(i-27);
motor2.setSpeed(i+3);
motor3.setSpeed(i-27);
delay(400);
Stop();
}

void goForward()
{
motor1.run(FORWARD);
motor4.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);

motor1.setSpeed(i);
motor4.setSpeed(i-25);
motor2.setSpeed(i);
motor3.setSpeed(i-25);
delay(1000);
Stop();
}

void goSmart()
{
while((goesRover) && (cmd == 's'))
{
motor1.run(FORWARD);
motor4.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);

motor1.setSpeed(i);
motor4.setSpeed(i-26);
motor2.setSpeed(i);
motor3.setSpeed(i-26);
delay(100);
distanceF = readPing();
 delay(100);

if(distanceF < range-50)

{
Stop();
goesRover=false;
goBackward();
takeTurn();
break;
}
}
}

void turnRight()
{
motor4.run(BACKWARD);
motor4.setSpeed(255);
motor1.run(FORWARD);
motor1.setSpeed(255);
motor3.run(BACKWARD);
motor3.setSpeed(255);
motor2.run(FORWARD);
motor2.setSpeed(255);
delay(j);
Stop();
}

void turnLeft()
{
motor1.run(BACKWARD);
motor1.setSpeed(255);
motor4.run(FORWARD);
motor4.setSpeed(255);
motor2.run(BACKWARD);
motor2.setSpeed(255);
motor3.run(FORWARD);
motor3.setSpeed(255);
delay(j);
Stop();
}

void takeTurn()
{
j = 100;
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);

if(distanceR >= distanceL)

{
while(distanceF < range)
{
turnRight();
distanceF = readPing();

if(distanceF = range)
{
goesRover = true;
 goSmart();
break;
}
}
}
else if(distanceL >= distanceR)
{
while(distanceF < range)
{
turnLeft();
distanceF = readPing();

if(distanceF = range)
{
goesRover = true;
goSmart();
break;
}
}
}
}

int lookRight()
{
myServo.write(0);
int distanceR = readPing();
delay(400);
myServo.write(90);
return distanceR;
}

int lookLeft()
{
myServo.write(180);
int distanceL = readPing();
delay(400);
myServo.write(90);
return distanceL;
}

void memory_IN()
{
EEPROM.update(addr,cmd);

EEPROM.write(addr_Start,addr);

addr = addr + 1;
}

void goPath()
{
for(addr=addr_Start; addr <= addr_End; addr += 1)
{
cmd = EEPROM.read(addr);
if(cmd == 'f')
{
goForward();
delay(50);
}
 else if(cmd == 'b')
{
goBackward();
delay(50);
}
else if(cmd == 'r')
{
j = 170+k;
Stop();
turnRight();
}
else if(cmd == 'l')
{
j = 170+k;
Stop();
turnLeft();
}
else if(cmd == 'u')
{
j = 335+k;
Stop();
turnRight();
}
else if(cmd == 'v')
{
j = 335+k;
Stop();
turnLeft();
}
}
}

void returnPath()
{
j = 640+k;
turnRight();
Stop();
j = 100;

for(addr=addr_End; addr >= addr_Start; addr -= 1)

{
cmd = EEPROM.read(addr);
if(cmd == 'f')
{
goForward();
delay(50);
}
else if(cmd == 'b')
{
goBackward();
delay(50);
}
else if(cmd == 'l')
{
j = 170+k;
Stop();
turnRight();
}
else if(cmd == 'r')
 {
j = 170+k;
Stop();
turnLeft();
}
else if(cmd == 'v')
{
j = 335+k;
Stop();
turnRight();
}
else if(cmd == 'u')
{
j = 335+k;
Stop();
turnLeft();
}
}
}

void memory_OUT()
{
goPath();
delay(10000);
returnPath();
}

void loop() // put your main code here, to run repeatedly:

{
while(BT.available())
{
cmd = BT.read();

if(cmd == '1') //to Start memory IN to Trace Path1

{
BT.println("Trace Path for Room-1");
updateMemory = true;
addr = 1;
addr_Start = 0;
i = 180;
}

else if(cmd == '2') //to Start memory IN to Trace Path2

{
BT.println("Trace Path for Room-2");
updateMemory = true;
addr = 51;
addr_Start = 50;
i = 180;
}

else if(cmd == '3') //to Start memory IN to Trace Path3

{
BT.println("Trace Path for Room-3");
updateMemory = true;
addr = 101;
addr_Start = 100;
i = 180;
}
 else if(cmd == '4') //to Start memory OUT to Retrace Path1 i.e., Room1
{
BT.println("Go Room-1");
updateMemory = false;
i = 175;
addr_End=EEPROM.read(0);
addr_Start = 1;
memory_OUT();
}

else if(cmd == '5') //to Start memory OUT to Retrace Path2 i.e., Room2
{
BT.println("Go Room-2");
updateMemory = false;
i = 175;
addr_End = EEPROM.read(50);
addr_Start = 51;
memory_OUT();
}

else if(cmd == '6') //to Start memory OUT to Retrace Path3 i.e., Room3
{
BT.println("Go Room-3");
updateMemory = false;
i = 175;
addr_End = EEPROM.read(100);
addr_Start = 101;
memory_OUT();
}

else if(cmd == '7')

{
k += 1;
BT.println(k);
EEPROM.write(200,k);
}

else if(cmd == '8')

{
k -= 1;
BT.println(k);
EEPROM.write(200,k);
}

else if(cmd == 'z') //to End memory IN or Speed change

{
BT.println("End of TracePath");
updateMemory = false;
}

else if(cmd == 's') //move in Rover action i.e., goSmart

{
BT.println("Go Smart");
goesRover = true;
j = 100;
goSmart();
}
else if(cmd == 'f') //move in Forward direction
{
BT.println("Go Forward");
goForward();
if(updateMemory)
{
memory_IN();
}
}

else if(cmd == 'b') //move in Backward direction

{
BT.println("Go Backward");
goBackward();
if(updateMemory)
{
memory_IN();
}
}

else if(cmd == 'r') //Turns in Right direction

{
BT.println("Turn Right 45D");
j = 170;
turnRight();
if(updateMemory)
{
memory_IN();
}
}

else if(cmd == 'l') //Turns in Left direction

{
BT.println("Turn Left 45D");
j = 170;
turnLeft();
if(updateMemory)
{
memory_IN();
}
}

else if(cmd == 'u') //take 90 degree Right turn

{
BT.println("Turn Right 90D");
j = 340;
turnRight();
if(updateMemory)
{
memory_IN();
}
}

else if(cmd == 'v') //take 90 degree Left turn

{
BT.println("Turn Left 90D");
j = 340;
turnLeft();
if(updateMemory)
 {
memory_IN();
}
}

else if(cmd == 'm') //Sets motor Speed High

{
// BT.println(cmd);
i = 250;
BT.println("speed set ");
BT.print(i);
}

else if(cmd == 'n') //Sets motor Speed Normal

{
// BT.println(cmd);
i = 180;
BT.println("speed set ");
BT.print(i); }
}
}