Fire Fighter Robot

This is the last project that I made during the semester holidays last february. This robot is not equipped with fire sensors, as sensors for detecting a fire is very expensive and not affordable to me. so I use the TV Remote to control the robot motion and put the fire out. to put the fire out of this robot uses a computer cooling fan. that this robot can walk on many fronts I use a chain wheel like a tank, and use the gearbox so it is strong enough to pass through obstacles in fighting the fire.

 Video:


Program:

• int RECV_PIN = 11;
  IRrecv irrecv(RECV_PIN);
  decode_results results;
  void setup()
  {
  Serial.begin(9600);
  irrecv.enableIRIn(); // Start the receiver
  pinMode(2,OUTPUT); // kendali motor 1
  pinMode(3,OUTPUT); // motor 1 +
  pinMode(4,OUTPUT); // motor 1 -
  pinMode(5,OUTPUT); // kendali motor 2
  pinMode(6,OUTPUT); // motor 2 +
  pinMode(7,OUTPUT); // motor 2 -
  }
  void kanan(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);
  delayMicroseconds(100);
  digitalWrite(3,HIGH);
  digitalWrite(4,LOW);
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);
  delayMicroseconds(200);
  }
  
  void kiri(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);
  delayMicroseconds(100);
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);
  delayMicroseconds(100);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);
  delayMicroseconds(200);
  }
  void maju(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);
  delayMicroseconds(100);
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);
  delayMicroseconds(200);
  }
  void mundur(void){
  digitalWrite(3,HIGH);
  digitalWrite(4,LOW);
  delayMicroseconds(100);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);
  delayMicroseconds(200);
  }
  
  void henti(void){
  // berhenti
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  delayMicroseconds(100);
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);
  delayMicroseconds(200);
  }
  void loop() {
  if (irrecv.decode(&results)) {
  if((results.value)== 2049||(results.value)== 1){
  maju();
  delay(10);
  }
  if((results.value)== 2052||(results.value)== 4){
  kiri();
  delay(10);
  }
  if((results.value)== 2053||(results.value)== 5){
  henti();
  delay(10);
  }
  if((results.value)== 2054||(results.value)== 6){
  kanan();
  delay(10);
  }
  if((results.value)== 2057||(results.value)== 9){
  mundur();
  delay(10);
  }
  irrecv.resume(); // Receive the next value
  }
  
  }