/*

m11 and m12 are for Left Motor and m21 and m22 are for Right Motor when viewing your car from the back.

To have forward motion set m11=m21=HIGH and m12=m22=LOW.

 

a,s,d,f defines four digits of Security PIN.

One can change it by changing their values in "Loop for Security PIN" section

Default PIN -> 1234

*/
 

#include <Servo.h>

 

Servo myservo;

int servo=5;

int angle=180; // 180 is the initial angle and mobile phone should be placed with camera facing front

 

int d1=12;

int d2=11;

int d3=10;

int d4=9;

int st=8;

int vccdtmf=13;

 

int a=0,s=0,d=0,f=0,flag=0;

 

int m11=19;

int m12=18;

int m21=17;

int m22=16;

 

int p1=15;

int p2=14;

 

 

 

void setup()

{

  myservo.attach(5);     // Defines Pin 5 for Servo

  myservo.write(angle);

 

  pinMode(d1,INPUT);

  pinMode(d2,INPUT);

  pinMode(d3,INPUT);

  pinMode(d4,INPUT);

  pinMode(st,INPUT);

  pinMode(vccdtmf,OUTPUT);

 

  pinMode(m11,OUTPUT);

  pinMode(m12,OUTPUT);

  pinMode(m21,OUTPUT);

  pinMode(m22,OUTPUT);

 

  pinMode(p1,OUTPUT);

  pinMode(p2,OUTPUT);

 

  pinMode(servo,OUTPUT);

}

 

void loop()

{

  digitalWrite(vccdtmf,HIGH); // +5V for DTMF Module

  digitalWrite(p1,HIGH);      // For Max. speed

  digitalWrite(p2,HIGH);      // For Max. speed

 

 

/////////////////////////////////////////////// Loop for Security PIN ///

 

  while(flag==0)

  {

    if(a!=1 && digitalRead(d1)==1 && digitalRead(d2)==0 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1)

    {

      a=1;

    }

    if(a==1 && s!=2 && digitalRead(d1)==0 && digitalRead(d2)==1 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1)

    {

      s=2;

    }

    if(s==2 && d!=3 && digitalRead(d1)==1 && digitalRead(d2)==1 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1)

    {

      d=3;

    }

    if(d==3 && f!=4 && digitalRead(d1)==0 && digitalRead(d2)==0 && digitalRead(d3)==1 && digitalRead(d4)==0 && digitalRead(st)==1)

    {

      f=4;

    }

    if(a==1 && s==2 && d==3 && f==4)

    {

      flag=1;

    }

  }

 

/////////////////////////////////////////////////////////////////////////

 

 

///////////////////////////////////////// Movement of Car ///////////////

 

  while(digitalRead(st)==0)  // RESET the value when no valid tone is given

  {

    digitalWrite(m11,LOW);

    digitalWrite(m12,LOW);

    digitalWrite(m21,LOW);

    digitalWrite(m22,LOW);   

  }

 

  while(digitalRead(d1)==0 && digitalRead(d2)==1 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 2 for Forward Direction

  {

    digitalWrite(m11,HIGH);

    digitalWrite(m12,LOW);

    digitalWrite(m21,HIGH);

    digitalWrite(m22,LOW);

  }

 

   

  while(digitalRead(d1)==1 && digitalRead(d2)==0 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 1 for Right Forward Direction

  {

    digitalWrite(m11,HIGH);

    digitalWrite(m12,LOW);

    digitalWrite(m21,LOW);

    digitalWrite(m22,LOW);

  }

 

  while(digitalRead(d1)==1 && digitalRead(d2)==1 && digitalRead(d3)==0 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 3 for Left Forward Direction

  {

    digitalWrite(m11,LOW);

    digitalWrite(m12,LOW);

    digitalWrite(m21,HIGH);

    digitalWrite(m22,LOW);

  }

 

  while(digitalRead(d1)==1 && digitalRead(d2)==0 && digitalRead(d3)==1 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 5 for Backward Direction

  {

    digitalWrite(m11,LOW);

    digitalWrite(m12,HIGH);

    digitalWrite(m21,LOW);

    digitalWrite(m22,HIGH);

  }

 

  while(digitalRead(d1)==0 && digitalRead(d2)==0 && digitalRead(d3)==1 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 4 for Right Backward Direction

  {

    digitalWrite(m11,LOW);

    digitalWrite(m12,HIGH);

    digitalWrite(m21,LOW);

    digitalWrite(m22,LOW);

  }

 

  while(digitalRead(d1)==0 && digitalRead(d2)==1 && digitalRead(d3)==1 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 5 for Left Backward Direction

  {

    digitalWrite(m11,LOW);

    digitalWrite(m12,LOW);

    digitalWrite(m21,LOW);

    digitalWrite(m22,HIGH);

  }

 

/////////////////////////////////////////////////////////////////////////

 

 

////////////////////////////////////// Movement of Servo ////////////////

 

  if(digitalRead(d1)==1 && digitalRead(d2)==1 && digitalRead(d3)==1 && digitalRead(d4)==0 && digitalRead(st)==1) // Press 7 to turn servo in anti-clockwise direction

  {

    if(angle>0)

    {

      angle=angle-45;

      myservo.write(angle);

      delay(500);

    }

  }

 

 

  if(digitalRead(d1)==0 && digitalRead(d2)==0 && digitalRead(d3)==0 && digitalRead(d4)==1 && digitalRead(st)==1) // Press 8 to turn servo in clockwise direction

  {

    if(angle<180)

    {

      angle=angle+45;

      myservo.write(angle);

      delay(500);

    }

  }

 

/////////////////////////////////////////////////////////////////////////

 

/////////////////////////////////// You Have to Enter Password again ////

 

  while(digitalRead(d1)==1 && digitalRead(d2)==0 && digitalRead(d3)==1 && digitalRead(d4)==1 && digitalRead(st)==1) //Press A to reset the PIN

  {

    flag=1;

  }

/////////////////////////////////////////////////////////////////////////

}

 

/*********************  END *********************/