Andriod mobile controlled Human Detection Robot

YouNeed:-

 HC-06 Bluetooth Module

 BREAD BOARD

 Geared Motor

 TYRES

 ARDUINO UNO

 6V Battery

 L293D Motor Controller IC

CIRCUIT

This is tested and 100% working

CODE

 #include <Servo.h>
int r_mtr_n = 2; // assign motor pins to arduino
int r_mtr_p = 4;
int l_mtr_p = 5;
int l_mtr_n = 7;
int ledPin=13;
int Sensor_pin = 3;
int Buzzerpin = 9;
int incomingByte = 0; // assign pin for bluetooth module

void Alarm()
{
    digitalWrite(Buzzerpin,HIGH);
    digitalWrite(ledPin,HIGH);
    delay(5);
    digitalWrite(Buzzerpin,LOW);
    digitalWrite(ledPin,LOW);
}

void setup()
{
  pinMode(r_mtr_n, OUTPUT);
  pinMode(r_mtr_p, OUTPUT);
  pinMode(l_mtr_p, OUTPUT);
  pinMode(l_mtr_n, OUTPUT);
  pinMode(ledPin,OUTPUT);
  pinMode(Sensor_pin,INPUT);  
  pinMode(Buzzerpin,OUTPUT);
 
  digitalWrite(r_mtr_n, LOW);
  digitalWrite(r_mtr_p, LOW);
  digitalWrite(l_mtr_p, LOW);
  digitalWrite(l_mtr_n, LOW);

  Serial.begin(9600);
  Serial.println("start");
}

void loop()
{
    int val=digitalRead(Sensor_pin);
    if(val == 1)
    {
          digitalWrite(r_mtr_n, LOW); // control for stop
          digitalWrite(r_mtr_p, LOW);
          digitalWrite(l_mtr_p, LOW);
          digitalWrite(l_mtr_n, LOW);
          Serial.println("Detected\n");
          incomingByte='*';
          Alarm();
    }
    else{
          if (Serial.available() > 0)
          {
            incomingByte = Serial.read();
          }
          switch(incomingByte)
          {
            case 'S': 
              if(val == 1)
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Detected\n");
                incomingByte='*';
                Alarm();
              }
              else
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Stop\n");
                incomingByte='*';                   
              }        
              break;
            case 'R': 
              if(val == 1)
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Detected\n");
                incomingByte='*';
                Alarm();
              }
              else
              {
                  digitalWrite(r_mtr_n, HIGH); // control for right
                  digitalWrite(r_mtr_p, LOW);      
                  digitalWrite(l_mtr_p, HIGH);      
                  digitalWrite(l_mtr_n, LOW);      
                  Serial.println("Right");      
                  incomingByte='*';                   
              }
              break;       
            case 'L': 
              if(val == 1)
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Detected\n");
                incomingByte='*';
                Alarm();
              }
              else
              {
                digitalWrite(r_mtr_n, LOW); // control for left      
                digitalWrite(r_mtr_p, HIGH);      
                digitalWrite(l_mtr_p, LOW);      
                digitalWrite(l_mtr_n, HIGH);      
                Serial.println("Left");      
                incomingByte='*';                         
              }
              break;     
            case 'F':   
              if(val == 1)
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Stop\n");
                incomingByte='*';
                Alarm();
              }
              else
              {
                digitalWrite(r_mtr_n, HIGH); // control for forward      
                digitalWrite(r_mtr_p, LOW);      
                digitalWrite(l_mtr_p, LOW);      
                digitalWrite(l_mtr_n, HIGH);      
                Serial.println("Forward");      
                incomingByte='*';                            
              }
              break;
            case 'B':       
              if(val == 1)
              {
                digitalWrite(r_mtr_n, LOW); // control for stop
                digitalWrite(r_mtr_p, LOW);
                digitalWrite(l_mtr_p, LOW);
                digitalWrite(l_mtr_n, LOW);
                Serial.println("Stop\n");
                incomingByte='*';
                Alarm();
              }
              else
              {
                digitalWrite(r_mtr_n, LOW); // control for backward      
                digitalWrite(r_mtr_p, HIGH);      
                digitalWrite(l_mtr_p, HIGH);      
                digitalWrite(l_mtr_n, LOW);      
                Serial.println("Backword");      
                incomingByte='*';                           
              }       
              break;        
          }
    }
  
}



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