/*Arduino Voice Control Robot

*Version 1.0

*Created By DIY Builder

*Before Uploading the sketch you must install the required libraries first.

*Unless you'll get compilation error message.

*Also remove the bluetooth and servo connector before uploading the sketch.

*You can contact me here https://www.instagram.com/diy.builder/

*/

String command;

//Right motor

int rightMotorPin1=D5;

int rightMotorPin2=D6;

//Left motor

int leftMotorPin1=D7;

int leftMotorPin2=D8;

#define trigger_pin D1
#define Echo_pin D2

long duration;

int distance;

unsigned long oldtime=0;

void setup() {

Serial.begin(9600);

pinMode(rightMotorPin1, OUTPUT);

pinMode(rightMotorPin2, OUTPUT);

pinMode(leftMotorPin1, OUTPUT);

pinMode(leftMotorPin2, OUTPUT);

pinMode(trigger_pin, OUTPUT); // configure the trigger_pin(D9) as an Output

pinMode(Echo_pin, INPUT); // configure the Echo_pin(D11) as an Inpu

void loop() {

delay(10);

while(Serial.available()) {

command = "";

command = Serial.readString();
 Serial.print(command);

if(command == "*move forward#"){

forward();

Serial.println("Forward Entering");

}else if(command == "*move backward#"){

backward();

}else if(command == "*turn left#"){

left();

}else if(command == "*turn right#"){

right();

}else if(command == "*stop it#") {

Stop();

command = "";

if((millis()-oldtime)>1000)

digitalWrite(trigger_pin, LOW); //set trigger signal low for 2us

delayMicroseconds(2);

/*send 10 microsecond pulse to trigger pin of HC-SR04 */

digitalWrite(trigger_pin, HIGH); // make trigger pin active high

delayMicroseconds(10); // wait for 10 microseconds

digitalWrite(trigger_pin, LOW); // make trigger pin active low

/*Measure the Echo output signal duration or pulss width */

duration = pulseIn(Echo_pin, HIGH); // save time duration value in "duration variable

distance= duration*0.034/2; //Convert pulse duration into distance

if(distance<30)

digitalWrite( rightMotorPin1,LOW);

digitalWrite(rightMotorPin2,LOW);

digitalWrite(leftMotorPin1, LOW);

digitalWrite(leftMotorPin2 , LOW);}

oldtime=millis();

void forward()

digitalWrite(rightMotorPin1,HIGH);

digitalWrite(rightMotorPin2,LOW);

digitalWrite(leftMotorPin1,HIGH);
 digitalWrite(leftMotorPin2,LOW);

void backward()

digitalWrite(rightMotorPin1,LOW);

digitalWrite(rightMotorPin2,HIGH);

digitalWrite(leftMotorPin1,LOW);

digitalWrite(leftMotorPin2,HIGH);

void right()

digitalWrite(rightMotorPin1,HIGH);

digitalWrite(rightMotorPin2,LOW);

digitalWrite(leftMotorPin1,LOW);

digitalWrite(leftMotorPin2,HIGH);

void left()
{

digitalWrite(rightMotorPin1,LOW);

digitalWrite(rightMotorPin2,HIGH);

digitalWrite(leftMotorPin1,HIGH);

digitalWrite(leftMotorPin2,LOW);

void Stop()

digitalWrite(rightMotorPin1,LOW);

digitalWrite(rightMotorPin2,LOW);

digitalWrite(leftMotorPin1,LOW);

digitalWrite(leftMotorPin2,LOW);