CameraMove.ino

#include <SoftwareSerial.h>
#include<Servo.h>
Servo m,M;
int TX = 5; 
int RX = 6; 
int value;
char ch,UorD;
int HEpin=A0;    //orange colour wire connected to Hall Effect Sensor
int HEsense,HED=0;
int x;
int AngleMicro;
int record;char Direction;
int CPWD=1,CPWDu=1,LPWD=1,RPWD=1,UPWD=1,DPWD=1;//All the <Button> Pressed Work Done initiators
int Passed=0,temprecord;char tempDirection;//Variables of Pass Function
int rall=7;
SoftwareSerial HC_06(TX, RX);  //Bluetooth TX to 10 and Bluetooth RX to 11.
//=====================================================
void setup()
{
    Serial.begin(57600);
    HC_06.begin(57600);
    m.attach(A1);  //Servo connected to white colour wire
    M.attach(A2);  //Servo connected to yellow colour wire
    pinMode(HEpin,INPUT);
    pinMode(rall,OUTPUT);
    digitalWrite(rall,LOW);
    delay(100);
    AngleMicro=100;
    //Rotating the camera to the front view after the vehicle is turned ON
    if(HEADC()!=1)
    {
        while(HEADC()!=1)
            M.write(86);
        delay(89);
        M.write(91);
    }
    else
    {
        while(HEADC()==1)
            M.write(89);
        delay(5);
        M.write(97);
        delay(200);
        M.write(91);
    }
}
//Hall Effect Analog to Digital Converter
int HEADC()
{
    HEsense=analogRead(HEpin);
    if(HEsense<=611 && HEsense>=575)
        HED=0;
    else if(HEsense>=647)
        HED=2;
    else if(HEsense<=557)
        HED=1;
    return HED;
}
//Assign the direction in which the 360 Servo must rotate to be centered
int ClockOrAnti(int R,char D)
{
    if(R)
    {
        if(D=='C')
            return 86;
        return 97;
    }
    else
    {
        if(D=='C')
            return 97;
        return 86;
    }
}
//Keeping record of the direction and magnet number in one "pass"(HEADC() 0 then non 0 )
void Pass(char D)
{
    x=HEADC();
    if(x!=0)
    {
        temprecord=x;
        tempDirection=D;
        Passed=1;
    }
    else if(Passed==1)
    {
        record=temprecord;
        Direction=tempDirection;
        Passed=0;
    }
}
//Which direction should the micro servo move to come to the center
char UpOrDown()
{
    if(AngleMicro>100)
        return 'U';
    if(AngleMicro<100)
        return 'D';
    return 'N';
}
//Function for Camera Movement
void CameraMove(char CH)
{
    if(CH=='C')
    {
        UorD=UpOrDown();
        if(UorD=='U')
            CPWDu=0;
        else if(UorD=='D')
            CPWDu=-1;
        if(HEADC()==1)
            CPWD=-1;
        else
            CPWD=0;
    }
    if(CPWD==-1||CPWD==0||CPWDu==0||CPWDu==-1)
    {
        if(CPWDu==0)
        {
            if(AngleMicro!=100)
            {
                AngleMicro-=2;
                m.write(AngleMicro);
            }
            else
                CPWDu=1;
        }
        if(CPWDu==-1)
        {
            if(AngleMicro!=100)
            {
                AngleMicro+=2;
                m.write(AngleMicro);
            }
            else
                CPWDu=1;
        }
        if(CPWD==-1)
        {
            if(HEADC()==1)
                M.write(89);
            else
            {
                delay(5);
                M.write(97);
                delay(200);
                M.write(91);
                CPWD=1;
            }
        }
        if(CPWD==0)
        {
            if(HEADC()!=1)
                M.write(ClockOrAnti(record,Direction));
            else
            {
                delay(84);
                M.write(91);
                CPWD=1;
            }
        }
    }
    else
    {
        switch(CH)
        {
            case 'L': LPWD=0;break;
            case 'R': RPWD=0;break;
            case 'U': UPWD=0;break;
            case 'D': DPWD=0;break;
            case '#': M.write(91);LPWD=1;RPWD=1;break;
            case '@': UPWD=1;DPWD=1;break;
        }
        if(LPWD==0)
        {
            M.write(89);
            Pass('A');
        }
        else if(RPWD==0)
        {
            M.write(94);
            Pass('C');
        }
        else if(UPWD==0 && AngleMicro>20)
        {
            AngleMicro-=2;
            m.write(AngleMicro);
        }
        else if(DPWD==0&&AngleMicro<180)
        {
            AngleMicro+=2;
            m.write(AngleMicro);
        }
    }
}
void loop()
{
    if(HC_06.available()> 0 )
    {
        value = HC_06.parseInt();
        ch=HC_06.read();
        CameraMove(ch);
        Serial.print(value); 
        Serial.print(" value "); 
        Serial.print(ch); 
        Serial.print("\n");
    }
    else
    CameraMove('$');
    delay(5);
}