AlarmBot.ino

#include <Arduino.h>                                         //arduino lib
#include <Wire.h>                                                                                 //Not My code
#include <SoftwareSerial.h>                                                                       //Not My code
#include <MeAuriga.h>                                       //library for the module that i was using
MeEncoderOnBoard Encoder_1(SLOT1);                                                                //Not My Code
MeEncoderOnBoard Encoder_2(SLOT2);                                                                //Not My Code                         
void _delay(float seconds){                                                                      //Not My Code
    long endTime = millis() + seconds * 1000;                                                    //Not My Code
    while(millis() < endTime)_loop();                                                             //Not My Code
}
void _loop(){                                                                                    //Not My Code
    Encoder_1.loop();                                                                             //Not My Code
    Encoder_2.loop();                                                                            //Not My Code
}
void isr_process_encoder1(void)                                                                 //Not My Code
{
      if(digitalRead(Encoder_1.getPortB()) == 0){                                               //Not My Code
            Encoder_1.pulsePosMinus();                                                           //Not My Code
      }else{                                                                                      //Not My Code
            Encoder_1.pulsePosPlus();                                                            //Not My Code
      }
}
void isr_process_encoder2(void)                                                                        //Not My Code
{
      if(digitalRead(Encoder_2.getPortB()) == 0){                                                     //Not My Code
            Encoder_2.pulsePosMinus();                                                                //Not My Code
      }else{                                                                                          //Not My Code
            Encoder_2.pulsePosPlus();                                                                   //Not My Code
      }
}
void move(int direction, int speed)                                                                       //Not My Code
{                                                                                                      //Not My Code
      int leftSpeed = 0;                                                                       //Not My Code
      int rightSpeed = 0;                                                                       //Not My Code
      if(direction == 1){                                                                       //Not My Code
            leftSpeed = -speed;                                                                       //Not My Code
            rightSpeed = speed;                                                                       //Not My Code
      }else if(direction == 2){                                                                       //Not My Code
            leftSpeed = speed;                                                                       //Not My Code
            rightSpeed = -speed;                                                                       //Not My Code
      }else if(direction == 3){                                                                       //Not My Code
            leftSpeed = -speed;                                                                       //Not My Code
            rightSpeed = -speed;                                                                      //Not My Code
      }else if(direction == 4){                                                                       //Not My Code
            leftSpeed = speed;                                                                        //Not My Code
            rightSpeed = speed;                                                                       //Not My Code
      } 
      Encoder_1.setTarPWM(leftSpeed);                                                                 //Not My Code
      Encoder_2.setTarPWM(rightSpeed);                                                                //Not My Code
}
void moveDegrees(int direction,long degrees, int speed_temp)                                          //Not My Code
{
      speed_temp = abs(speed_temp);                                                                   //Not My Code
      if(direction == 1)                                                                              //Not My Code
      {
            Encoder_1.move(-degrees,(float)speed_temp);                                               //Not My Code
            Encoder_2.move(degrees,(float)speed_temp);                                                //Not My Code
      }
      else if(direction == 2)                                                                         //Not My Code
      {
            Encoder_1.move(degrees,(float)speed_temp);                                                //Not My Code
            Encoder_2.move(-degrees,(float)speed_temp);                                               //Not My Code
      }
      else if(direction == 3)                                                                         //Not My Code
      {
            Encoder_1.move(-degrees,(float)speed_temp);                                               //Not My Code
            Encoder_2.move(-degrees,(float)speed_temp);                                               //Not My Code
      }
      else if(direction == 4)                                                                         //Not My Code
      {
            Encoder_1.move(degrees,(float)speed_temp);                                                //Not My Code
            Encoder_2.move(degrees,(float)speed_temp);                                                //Not My Code
      }
}
double SoundDiff;                                               //create a float varibale to store sound diffrence                                                    
MeSoundSensor soundsensor_14(14);                                                                     //Not My Code
double angle_rad = PI/180.0;                                                                          //Not My Code
double angle_deg = 180.0/PI;                                                                          //Not My Code
double brightness;                                              //create a float varibale to store brightness value
double speed;                                                                                         //Not My Code
double distance;                                                //create a float varibale to store distance value
MeLightSensor lightsensor_12(12);                                                                     //Not My Code
MeUltrasonicSensor ultrasonic_10(10);                                                                 //Not My Code
MeRGBLed rgbled_0(0, 12);                                                                             //Not My Code
MeBuzzer buzzer;                                                                                      //Not My Code
void setup(){
    TCCR1A = _BV(WGM10);                                                                              //Not My Code
    TCCR1B = _BV(CS11) | _BV(WGM12);                                                                  //Not My Code
    TCCR2A = _BV(WGM21) | _BV(WGM20);                                                                 //Not My Code
    TCCR2B = _BV(CS21);                                                                               //Not My Code
     attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);                            //Not My Code
    attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);                             //Not My Code
    rgbled_0.setpin(44);                                                                              //Not My Code
    buzzer.setpin(45);                                                                                //Not My Code
    _delay(3);                                                // a delay to make sure the bot doesnt start moving right after activat
   int timer = 300;                                           // creates an interger called timer and sets it to 300
    brightness = lightsensor_12.read();                       // reads the the current brightness level
    int bright2=lightsensor_12.read();                        //creates a new interger and reads  the the current brightness level
    while(!((brightness) < (bright2 - 50)))                   // tests if the bot entered a darker place
    {                                                         // if it hasnt found a darker place,the bot will continue to move around and scan the room
         move(1,75);
            _delay(0.1);
        brightness = lightsensor_12.read();
        distance = ultrasonic_10.distanceCm();              // reads the distance to the object infront of it
        if((distance) < (30)){                              // tests if something is infront of it,if there is, the bot avoids the object
           move(2,75);
           _delay(0.5);
            move(3,75);
            _delay(0.7);
        }
        timer--;                                            //every loop the timer is reduces by one
        if (timer==0)bright2=10000;
    }
    rgbled_0.setColor(0,255,0,0);                           //bot lights change color to
    rgbled_0.show();                                        
move(1,0);                                                  //bot stops moving
    _delay(0.1);
}
void loop(){
   double sound=500;                                        //create a float varibale to store sound and sets it 500
   double soundness=0;                                    //create a float varibale to store current sound  
   while(!(sound<soundness))                              //loops while the set sound is bigger than the sound suround it
    {
       soundness=soundsensor_14.strength();               //records the curent volume level
    rgbled_0.setColor(0,0,0,255);                         //changes the color
    rgbled_0.show();
     _delay(0.3);
    buzzer.tone(950, 600);                                //plays a tone
      delay(20);
      soundness=soundsensor_14.strength();               //resets the volume level
    rgbled_0.setColor(0,255,255,255);                     // cahnges the colour
    rgbled_0.show();
     _delay(0.3);
    buzzer.tone(700, 400);                              //plays a note
   delay(20); 
}
rgbled_0.setColor(0,0,255,0);                           // cahnges the colour
rgbled_0.show();
_delay(3);
 _loop();                                               //loops everything
}