#include <LiquidCrystal_I2C.h>
char data;
#define FlameSensor 12
#define Buzzer 13
#define LM1 2
#define LM2 3
#define RM1 4
#define RM2 5
int flame=1;
#define Speakerpin  10
#define FL 6
#define RL 7
#define BL 8
#define LL 9
int i;
int z;
#define FAN 11
LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup()
{
  Serial.begin(9600);
  for (i = 1; i < 14; i++)
    pinMode(i, OUTPUT);
    delay(100);
  pinMode(FlameSensor, INPUT);
  lcd.setCursor(1, 0);
  lcd.init();
  lcd.backlight ();
  lcd.print("Ahmad Zoabi");
  lcd.setCursor(0, 0);
  lcd.print("Omar Zoabi");
  delay(1000);
  lcd.clear();
  digitalWrite(FAN,0);
}

void loop()
{


  flame = digitalRead(FlameSensor);
  Serial.print(flame);
  if (flame == 0)
  {
    digitalWrite(FL, 0);
    digitalWrite(BL, 0);
    digitalWrite(LL, 0);
    digitalWrite(RL, 0);
    lcd.clear();
    RobotStop();
    Serial.println(" - Fire detected...!");
    lcd.print(" - Fire detected...!");
    digitalWrite(Buzzer, 1);
    digitalWrite(FAN, 1);
    for (i = 500; i < 1000; i += 10)
    {
      tone(Speakerpin, i);
      delay(40);
    }
    digitalWrite(FL, 1);
    digitalWrite(BL, 1);
    digitalWrite(LL, 1);
    digitalWrite(RL, 1);
    for (i = 1000; i > 500; i -= 10)
    {
      tone(Speakerpin, i);
      delay(60);

    }

  }
  else
  {
    if (Serial.available())
    {
      data = Serial.read();
      if (data == 'F')
        RobotForWard();
      if (data == 'B')
        RobotBackWard();
      if (data == 'L')
        RobotLeft();
      if (data == 'R')
        RobotRight();
      if (data == 'S')
        RobotStop();
    }
    Serial.println("-No Fire detected");
    lcd.print("-No Fire detected...!");
    digitalWrite(FL, 0);
    digitalWrite(BL, 0);
    digitalWrite(LL, 0);
    digitalWrite(RL, 0);
    digitalWrite(Buzzer, 0);
    digitalWrite(FAN, 0);
    delay(1000);
    noTone(Speakerpin);
    lcd.clear();

  }
}


void RobotForWard()
{
  lcd.clear();
  digitalWrite(LM1, 0);
  digitalWrite(LM2, 1);
  digitalWrite(RM1, 0);
  digitalWrite(RM2, 1);
  digitalWrite(FL, 1);
  digitalWrite(BL, 0);
  digitalWrite(LL, 0);
  digitalWrite(RL, 0);
  lcd.setCursor(4, 0);
  lcd.print("Forward");
}

void RobotBackWard()
{
  lcd.clear();
  digitalWrite(LM1, 1);
  digitalWrite(LM2, 0);
  digitalWrite(RM1, 1);
  digitalWrite(RM2, 0);
  digitalWrite(FL, 0);
  digitalWrite(BL, 1);
  digitalWrite(LL, 0);
  digitalWrite(RL, 0);
  lcd.setCursor(5, 0);
  lcd.print("Back");
  for (z = 0; z < 4; z++)
  {
    digitalWrite(Buzzer, 1);
    delay(400);
    digitalWrite(Buzzer, 0);
    delay(400);
  }

}

void RobotLeft()
{
  lcd.clear();
  digitalWrite(LM1, 0);
  digitalWrite(LM2, 1);
  digitalWrite(RM1, 1);
  digitalWrite(RM2, 0);
  digitalWrite(FL, 0);
  digitalWrite(BL, 0);
  digitalWrite(LL, 1);
  digitalWrite(RL, 0);
  lcd.setCursor(5, 0);
  lcd.print("Left");
}

void RobotRight()
{
  lcd.clear();
  digitalWrite(LM1, 1);
  digitalWrite(LM2, 0);
  digitalWrite(RM1, 0);
  digitalWrite(RM2, 1);
  digitalWrite(FL, 0);
  digitalWrite(BL, 0);
  digitalWrite(LL, 0);
  digitalWrite(RL, 1);
  lcd.setCursor(5, 0);
  lcd.print("Right");

}

void RobotStop()
{
  for (i = 2; i < 6 ; i++)
    digitalWrite(i, 0);
  digitalWrite(FL, 0);
  digitalWrite(BL, 0);
  digitalWrite(LL, 0);
  digitalWrite(RL, 0);
  lcd.clear();
  digitalWrite(Buzzer, 0);
}