#include<stdlib.

h>
#include <String.h>
#include <LiquidCrystal.h> // include the LCD library

LiquidCrystal lcd(PB12, PB13, PB14, PB15, PA8, PA9); //Initialize the LCD//
rs,e,d4,d5.d6,d7

#define m1a PC13

#define m1b PC14
#define m2a PC15
#define m2b PA0
#define metPin PA1
#define buzzer PA4
#define ir PA5

#define blu Serial2

#define SIM900 Serial1

String read_msg = "\0";

String read_msg1 = "\0";
int met = 0;

void beep ()
{
digitalWrite(buzzer,HIGH);
delay(1000);
digitalWrite(buzzer,LOW);
delay(100);
}

void forward ()
{
Serial.println("forward----------------");
digitalWrite(m1a,HIGH);
digitalWrite(m1b,LOW);
digitalWrite(m2a,HIGH);
digitalWrite(m2b,LOW);
delay(50);
}
void backward ()
{
Serial.println("backward----------------");
digitalWrite(m1a,LOW);
digitalWrite(m1b,HIGH);
digitalWrite(m2a,LOW);
digitalWrite(m2b,HIGH);
delay(50);
}
void left ()
{
Serial.println("left---------------");
digitalWrite(m1a,HIGH);
digitalWrite(m1b,LOW);
digitalWrite(m2a,LOW);
digitalWrite(m2b,HIGH);
delay(3500);
digitalWrite(m1a,LOW);
 digitalWrite(m1b,LOW);
digitalWrite(m2a,LOW);
digitalWrite(m2b,LOW);
delay(5);
}
void right ()
{
Serial.println("right----------------");
digitalWrite(m1a,LOW);
digitalWrite(m1b,HIGH);
digitalWrite(m2a,HIGH);
digitalWrite(m2b,LOW);
delay(3500);
digitalWrite(m1a,LOW);
digitalWrite(m1b,LOW);
digitalWrite(m2a,LOW);
digitalWrite(m2b,LOW);
delay(5);
}
void stop_motor ()
{
Serial.println("stop----------------");
digitalWrite(m1a,LOW);
digitalWrite(m1b,LOW);
digitalWrite(m2a,LOW);
digitalWrite(m2b,LOW);
delay(50);
}

void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
blu.begin(9600);
SIM900.begin(9600);
lcd.begin(16, 2);
Serial.println("power up");

pinMode(buzzer,OUTPUT);
pinMode(m1a,OUTPUT);
pinMode(m1b,OUTPUT);
pinMode(m2a,OUTPUT);
pinMode(m2b,OUTPUT);
pinMode(metPin,INPUT);
pinMode(ir,INPUT);

lcd.clear();
lcd.setCursor(0, 0);
lcd.print("WAR FIELD ROBOT ");
lcd.setCursor(0, 1);//coloumn , row
lcd.print(" ");
delay(2000);

void loop() {
// put your main code here, to run repeatedly:
 // Serial.println("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@");

met = analogRead(metPin);
Serial.println("met = "+String(met));

if (met > 3000)

{
Serial.println("metal detected");
stop_motor ();
beep ();
}
else if (digitalRead(ir)==HIGH)
{
Serial.println("obstacle detected");
stop_motor ();
beep ();
right ();
}

ShowSerialData ();

if((read_msg.indexOf("forward")!=(-1))||(read_msg.indexOf("front")!=(-1))||
(read_msg.indexOf("1")!=(-1)))
{
forward ();
read_msg = "\0";
}
else if((read_msg.indexOf("backward")!=(-1))||(read_msg.indexOf("back")!=(-1))||
(read_msg.indexOf("2")!=(-1)))
{
backward ();
read_msg = "\0";
}
else if((read_msg.indexOf("left")!=(-1))||(read_msg.indexOf("l")!=(-1))||
(read_msg.indexOf("3")!=(-1)))
{
left ();
read_msg = "\0";
}
else if((read_msg.indexOf("right")!=(-1))||(read_msg.indexOf("r")!=(-1))||
(read_msg.indexOf("4")!=(-1)))
{
right ();
read_msg = "\0";
}
else if((read_msg.indexOf("stop")!=(-1))||(read_msg.indexOf("s")!=(-1))||
(read_msg.indexOf("5")!=(-1)))
{
stop_motor ();
read_msg = "\0";
}
//////////////////////////////////////////

ShowSerialData1 ();

if((read_msg1.indexOf("forward")!=(-1))||(read_msg1.indexOf("front")!=(-1))||
(read_msg1.indexOf("1")!=(-1)))
{
forward ();
read_msg1 = "\0";
}
else if((read_msg1.indexOf("backward")!=(-1))||(read_msg1.indexOf("back")!=(-1))||
(read_msg1.indexOf("2")!=(-1)))
{
backward ();
read_msg1 = "\0";
}
else if((read_msg1.indexOf("left")!=(-1))||(read_msg1.indexOf("l")!=(-1))||
(read_msg1.indexOf("3")!=(-1)))
{
left ();
read_msg1 = "\0";
}
else if((read_msg1.indexOf("right")!=(-1))||(read_msg1.indexOf("r")!=(-1))||
(read_msg1.indexOf("4")!=(-1)))
{
right ();
read_msg1 = "\0";
}
else if((read_msg1.indexOf("stop")!=(-1))||(read_msg1.indexOf("s")!=(-1))||
(read_msg1.indexOf("5")!=(-1)))
{
stop_motor ();
read_msg1 = "\0";
}

}//loop

void ShowSerialData1()
{
while(blu.available()!=0)
read_msg1 = blu.readString();
if (read_msg1 != "\0")
{
Serial.println("read_msg1 = "+String(read_msg1));
}
}
void ShowSerialData()
{
while(SIM900.available()!=0)
read_msg = SIM900.readString();
if (read_msg != "\0")
{
Serial.println("read_msg ="+String(read_msg));
}
}