Wabot is an Arduino-based autonomous robot designed for obstacle avoidance and navigation, "fire" (red) detection, and targeted water spraying. It integrates ultrasonic sensors for navigation, a color sensor for red detection, and a pump system to activate upon identifying red targets.

• Obstacle Avoidance: Utilizes three ultrasonic sensors (left, center, right) to detect and navigate around obstacles.
• Red Detection: Uses an AS726x color sensor to identify red objects based on spectral analysis.
• Pump Control: Activates a water pump via relay when red is detected, with a stop-and-spray behavior.
• Modular Design: Code is organized into separate classes for maintainability:
  • DriveSystem: Motor control and navigation logic.
  • UltrasonicSensors: Obstacle distance measurement with median filtering for accuracy.
  • ColourSensor: Spectral analysis for red detection.
  • Pump: Relay-based pump control.
• Differential Drive: Supports forward movement, pivoting turns, and obstacle avoidance maneuvers.

• Wabot/Wabot.ino - Main Arduino sketch containing setup() and loop() functions.
• Wabot/DriveSystem.h / Wabot/DriveSystem.cpp - Differential drive motor control and navigation decisions.
• Wabot/UltrasonicSensors.h / Wabot/UltrasonicSensors.cpp - Ultrasonic sensor management with median filtering.
• Wabot/ColourSensor.h / Wabot/ColourSensor.cpp - AS726x color sensor setup and red detection logic.
• Wabot/Pump.h / Wabot/Pump.cpp - Pump relay abstraction.

• Arduino board (e.g., Arduino Uno)
• 3x HC-SR04 ultrasonic sensors
• Adafruit AS726x color sensor
• 2x DC motors with L298N motor driver
• 5V Relay module for pump control
• 3V Submersible water pump
• 12V-5A AC-DC Power supply
• Jumper wires and robot chassis

• Left: Trig pin 8, Echo pin 9
• Center: Trig pin 7, Echo pin 6
• Right: Trig pin 4, Echo pin 5

DriveSystem drive(3, 2, 12, 11, 13, A3);

• Right motor: Enable 3, Input1 2, Input2 12
• Left motor: Enable 11, Input1 13, Input2 A3

• Relay control pin: 10

• I2C: SDA A4, SCL A5 (default for Arduino Uno)

• Arduino IDE or Arduino CLI
• Adafruit AS726x library

1. Open Arduino IDE.
2. Go to Sketch > Include Library > Manage Libraries.
3. Search for "Adafruit AS726x".
4. Install the latest version.

1. Clone or download this repository.
2. Open Wabot/Wabot.ino in Arduino IDE.
3. Ensure the correct board and port are selected.
4. Install the required library as described above.
5. Verify and upload the sketch to your Arduino board.

The robot operates in a continuous loop:

1. Sensor Update: Reads distances from ultrasonic sensors with median filtering for accuracy.
2. Navigation: Decides movement based on obstacle proximity:
   • Moves forward if no obstacles.
   • Turns left/right for side obstacles.
   • Executes avoidance maneuvers for center obstacles.
3. Color Detection: Checks for red using spectral channels.
4. Pump Activation: If red is detected:
   • Stops movement.
   • Turns on the pump.
   • Waits until red is no longer detected, then turns off pump and halts.

• Obstacle Threshold: 20 cm (defined in DriveSystem.h)
• Main Loop Delay: 500 ms (adjustable in Wabot.ino)
• Motor Speed: Initial 200 (0-255 range, adjustable via drive.setSpeed())

void loop() {
    ultrasonic.update();
    drive.navigate(ultrasonic.readings);

    bool status = colour.redDetected();
    if (status) {
        drive.stop();
        pump.on();
        while (colour.redDetected()) {
            delay(10);
        }
        pump.off();
        while (true) {
            drive.stop();
        }
    } else {
        pump.off();
    }
    delay(mainLoopDelayMs);
}

The navigate() function uses a state-based approach:

• State 0: Clear path → move forward
• State 1-2: Side obstacles → turn away
• State 3-7: Center obstacles → complex avoidance maneuvers

Compares red and orange channels against violet, blue, green, and yellow for dominance.

• Ultrasonic Sensors: -1 readings indicate timeout; check wiring and power.
• Color Sensor: "Sensor not found" error; verify I2C connections and library installation.
• Motors Not Moving: Check motor driver wiring and power supply.
• Pump Not Activating: Verify relay pin and logic (active HIGH assumed).

• Replace blocking delays with non-blocking millis()-based timing.
• Add configurable thresholds via serial input.
• Implement safety timeouts for pump operation.
• Add debug modes with detailed serial logging.
• Integrate PID control for smoother navigation.
• Add battery voltage monitoring.