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Logic for flame sensor which is mounted on 4 DOF robotic arm ,so when flame gets detected it should lock /follow the flame

headhoe_15

note : 5 channel flame sensor is used which is mounted on the end effector of the arm,and the robotic arm scan does 180 degree scanning...So experts you are all in here..
a image of code has been attached here so feel free to correct the code. hey listen m also using PCA9685 Servo motor driver to control the robotic arm ,,,i just only need the help in following / tracking of the flame once its get detected ??????

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

#define FLAME_SENSOR_PIN A0
#define FIRE_THRESHOLD 200
#define MIN_ANGLE 0
#define MAX_ANGLE 180

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
int servoPin = 0;

void setup() {
  Serial.begin(9600);
  pwm.begin();
  pwm.setPWMFreq(60);
}

void loop() {
  for (int angle = MIN_ANGLE; angle <= MAX_ANGLE; angle++) {
    pwm.setPWM(servoPin, 0, map(angle, 0, 180, 120, 620));
    int flameValue = analogRead(FLAME_SENSOR_PIN);
    if (flameValue > FIRE_THRESHOLD) {
      Serial.println("Fire detected!");
      break;
    }
    delay(20);
  }
}

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  • Regarding "i just only need the help in following / tracking of the flame once its get detected"

    isn't that the main, core part of the project? 

    Your code lines 20-25 already implement your algorithm* to identify the direction. If you want to move some device to orient itself into that direction, look up something called 'inverse kinematics'. It involves you coming up with a model (formula) that can take the angle (from your line 20) and translate that into the angle that your robot arm needs to move, in a number of motion axes (depends on your robot arm). You can do some of it with a pen and paper, drawing the mechanism of your arm, and then using trigonometry. And then implementing that inside your code. Note: It won't necessarily be easy. If this is a school project then get someone good at trigonometry to help you. It's high-school level of maths, so not overly difficult, but requires someone to put some effort in.

    *That algorithm could be improved too. It's up to you how sophisticated you make it. You'll soon discover how you may wish to improve it, if you use (say) the Arduino plotting tool to see sensor values in real life, with a flame or other heat source.

  • in reply to shabaz

    hey listen , can you suggest a more detail on how to code the flame tracking movement of  robotic arm when the fire is detected through the 5 channel flame sensor ...?????

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