int pin = 13; //Piezo Buzzer Connected

volatile int state = LOW;

#define capPin A5

#define buz 9

#define pulsePin A4

#define led 10

long sumExpect=0; //running sum of 64 sums

long ignor=0; //number of ignored sums

long diff=0; //difference between sum and avgsum

long pTime=0;

long buzPeriod=0;

#define m11 3

#define m12 4

#define m21 5

#define m22 6

#define D0 19

#define D1 18

#define D2 17

#define D3 16

void forward()

digitalWrite(m11, HIGH);

digitalWrite(m12, LOW);

digitalWrite(m21, HIGH);

digitalWrite(m22, LOW);

void backward()
{

digitalWrite(m11, LOW);

digitalWrite(m12, HIGH);

digitalWrite(m21, LOW);

digitalWrite(m22, HIGH);

void left()

digitalWrite(m11, HIGH);

digitalWrite(m12, LOW);

digitalWrite(m21, LOW);

digitalWrite(m22, LOW);

void right()

digitalWrite(m11, LOW);

digitalWrite(m12, LOW);

digitalWrite(m21, HIGH);

digitalWrite(m22, LOW);

void Stop()

digitalWrite(m11, LOW);

digitalWrite(m12, LOW);

digitalWrite(m21, LOW);

digitalWrite(m22, LOW);

void setup()

pinMode(D0, INPUT);

pinMode(D1, INPUT);
 pinMode(D2, INPUT);

pinMode(D3, INPUT);

pinMode(m11, OUTPUT);

pinMode(m12, OUTPUT);

pinMode(m21, OUTPUT);

pinMode(m22, OUTPUT);

pinMode(pin, OUTPUT); // buzzer as output

digitalWrite(pin, state); //make buzzer OFF

//PIR Motion Sensor connected at digital pin 2 i.e. interrupt 0

attachInterrupt(0, makeSMS_Alarm, RISING);

Serial.begin(9600); //set Baud Rate

Serial.begin(9600);

pinMode(pulsePin, OUTPUT);

digitalWrite(pulsePin, LOW);

pinMode(capPin, INPUT);

pinMode(buz, OUTPUT);

digitalWrite(buz, LOW);

pinMode(led, OUTPUT);

void loop()

int temp1=digitalRead(D0);

int temp2=digitalRead(D1);

int temp3=digitalRead(D2);

int temp4=digitalRead(D3);

if(temp1==0 && temp2==1 && temp3==0 && temp4==0)

forward();

else if(temp1==0 && temp2==0 && temp3==1 && temp4==0)

left();
 else if(temp1==0 && temp2==1 && temp3==1 && temp4==0)

right();

else if(temp1==0 && temp2==0 && temp3==0 && temp4==1)

backward();

else if(temp1==1 && temp2==0 && temp3==1 && temp4==0)

Stop();

int minval=1023;

int maxval=0;

long unsigned int sum=0;

for (int i=0; i<256; i++)

//reset the capacitor

pinMode(capPin,OUTPUT);

digitalWrite(capPin,LOW);

delayMicroseconds(20);

pinMode(capPin,INPUT);

applyPulses();

//read the charge of capacitor

int val = analogRead(capPin); //takes 13x8=104 microseconds

minval = min(val,minval);

maxval = max(val,maxval);

sum+=val;

long unsigned int cTime=millis();

char buzState=0;

if (cTime<pTime+10)

if (diff>0)

buzState=1;

else if(diff<0)
 buzState=2;

if (cTime>pTime+buzPeriod)

if (diff>0)

buzState=1;

else if (diff<0)

buzState=2;

pTime=cTime;

if (buzPeriod>300)

buzState=0;

if (buzState==0)

digitalWrite(led, LOW);

noTone(buz);

else if (buzState==1)

tone(buz,2000);

digitalWrite(led, HIGH);

else if (buzState==2)

tone(buz,500);

digitalWrite(led, HIGH);

}
 //subtract minimum and maximum value to remove spikes

sum-=minval;

sum-=maxval;

if (sumExpect==0)

sumExpect=sum<<6; //set sumExpect to expected value

long int avgsum=(sumExpect+32)>>6;

diff=sum-avgsum;

if (abs(diff)<avgsum>>10)

sumExpect=sumExpect+sum-avgsum;

ignor=0;

else

ignor++;

if (ignor>64)

sumExpect=sum<<6;

ignor=0;

if (diff==0)

buzPeriod=1000000;

else

buzPeriod=avgsum/(2*abs(diff));

void makeSMS_Alarm()

// Piezo Buzzer ON

state = HIGH;

digitalWrite(pin, state);
 //Send SMS

Serial.print("AT+CMGF=1\r");

//Phone number you want to send the sms

Serial.print("AT+CMGS=\"+91xxxxxxxxxx\"\r");

//Text to send

Serial.print("Intruder Alert - Someone At Home | www.maxphi.com\r");

//sends ctrl+z, end of message

Serial.write(0x1A);

void applyPulses()

for (int i=0;i<3;i++)

digitalWrite(pulsePin,HIGH); //take 3.5 uS

delayMicroseconds(3);

digitalWrite(pulsePin,LOW); //take 3.5 uS

delayMicroseconds(3);