Coding

Manual Input

For manual DNA input: Pins 2-5 are set to be outputs. The DNA sequence is stored in a character array. A for loop is used to access each individual character and the characters are checked. If the value is A, pins 2 and 5 are set to HIGH to provide a forward movmement in both the motors. If the value is T, pins 3 and 4 are sent a HIGH to provide a backwards movement to the motors. If the character is G, only pin 5 is sent a HIGH to make the right motor turn forward causing the robot to go left. If the character is C, pin 2 is provided a HIGH to make the left motor move forward which results in the robot moving the right. After each character check, there is a delay to keep the motors running and then a low code is run which will change all the outputs to LOW.

For bluetooth DNA input: In the code provided, to run the code for bluetooth, replace manualDna(); in the the void loop to be bt(); Serial ports are setup by putting the Serial.begin(9600); code. The code for the bluetooth version is similar to the manual DNA input version. The main difference is that bluetooth input is obtained and then converted into a character array and then the code is identical to the manual DNA input.

Various DNA sequences used in this lab were the Human Chromosome 1:

GATCAATGAGGTGGACACCAGAGGCGGGGACTTGTAAATAACACTGGGCTGTAGGAGTGATGGGGTTC
ACCTCTAATTCTAAGATGGCTAGATAATGCATCTTTCAGGGTTGTGCTTCTATCTAGAAGGTAGAGCT
GTGGTCGTTCAATAAAAGTCCTCAAGAGGTTGGTTAATACGCATGTTTAATAGTACAGTATGGT

Chromosome 2:

AAGCTTAAGCAATTTGGAGAGCCCTCTTTTGGAAAAAGAACACCAAATTAGAAAGTGGGGCTTGGAGG
GAGCACAGCAAATGAAGGGCCCTAAAGCTTAAGCCTTATGAGCACCACTGTAATTCTGCTTTTTGGGA
AACAAGCAAGTAGAACAGTGATGACAATAAAATGTAGTGTGGGCTGATGAGAGATCAGGAGAGT

Chromosome X:

GGTTTCACCATGTTGGCCAGGCTGGCCTCGAACTCCTGACCTCAGGTGATCCGCCTGCCTCAGCCTCCT
AAAGTGCTGGGATTACAGGCGTGAGCCACCACACCCGGCCCCAGATCCCTGTCTTGAGACATAACCTAC
AAGGTGATAGTGTTAAGAGGTGGAGCCCTTTAAGACGTGATGAGGTCATGAGGGTGGGGCCT DNA robot code
[Demo] Chromosome 1
[Demo] Chromosome 2
[Demo] Chromosome X

	#include 
	SoftwareSerial mySerial(10, 11);
	String readString;
	void setup() {
	  //set digital pin 2-6 to be outputs
	  for (int i=2; i<6; i++) {
		pinMode(i, OUTPUT);
	  }
	  //enabling serial ports for bluetooth addon
	  Serial.begin(9600); 
	  mySerial.begin(9600);
	  
	}

	void loop(){
	   manualDna();
	}
	void bt() {
	  while (mySerial.available()) {
		delay(10);  //small delay to allow input buffer to fill

		char c = mySerial.read();  //gets one byte from serial buffer
		if (c == ',') {
		  break;
		}  //breaks out of capture loop to print readstring
		readString += c; 
	  } //makes the string readString  

	  if (readString.length() >0) {
		Serial.println(readString); //prints string to serial port out
		stuff(readString);
		readString=""; //clears variable for new input
	  }
	}

	void stuff(String input) {
	  char dna[input.length()]; //create character array for dna sequence
	  input.toCharArray(dna, input.length());  
	  //filling array with the characters from the String recieved from bluetooth input

	  for (int i=1; i<=sizeof(dna); i++) {
		if (dna[i] == 'A'){
		  Serial.println("A");      //forward
		  motor(2);
		  motor(5);
		} else if(dna[i] == 'T') {
		  Serial.println("T");//backward
		  motor(3);
		  motor(4);
		} else if(dna[i] == 'G') {
		  Serial.println("G");
		  //left
		  motor(5);
		} else if(dna[i] == 'C') {
		  Serial.println("C");
		  //right
		  motor(2);
		} else {
		  
		}
		delay(50); //delay between each character
		low();
	  }
		delay(1000); //delay after each completion of dna sequence
	}


	void motor(int pin) {
	  digitalWrite(pin, HIGH);
	}
	void manualDna() {
	  char dna[] = "GGTTTCACCATGTTGGCCAGGCTGGCCTCGAACTCC"; 
	  //manually placed dna  sequence (this is a small portion of the DNA sequence used
	  for (int i=0; i