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bluetooth.ino
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bluetooth.ino
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/**
* Created by nickdelnano on 12/5/15.
*/
/*
* This Arduino script acts as a client to a Bluetooth server and implements a text-based protocol
* to control two sets of bidirectional motors using an Adafruit Motor Shield V2. There exits an Android
* application containing a server implementation that can be used with this code. The Android application
* is published on the Google Play store, and its name and source code can be found at
* https://github.com/ndelnano/BluetoothAndroidControllerAdafruitV2/blob/master/README.md.
*
* A blog post containing details of my use of these projects and a video demonstration
* be found here: http://ndelnano.github.io/2016/01/bluetooth-and-arduino
*
* The text based protocol is as follows:
* 'stop x' - stop all motors
* 'move {LEFT_DIRECTION}{LEFT_SPEED} {RIGHT_DIRECTION}{RIGHT_SPEED} x'
* - Where *_DIRECTION are 0 or 1, and *_SPEED is in range [-255,255]
* *_DIRECTION = 0 => forward, 1 => backwards
*
*
* Ex: "move 0100 0100x" --sets both wheels forward at speed 100
* "move 0255 1255x" --sets left wheel at max speed forward, right wheel at max speed backward
* -- This will make your vehicle do an awesome donut!
*/
#include "Adafruit_MotorShield.h"
#include <SoftwareSerial.h>
SoftwareSerial BTSerial(2, 3); // RX | TX
Adafruit_MotorShield shieldOne = Adafruit_MotorShield();
Adafruit_DCMotor *myMotor1 = shieldOne.getMotor(1);
Adafruit_DCMotor *myMotor2 = shieldOne.getMotor(2);
Adafruit_DCMotor *myMotor3 = shieldOne.getMotor(3);
Adafruit_DCMotor *myMotor4 = shieldOne.getMotor(4);
String incomingString;
char received;
String leftSpeed;
String rightSpeed;
char c = ' ';
boolean NL = true;
void setup()
{
Serial.begin(9600);
BTSerial.begin(9600);
shieldOne.begin();
}
void loop()
{
// While stream has data, read data from stream char by char
while (BTSerial.available() > 0)
{
received = BTSerial.read();
if (received == 'x')
{
String commandString = getCommand(incomingString);
if (commandString == "stop")
{
stopMotors();
}
if (commandString == "move")
{
leftSpeed = getLeftSpeed(incomingString);
rightSpeed = getRightSpeed(incomingString);
setLeftMotors(leftSpeed.substring(1, leftSpeed.length()).toInt(), leftSpeed.substring(0,1).toInt());
setRightMotors(rightSpeed.substring(1, rightSpeed.length()).toInt(), rightSpeed.substring(0,1).toInt());
}
// Clear received buffer
incomingString = "";
}
if (received != 'x')
{
incomingString += received;
}
}
}
void setLeftMotors(int speed, int direction) {
myMotor3->setSpeed(speed);
myMotor4->setSpeed(speed);
if(direction == 0) {
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
}
else if(direction == 1) {
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
}
}
void setRightMotors(int speed, int direction) {
myMotor1->setSpeed(speed);
myMotor2->setSpeed(speed);
if(direction == 0) {
myMotor1->run(FORWARD);
myMotor2->run(FORWARD);
}
else if(direction == 1) {
myMotor1->run(BACKWARD);
myMotor2->run(BACKWARD);
}
}
void stopMotors() {
myMotor1->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
}
String getCommand(String inputtedString) {
String commandString = "";
for(int i = 0; i < inputtedString.length(); i++)
{
if(inputtedString[i] == ' ') {
return commandString;
}
commandString += inputtedString[i];
}
}
String getLeftSpeed(String inputtedString) {
String leftSpeed = "";
boolean atNumbers = false;
for(int i = 0; i < inputtedString.length(); i++)
{
if(inputtedString[i] == ' ' && atNumbers)
return leftSpeed;
if(atNumbers)
leftSpeed+= inputtedString[i];
if(inputtedString[i] == ' ') {
atNumbers = true;
}
}
}
String getRightSpeed(String inputtedString) {
String rightSpeed = "";
boolean atLeftNumbers = false;
boolean atRightNumbers = false;
for(int i = 0; i < inputtedString.length(); i++)
{
if(inputtedString[i] == 'x')
return rightSpeed;
if(atLeftNumbers && atRightNumbers)
rightSpeed+= inputtedString[i];
if(inputtedString[i] == ' ' && atLeftNumbers) {
atRightNumbers = true;
}
if(inputtedString[i] == ' ')
atLeftNumbers = true;
}
}