Uuendused

Lõputöö ülesanded/3. Roboti juhtimine BT ühenduse kaudu/Projket_Bluetooth/Projket_Bluetooth.ino

+#include <SoftwareSerial.h>
+#include <SoftwareSerial.h>
+//#include <SPI.h>
+
+//Blue RXD - TXD - 3
+//Green TXD - RXD - 2
+SoftwareSerial BTserial(2, 3); // RX | TX
+char receivedBluetValue;
+int motorValue = 0;
+
+int d7 = 5;//43;  // Yellow, front wheel 2 - Forward
+int d2 = 6;//41;  // Red, front wheel 2 - Backward
+int d8 = 7;//47;  // Green, back wheel 2 - Forward
+int d1 = 8;//45;  // Orange, back wheel 2 - Backward
+int d6 = 9;//40;  // White, front wheel 1 - Backward
+int d5 = 10;//42;  // Black, front wheel 1 - Forward
+int d4 = 11;//44;  // Grey, back wheel 1 - Backward
+int d3 = 12;//46;  // Dark Greenish, back wheel 1 - Forward
+//int speedN1 = ;
+//int speedS1 = ;
+//int speedN2 = ;
+//int speedS2 = ;
+
+void setup() {
+  Serial.begin(9600); // Default communication rate of the Bluetooth module
+  // HC-05 default serial speed for AT mode is 38400. 9600 works here!
+  BTserial.begin(9600);
+  //Serial.println("AT+PAIR=A0CB,FD,DDE2F9,20");
+
+  //Declaring the pin modes
+  pinMode(d7, OUTPUT);      // Yellow
+  pinMode(d2, OUTPUT);      // Red
+  pinMode(d8, OUTPUT);      // Green
+  pinMode(d1, OUTPUT);      // Orange
+  pinMode(d3, OUTPUT);      // Dark Greenish
+  pinMode(d4, OUTPUT);      // Grey
+  pinMode(d5, OUTPUT);      // Black
+  pinMode(d6, OUTPUT);      // White
+  //pinMode(speedN, OUTPUT);
+  //pinMode(speedS, OUTPUT);
+}
+
+void loop() {
+  //Serial.println("AT+PAIR=A0CB,FD,DDE2F9,20");     //To pair Bluetooth device with an address 
+  //of A0:CB:FD:DD:E2:F9). 20 is the connection time limit.
+  // Keep reading from HC-05 and send to Arduino Serial Monitor
+  if (BTserial.available())
+  {
+    receivedBluetValue = BTserial.read();
+    Serial.write(receivedBluetValue);
+    //Serial.println(receivedBluetValue);
+    //Serial.println("ON");
+  }
+  //else
+  // Serial.println("OFF");
+  
+  // Keep reading from Arduino Serial Monitor and send to HC-05
+  if (Serial.available())
+  {
+    receivedBluetValue = Serial.read();
+    //Serial.println(receivedBluetValue);
+    BTserial.write(receivedBluetValue);
+  }
+
+  //motorValue'd on suured tähed ASCII kümnendkoodis. 
+  //Näiteks "Forward" on F ehk 70 10nd süsteemis.
+  motorValue = receivedBluetValue;
+  //Serial.println(motorValue);
+  if(motorValue == 70){
+    Forward();
+    delay(100);
+    Serial.println("Forward");}
+  else if(motorValue == 66){
+    Backward();
+    delay(100);
+    Serial.println("Backward");}
+  else if(motorValue == 82){
+    Right();
+    delay(100);
+    Serial.println("Right");}
+  else if(motorValue == 76){
+    Left();
+    delay(100);
+    Serial.println("Left");}
+  else if(motorValue == 73){
+    ForwardRight();
+    delay(100);
+    Serial.println("ForwardRight");}
+  else if(motorValue == 71){
+    ForwardLeft();
+    delay(100);
+    Serial.println("ForwardLeft");}
+  else if(motorValue == 74){
+    BackwardRight();
+    delay(100);
+    Serial.println("BackwardRight");}
+  else if(motorValue == 72){
+    BackwardLeft();
+    delay(100);
+    Serial.println("BackwardLeft");}
+  else  {
+    Stop();
+    delay(100);
+    motorValue = 0;
+  }
+}
+
+void Forward() {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, HIGH);
+  //analogWrite(speedS,150);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, HIGH);
+  //analogWrite(speedN,150);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, HIGH);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, HIGH);
+}
+
+void Backward() {
+  digitalWrite(d8, HIGH);
+  digitalWrite(d1, LOW);
+  //analogWrite(speedS,150);
+  digitalWrite(d7, HIGH);
+  digitalWrite(d2, LOW);
+  //analogWrite(speedN,150);
+  digitalWrite(d3, HIGH);
+  digitalWrite(d4, LOW);
+  digitalWrite(d5, HIGH);
+  digitalWrite(d6, LOW);
+}
+
+void Right() {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, LOW);
+  //analogWrite(speedS,150);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, LOW);
+  //analogWrite(speedN,150);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, HIGH);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, HIGH);
+}
+
+void Left() {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, HIGH);
+  //analogWrite(speedS,150);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, HIGH);
+  //analogWrite(speedN,150);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, LOW);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, LOW);
+}
+
+void ForwardRight()  {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, HIGH);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, LOW);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, HIGH);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, HIGH);
+}
+
+void ForwardLeft()  {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, LOW);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, HIGH);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, HIGH);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, HIGH);
+}
+
+void BackwardRight()  {
+  digitalWrite(d8, HIGH);
+  digitalWrite(d1, LOW);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, LOW);
+  digitalWrite(d3, HIGH);
+  digitalWrite(d4, LOW);
+  digitalWrite(d5, HIGH);
+  digitalWrite(d6, LOW);
+}
+
+void BackwardLeft()  {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, LOW);
+  digitalWrite(d7, HIGH);
+  digitalWrite(d2, LOW);
+  digitalWrite(d3, HIGH);
+  digitalWrite(d4, LOW);
+  digitalWrite(d5, HIGH);
+  digitalWrite(d6, LOW);
+}
+
+void Stop() {
+  digitalWrite(d8, LOW);
+  digitalWrite(d1, LOW);
+  //analogWrite(speedS,0);
+  digitalWrite(d7, LOW);
+  digitalWrite(d2, LOW);
+  //analogWrite(speedN,0);
+  digitalWrite(d3, LOW);
+  digitalWrite(d4, LOW);
+  digitalWrite(d5, LOW);
+  digitalWrite(d6, LOW);
+}