nRF_Robot

nRF_BTLE_ReceiveData/nRF_RobotControl/nRF_RobotControl.ino

+/* Include libraries */
+#include <SPI.h>
+#include <RF24.h>
+#include <BTLE.h>
+/* Include servo */
+#include <Servo.h>
+//#include <nRF24L01.h> // Maybe needed, commented out right now!
+
+/* Define */
+#define rightServo 5   // Define Servo right pin
+#define leftServo  6   // Define Servo left pin
+
+/* Global variables */
+Servo rightWheel;
+Servo leftWheel;
+
+RF24 radio(9,10);   // Create RF24 object to work with the RF24 library.
+BTLE btle(&radio);  // Create BTLE object to work with the BTLE library.
+
+/* Replace! "CustomName" to the name of your device. Password - maximum length (14)! characters.
+   It's for recognizing the correct data packets. */
+#define PASSWORD "CustomName"
+
+/* Define functions used for the robot to control */
+/* Stop the robot */
+void setWheelsStop() {
+  rightWheel.writeMicroseconds(1500);
+  leftWheel.writeMicroseconds(1500);
+}
+/* Drive forward */
+void setWheelsForward(){
+  rightWheel.write(1300);
+  leftWheel.write(1700);
+}
+/* Drive right */
+void setWheelsRight(){
+  rightWheel.write(1700);
+  leftWheel.write(1700);
+}
+/* Drive left */
+void setWheelsLeft(){
+  rightWheel.write(1300);
+  leftWheel.write(1300);
+}
+/* Drive backward */
+void setWheelsBackward(){
+  rightWheel.write(1700);
+  leftWheel.write(1300);
+}
+
+void setup() {
+  /* Start the Serial and btle. */
+  Serial.begin(9600);
+  btle.begin("");
+
+  /* Attach servos to digital pins defined earlier */
+  rightWheel.attach(rightServo);
+  leftWheel.attach(leftServo);
+  
+  /* Put servos to standstill */
+  //setWheels();
+}
+
+void loop() {
+  String str = "";  // For collecting a string of values ​​from different types of variables
+  
+  /* Start listening. If data is received it is stored in the "buffer".
+     Then the received data is decoded and checked (CRC). */
+  
+  if (btle.listen()) {
+    // Serial.print("Got payload: ");  // If data is received, print "Got payload: "
+    /* Store the received data into the buffer */
+    for (uint8_t i = 2; i < (btle.buffer.pl_size)-6; i++) {
+        str += (char (btle.buffer.payload[i]));
+        // Serial.print(btle.buffer.payload[i],HEX); Serial.print(" ");  // To receive data in HEX format
+        // Serial.print(char (btle.buffer.payload[i])); Serial.print(" ");  // To receive data in char format
+    }
+
+    /* (Spam protection) only if string starts with "CustomName" */
+    if (str.startsWith(PASSWORD)) {
+      str.replace(PASSWORD, "");  // (remove / replace) PASSWORD
+      
+      /* According to what data was sent, print the direction */
+      if ((char (str.charAt(2))) == 7) {
+        Serial.println("RIGHT");
+        setWheelsRight();
+        delay(100);
+      }
+      else if ((char (str.charAt(2))) == 6) {
+        Serial.println("LEFT");
+        setWheelsLeft();
+        delay(100);
+      }
+      else if ((char (str.charAt(2))) == 5) {
+        Serial.println("FORWARD");
+        setWheelsForward();
+        delay(100);
+      }
+      else if ((char (str.charAt(2))) == 4) {
+        Serial.println("BACKWARD");
+        setWheelsBackward();
+        delay(100);
+      }
+      else  {
+        setWheelsStop();
+        delay(100);
+      }
+    }
+  }
+
+  /* Hop channels through 37-39 to scan for data transmissions */
+  btle.hopChannel();
+}