JugueBot Code for different parts of project

Servo Motor fo robotic Arm Test at 90 degrees


#include <Servo.h>

Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

int pos1=90, pos2=90, pos3=90, pos4=90;
void setup() {
  // put your setup code here, to run once
  Serial.begin(9600);
  myservo1.attach(3);
  myservo2.attach(5);
  myservo3.attach(6);
  myservo4.attach(9);
  delay (5000);
  

}

void loop() {
  // put your main code here, to run repeatedly:
  myservo1.write(pos1);
  myservo2.write(pos2);
  myservo3.write(pos3);
  myservo4.write(pos4);
  delay(2000);

}

  
  
  Code for direcction of the wheels
  
  
  
#define SPEED 140    
#define TURN_SPEED 160    
#define speedPinR 9   //  Front Wheel PWM pin connect Right MODEL-X ENA 
#define RightMotorDirPin1  22    //Front Right Motor direction pin 1 to Right MODEL-X IN1  (K1)
#define RightMotorDirPin2  24   //Front Right Motor direction pin 2 to Right MODEL-X IN2   (K1)                                 
#define LeftMotorDirPin1  26    //Front Left Motor direction pin 1 to Right MODEL-X IN3 (K3)
#define LeftMotorDirPin2  28   //Front Left Motor direction pin 2 to Right MODEL-X IN4 (K3)
#define speedPinL 10   //  Front Wheel PWM pin connect Right MODEL-X ENB

#define speedPinRB 11   //  Rear Wheel PWM pin connect Left MODEL-X ENA 
#define RightMotorDirPin1B  5    //Rear Right Motor direction pin 1 to Left  MODEL-X IN1 ( K1)
#define RightMotorDirPin2B 6    //Rear Right Motor direction pin 2 to Left  MODEL-X IN2 ( K1) 
#define LeftMotorDirPin1B 7    //Rear Left Motor direction pin 1 to Left  MODEL-X IN3  (K3)
#define LeftMotorDirPin2B 8  //Rear Left Motor direction pin 2 to Left  MODEL-X IN4 (K3)
#define speedPinLB 12    //  Rear Wheel PWM pin connect Left MODEL-X ENB

/*motor control*/
void go_advance(int speed){
   RL_fwd(speed);
   RR_fwd(speed);
   FR_fwd(speed);
   FL_fwd(speed); 
}
void go_back(int speed){
   RL_bck(speed);
   RR_bck(speed);
   FR_bck(speed);
   FL_bck(speed); 
}
void right_shift(int speed_fl_fwd,int speed_rl_bck ,int speed_rr_fwd,int speed_fr_bck) {
  FL_fwd(speed_fl_fwd); 
  RL_bck(speed_rl_bck); 
  RR_fwd(speed_rr_fwd);
  FR_bck(speed_fr_bck);
}
void left_shift(int speed_fl_bck,int speed_rl_fwd ,int speed_rr_bck,int speed_fr_fwd){
   FL_bck(speed_fl_bck);
   RL_fwd(speed_rl_fwd);
   RR_bck(speed_rr_bck);
   FR_fwd(speed_fr_fwd);
}

void left_turn(int speed){
   RL_bck(0);
   RR_fwd(speed);
   FR_fwd(speed);
   FL_bck(0); 
}
void right_turn(int speed){
   RL_fwd(speed);
   RR_bck(0);
   FR_bck(0);
   FL_fwd(speed); 
}
void left_back(int speed){
   RL_fwd(0);
   RR_bck(speed);
   FR_bck(speed);
   FL_fwd(0); 
}
void right_back(int speed){
   RL_bck(speed);
   RR_fwd(0);
   FR_fwd(0);
   FL_bck(speed); 
}
void clockwise(int speed){
   RL_fwd(speed);
   RR_bck(speed);
   FR_bck(speed);
   FL_fwd(speed); 
}
void countclockwise(int speed){
   RL_bck(speed);
   RR_fwd(speed);
   FR_fwd(speed);
   FL_bck(speed); 
}


void FR_fwd(int speed)  //front-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1,HIGH);
  digitalWrite(RightMotorDirPin2,LOW); 
  analogWrite(speedPinR,speed);
}
void FR_bck(int speed) // front-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1,LOW);
  digitalWrite(RightMotorDirPin2,HIGH); 
  analogWrite(speedPinR,speed);
}
void FL_fwd(int speed) // front-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1,HIGH);
  digitalWrite(LeftMotorDirPin2,LOW);
  analogWrite(speedPinL,speed);
}
void FL_bck(int speed) // front-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1,LOW);
  digitalWrite(LeftMotorDirPin2,HIGH);
  analogWrite(speedPinL,speed);
}

void RR_fwd(int speed)  //rear-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1B, HIGH);
  digitalWrite(RightMotorDirPin2B,LOW); 
  analogWrite(speedPinRB,speed);
}
void RR_bck(int speed)  //rear-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1B, LOW);
  digitalWrite(RightMotorDirPin2B,HIGH); 
  analogWrite(speedPinRB,speed);
}
void RL_fwd(int speed)  //rear-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1B,HIGH);
  digitalWrite(LeftMotorDirPin2B,LOW);
  analogWrite(speedPinLB,speed);
}
void RL_bck(int speed)    //rear-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1B,LOW);
  digitalWrite(LeftMotorDirPin2B,HIGH);
  analogWrite(speedPinLB,speed);
}
 
void stop_Stop()    //Stop
{
  analogWrite(speedPinLB,0);
  analogWrite(speedPinRB,0);
  analogWrite(speedPinL,0);
  analogWrite(speedPinR,0);
}


//Pins initialize
void init_GPIO()
{
  pinMode(RightMotorDirPin1, OUTPUT); 
  pinMode(RightMotorDirPin2, OUTPUT); 
  pinMode(speedPinL, OUTPUT);  
 
  pinMode(LeftMotorDirPin1, OUTPUT);
  pinMode(LeftMotorDirPin2, OUTPUT); 
  pinMode(speedPinR, OUTPUT);
  pinMode(RightMotorDirPin1B, OUTPUT); 
  pinMode(RightMotorDirPin2B, OUTPUT); 
  pinMode(speedPinLB, OUTPUT);  
 
  pinMode(LeftMotorDirPin1B, OUTPUT);
  pinMode(LeftMotorDirPin2B, OUTPUT); 
  pinMode(speedPinRB, OUTPUT);
   
  stop_Stop();
}

void setup()
{
  init_GPIO();
 
go_advance(SPEED);
     delay(1000);
     stop_Stop();
     delay(1000);
  
go_back(SPEED);
      delay(1000);
      stop_Stop();
      delay(1000);
  
left_turn(TURN_SPEED);
      delay(1000);
      stop_Stop();
      delay(1000);
  
right_turn(TURN_SPEED);
     delay(1000);
     stop_Stop();
     delay(1000);
  
right_shift(200,200,200,200); //right shift
     delay(1000);
     stop_Stop();
     delay(1000);

left_shift(200,200,200,200); //left shift
     delay(1000);
     stop_Stop();
     delay(1000);
 
left_shift(200,0,200,0); //left diagonal back
     delay(1000);
     stop_Stop();
delay(1000);
 
right_shift(200,0,200,0); //right diagonal ahead
     delay(1000);
     stop_Stop();
delay(1000);

left_shift(0,200,0,200); //left diagonal ahead
     delay(1000);
     stop_Stop();
     delay(1000);

right_shift(0,200,0,200); //right diagonal back
     delay(1000);
     stop_Stop();
delay(1000);
}

void loop(){
}
  
  
  Wheels Encoders
  
  

 #define outputA 6
 #define outputB 7
 int counter = 0; 
 int aState;
 int aLastState;  
 void setup() { 
   pinMode (outputA,INPUT);
   pinMode (outputB,INPUT);
   
   Serial.begin (9600);
   // Reads the initial state of the outputA
   aLastState = digitalRead(outputA);   
 } 
 void loop() { 
   aState = digitalRead(outputA); // Reads the "current" state of the outputA
   // If the previous and the current state of the outputA are different, that means a Pulse has occured
   if (aState != aLastState){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
     if (digitalRead(outputB) != aState) { 
       counter ++;
     } else {
       counter --;
     }
     Serial.print("Position: ");
     Serial.println(counter);
   } 
   aLastState = aState; // Updates the previous state of the outputA with the current state
 }
  
  
  
  Obstacle avoidance code
  
  
  
#include <Servo.h>
#define speedPinR 9   //  Front Wheel PWM pin connect Right MODEL-X ENA 
#define RightMotorDirPin1  22    //Front Right Motor direction pin 1 to Right MODEL-X IN1  (K1)
#define RightMotorDirPin2  24   //Front Right Motor direction pin 2 to Right MODEL-X IN2   (K1)                                 
#define LeftMotorDirPin1  26    //Front Left Motor direction pin 1 to Right MODEL-X IN3 (K3)
#define LeftMotorDirPin2  28   //Front Left Motor direction pin 2 to Right MODEL-X IN4 (K3)
#define speedPinL 10   //  Front Wheel PWM pin connect Right MODEL-X ENB

#define speedPinRB 11   //  Rear Wheel PWM pin connect Left MODEL-X ENA 
#define RightMotorDirPin1B  5    //Rear Right Motor direction pin 1 to Left  MODEL-X IN1 ( K1)
#define RightMotorDirPin2B 6    //Rear Right Motor direction pin 2 to Left  MODEL-X IN2 ( K1) 
#define LeftMotorDirPin1B 7    //Rear Left Motor direction pin 1 to Left  MODEL-X IN3  (K3)
#define LeftMotorDirPin2B 8  //Rear Left Motor direction pin 2 to Left  MODEL-X IN4 (K3)
#define speedPinLB 12    //  Rear Wheel PWM pin connect Left MODEL-X ENB


#define LPT 2 // scan loop coumter

#define SERVO_PIN     13  //servo connect to D5

#define Echo_PIN    31 // Ultrasonic Echo pin connect to A5
#define Trig_PIN    30  // Ultrasonic Trig pin connect to A4

#define FAST_SPEED  160   //both sides of the motor speed
#define SPEED  120     //both sides of the motor speed
#define TURN_SPEED  120   //both sides of the motor speed
#define BACK_SPEED1  160   //back speed
#define BACK_SPEED2  90    //back speed

int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; //distance limit for obstacles in front           
const int sidedistancelimit = 30; //minimum distance in cm to obstacles at both sides (the car will allow a shorter distance sideways)
int distance;
int numcycles = 0;
const int turntime = 250; //Time the robot spends turning (miliseconds)
const int backtime = 300; //Time the robot spends turning (miliseconds)

int thereis;
Servo head;
/*motor control*/
void go_Advance()  //Forward
{
FR_fwd();
FL_fwd();
RR_fwd();
RL_fwd();
}
void go_Left()  //Turn left
{
FR_fwd();
FL_bck();
RR_fwd();
RL_bck();
}
void go_Right()  //Turn right
{
FR_bck();
FL_fwd();
RR_bck();
RL_fwd();
}
void go_Back()  //Reverse
{
FR_bck();
FL_bck();
RR_bck();
RL_bck();
}
 
 

void stop_Stop()    //Stop
{
  digitalWrite(RightMotorDirPin1, LOW);
  digitalWrite(RightMotorDirPin2,LOW);
  digitalWrite(LeftMotorDirPin1,LOW);
  digitalWrite(LeftMotorDirPin2,LOW);
  digitalWrite(RightMotorDirPin1B, LOW);
  digitalWrite(RightMotorDirPin2B,LOW);
  digitalWrite(LeftMotorDirPin1B,LOW);
  digitalWrite(LeftMotorDirPin2B,LOW);
  set_Motorspeed(0,0,0,0);
}

/*set motor speed */
void set_Motorspeed(int leftFront,int rightFront,int leftBack,int rightBack)
{
 analogWrite(speedPinL,leftFront); 
 analogWrite(speedPinR,rightFront); 
 analogWrite(speedPinLB,leftBack);  
 analogWrite(speedPinRB,rightBack);

}

void FR_fwd()  //front-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1,HIGH);
  digitalWrite(RightMotorDirPin2,LOW); 
}
void FR_bck() // front-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1,LOW);
  digitalWrite(RightMotorDirPin2,HIGH); 
}
void FL_fwd() // front-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1,HIGH);
  digitalWrite(LeftMotorDirPin2,LOW);
}
void FL_bck() // front-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1,LOW);
  digitalWrite(LeftMotorDirPin2,HIGH);
}

void RR_fwd()  //rear-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1B,HIGH);
  digitalWrite(RightMotorDirPin2B,LOW); 
}
void RR_bck()  //rear-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1B,LOW);
  digitalWrite(RightMotorDirPin2B,HIGH); 
}
void RL_fwd()  //rear-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1B,HIGH);
  digitalWrite(LeftMotorDirPin2B,LOW);
}
void RL_bck()    //rear-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1B,LOW);
  digitalWrite(LeftMotorDirPin2B,HIGH);
}



/*detection of ultrasonic distance*/
int watch(){
  long echo_distance;
  digitalWrite(Trig_PIN,LOW);
  delayMicroseconds(5);                                                                              
  digitalWrite(Trig_PIN,HIGH);
  delayMicroseconds(15);
  digitalWrite(Trig_PIN,LOW);
  echo_distance=pulseIn(Echo_PIN,HIGH);
  echo_distance=echo_distance*0.01657; //how far away is the object in cm
 //Serial.println((int)echo_distance);
  return round(echo_distance);
}
//Meassures distances to the right, left, front, left diagonal, right diagonal and asign them in cm to the variables rightscanval, 
//leftscanval, centerscanval, ldiagonalscanval and rdiagonalscanval (there are 5 points for distance testing)
String watchsurrounding(){
/*  obstacle_status is a binary integer, its last 5 digits stands for if there is any obstacles in 5 directions,
 *   for example B101000 last 5 digits is 01000, which stands for Left front has obstacle, B100111 means front, right front and right ha
 */
 
int obstacle_status =B100000;
  centerscanval = watch();
  if(centerscanval<distancelimit){
    stop_Stop();
    
    obstacle_status  =obstacle_status | B100;
    }
  head.write(120);
  delay(100);
  ldiagonalscanval = watch();
  if(ldiagonalscanval<distancelimit){
    stop_Stop();
    
     obstacle_status  =obstacle_status | B1000;
    }
  head.write(170); //Didn't use 180 degrees because my servo is not able to take this angle
  delay(300);
  leftscanval = watch();
  if(leftscanval<sidedistancelimit){
    stop_Stop();
    
     obstacle_status  =obstacle_status | B10000;
    }

  head.write(90); //use 90 degrees if you are moving your servo through the whole 180 degrees
  delay(100);
  centerscanval = watch();
  if(centerscanval<distancelimit){
    stop_Stop();
    
    obstacle_status  =obstacle_status | B100;
    }
  head.write(40);
  delay(100);
  rdiagonalscanval = watch();
  if(rdiagonalscanval<distancelimit){
    stop_Stop();
    
    obstacle_status  =obstacle_status | B10;
    }
  head.write(0);
  delay(100);
  rightscanval = watch();
  if(rightscanval<sidedistancelimit){
    stop_Stop();
    
    obstacle_status  =obstacle_status | 1;
    }
  head.write(90); //Finish looking around (look forward again)
  delay(300);
   String obstacle_str= String(obstacle_status,BIN);
  obstacle_str= obstacle_str.substring(1,6);
  
  return obstacle_str; //return 5-character string standing for 5 direction obstacle status
}

void auto_avoidance(){

  ++numcycles;
  if(numcycles>=LPT){ //Watch if something is around every LPT loops while moving forward 
     stop_Stop();
    String obstacle_sign=watchsurrounding(); // 5 digits of obstacle_sign binary value means the 5 direction obstacle status
      Serial.print("begin str=");
        Serial.println(obstacle_sign);
                    if( obstacle_sign=="10000"){
     Serial.println("SLIT right");
          set_Motorspeed(FAST_SPEED,SPEED,FAST_SPEED,SPEED);
     go_Advance();
 
      delay(turntime);
      stop_Stop();
    }
        else    if( obstacle_sign=="00001"  ){
     Serial.println("SLIT LEFT");
       set_Motorspeed(SPEED,FAST_SPEED,SPEED,FAST_SPEED);
      go_Advance();
  
      delay(turntime);
      stop_Stop();
    }
    else if( obstacle_sign=="11100" || obstacle_sign=="01000" || obstacle_sign=="11000"  || obstacle_sign=="10100"  || obstacle_sign=="01100" ||obstacle_sign=="00100"  ||obstacle_sign=="01000" ){
     Serial.println("hand right");
    go_Right();
      set_Motorspeed(TURN_SPEED,TURN_SPEED,TURN_SPEED,TURN_SPEED);
      delay(turntime);
      stop_Stop();
    } 
    else if( obstacle_sign=="00010" || obstacle_sign=="00111" || obstacle_sign=="00011"  || obstacle_sign=="00101" || obstacle_sign=="00110" || obstacle_sign=="01010" ){
    Serial.println("hand left");
     go_Left();//Turn left
     set_Motorspeed(TURN_SPEED,TURN_SPEED,TURN_SPEED,TURN_SPEED);
      delay(turntime);
      stop_Stop();
    }
 
    else if(  obstacle_sign=="01111" ||  obstacle_sign=="10111" || obstacle_sign=="11111"  ){
    Serial.println("hand back left");
  go_Back();
set_Motorspeed( BACK_SPEED1,BACK_SPEED2,BACK_SPEED1,BACK_SPEED2);
       delay(backtime);
          stop_Stop();
        } 
         else if( obstacle_sign=="11011"  ||    obstacle_sign=="11101"  ||  obstacle_sign=="11110"  || obstacle_sign=="01110"  ){
    Serial.println("hand back right");
   go_Back();
    set_Motorspeed(BACK_SPEED2,BACK_SPEED1,BACK_SPEED2,BACK_SPEED1);
       delay(backtime);
          stop_Stop();
        }    
  
        else Serial.println("no handle");
    numcycles=0; //Restart count of cycles
  } else {
     set_Motorspeed(SPEED,SPEED,SPEED,SPEED);
     go_Advance();  // if nothing is wrong go forward using go() function above.
        delay(backtime);
          stop_Stop();
  }
  
  //else  Serial.println(numcycles);
  
  distance = watch(); // use the watch() function to see if anything is ahead (when the robot is just moving forward and not looking around it will test the distance in front)
  if (distance<distancelimit){ // The robot will just stop if it is completely sure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic sensor's false signals)
 Serial.println("final go back");
go_Back();
  set_Motorspeed(BACK_SPEED1,BACK_SPEED2,BACK_SPEED1,BACK_SPEED2);
  delay(backtime);
      ++thereis;}
  if (distance>distancelimit){
      thereis=0;} //Count is restarted
  if (thereis > 25){
  Serial.println("final stop");
    stop_Stop(); // Since something is ahead, stop moving.
    thereis=0;
  }
}

void setup() {
  /*setup L298N pin mode*/
  pinMode(RightMotorDirPin1, OUTPUT); 
  pinMode(RightMotorDirPin2, OUTPUT); 
  pinMode(speedPinL, OUTPUT);  
 
  pinMode(LeftMotorDirPin1, OUTPUT);
  pinMode(LeftMotorDirPin2, OUTPUT); 
  pinMode(speedPinR, OUTPUT);
     pinMode(RightMotorDirPin1B, OUTPUT); 
  pinMode(RightMotorDirPin2B, OUTPUT); 
  pinMode(speedPinLB, OUTPUT);  
 
  pinMode(LeftMotorDirPin1B, OUTPUT);
  pinMode(LeftMotorDirPin2B, OUTPUT); 
  pinMode(speedPinRB, OUTPUT);
  stop_Stop();//stop move
  /*init HC-SR04*/
  pinMode(Trig_PIN, OUTPUT); 
  pinMode(Echo_PIN,INPUT); 
  /*init buzzer*/
 
  digitalWrite(Trig_PIN,LOW);
  /*init servo*/
  head.attach(SERVO_PIN); 
    head.write(0);
   delay(1000);
     head.write(170);
   delay(1000);
  head.write(90);
   delay(2000);
  
  Serial.begin(9600);
 
 
 
  stop_Stop();//Stop
 
}

void loop() {
auto_avoidance();
// Serial.println( watchsurrounding());
}
  
  
  Code for Bluethood device if wifi does not work
  

#define MAX_PACKETSIZE 32    //Serial receive buffer
char buffUART[MAX_PACKETSIZE];
unsigned int buffUARTIndex = 0;
unsigned long preUARTTick = 0;
struct car_status{
  int speed;
  int angle;
  int direct;
};
int move_speed=100 ;

#define MAX_SPEED  250
#define MIN_SPEED  80

#define TURN_SPEED  80
#define SLOW_TURN_SPEED  50
#define BACK_SPEED  80

int buttonState;
char old_status='0';
#define speedPinR 9   //  RIGHT WHEEL PWM pin D45 connect front MODEL-X ENA 
#define RightMotorDirPin1  22    //Front Right Motor direction pin 1 to Front MODEL-X IN1  (K1)
#define RightMotorDirPin2  24   //Front Right Motor direction pin 2 to Front MODEL-X IN2   (K1)                                 
#define LeftMotorDirPin1  26    //Left front Motor direction pin 1 to Front MODEL-X IN3 (  K3)
#define LeftMotorDirPin2  28   //Left front Motor direction pin 2 to Front MODEL-X IN4 (  K3)
#define speedPinL 10   // Left WHEEL PWM pin D7 connect front MODEL-X ENB

#define speedPinRB 11   //  RIGHT WHEEL PWM pin connect Back MODEL-X ENA 
#define RightMotorDirPin1B  5    //Rear Right Motor direction pin 1 to Back MODEL-X IN1 (  K1)
#define RightMotorDirPin2B 6    //Rear Right Motor direction pin 2 to Back MODEL-X IN2 (  K1) 
#define LeftMotorDirPin1B 7    //Rear left Motor direction pin 1 to Back MODEL-X IN3  K3
#define LeftMotorDirPin2B 8  //Rear left Motor direction pin 2 to Back MODEL-X IN4  k3
#define speedPinLB 12    //   LEFT WHEEL  PWM pin D8 connect Rear MODEL-X ENB
int car_direction = 1; // 1 means forward, 0 gear backward

/*motor control*/
void right_shift(int speed_fl_fwd,int speed_rl_bck ,int speed_rr_fwd,int speed_fr_bck) {
  FL_fwd(speed_fl_fwd); 
  RL_bck(speed_rl_bck); 
  RR_fwd(speed_rr_fwd);
  FR_bck(speed_fr_bck);
}
void left_shift(int speed_fl_bck,int speed_rl_fwd ,int speed_rr_bck,int speed_fr_fwd){
   FL_bck(speed_fl_bck);
   RL_fwd(speed_rl_fwd);
   RR_bck(speed_rr_bck);
   FR_fwd(speed_fr_fwd);
}
void go_advance(int left_speed,int right_speed){
   RL_fwd(left_speed);
   RR_fwd(right_speed);
   FR_fwd(right_speed);
   FL_fwd(left_speed); 
}
void go_back(int left_speed,int right_speed){
   RL_bck(left_speed);
   RR_bck(right_speed);
   FR_bck(right_speed);
   FL_bck(left_speed); 
}
void left_turn(int speed){
   RL_bck(speed);
   RR_fwd(speed);
   FR_fwd(speed);
   FL_bck(speed); 
}
void right_turn(int speed){
   RL_fwd(speed);
   RR_bck(speed);
   FR_bck(speed);
   FL_fwd(speed); 
}
void left_back(int speed){
   RL_fwd(0);
   RR_bck(speed);
   FR_bck(speed);
   FL_fwd(0); 
}
void right_back(int speed){
   RL_bck(speed);
   RR_fwd(0);
   FR_fwd(0);
   FL_bck(speed); 
}
void clockwise(int speed){
   RL_fwd(speed);
   RR_bck(speed);
   FR_bck(speed);
   FL_fwd(speed); 
}
void countclockwise(int speed){
   RL_bck(speed);
   RR_fwd(speed);
   FR_fwd(speed);
   FL_bck(speed); 
}
void FR_fwd(int speed)  //front-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1,HIGH);
  digitalWrite(RightMotorDirPin2,LOW); 
  analogWrite(speedPinR,speed);
}
void FR_bck(int speed) // front-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1,LOW);
  digitalWrite(RightMotorDirPin2,HIGH); 
  analogWrite(speedPinR,speed);
}
void FL_fwd(int speed) // front-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1,HIGH);
  digitalWrite(LeftMotorDirPin2,LOW);
  analogWrite(speedPinL,speed);
}
void FL_bck(int speed) // front-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1,LOW);
  digitalWrite(LeftMotorDirPin2,HIGH);
  analogWrite(speedPinL,speed);
}

void RR_fwd(int speed)  //rear-right wheel forward turn
{
  digitalWrite(RightMotorDirPin1B, HIGH);
  digitalWrite(RightMotorDirPin2B,LOW); 
  analogWrite(speedPinRB,speed);
}
void RR_bck(int speed)  //rear-right wheel backward turn
{
  digitalWrite(RightMotorDirPin1B, LOW);
  digitalWrite(RightMotorDirPin2B,HIGH); 
  analogWrite(speedPinRB,speed);
}
void RL_fwd(int speed)  //rear-left wheel forward turn
{
  digitalWrite(LeftMotorDirPin1B,HIGH);
  digitalWrite(LeftMotorDirPin2B,LOW);
  analogWrite(speedPinLB,speed);
}
void RL_bck(int speed)    //rear-left wheel backward turn
{
  digitalWrite(LeftMotorDirPin1B,LOW);
  digitalWrite(LeftMotorDirPin2B,HIGH);
  analogWrite(speedPinLB,speed);
}
 
 
void stop_stop()    //Stop
{
    analogWrite(speedPinLB,0);
 analogWrite(speedPinRB,0);
    analogWrite(speedPinL,0);
 analogWrite(speedPinR,0);
}


//Pins initialize
void init_GPIO()
{
  pinMode(RightMotorDirPin1, OUTPUT); 
  pinMode(RightMotorDirPin2, OUTPUT); 
  pinMode(speedPinL, OUTPUT);  
 
  pinMode(LeftMotorDirPin1, OUTPUT);
  pinMode(LeftMotorDirPin2, OUTPUT); 
  pinMode(speedPinR, OUTPUT);
     pinMode(RightMotorDirPin1B, OUTPUT); 
  pinMode(RightMotorDirPin2B, OUTPUT); 
  pinMode(speedPinLB, OUTPUT);  
 
  pinMode(LeftMotorDirPin1B, OUTPUT);
  pinMode(LeftMotorDirPin2B, OUTPUT); 
  pinMode(speedPinRB, OUTPUT);

}

void setup()
{
  init_GPIO();
    Serial.begin(9600);//In order to fit the Bluetooth module's default baud rate, only 9600
   Serial1.begin(9600);
 
 
  stop_stop();
 
}

void loop(){
 do_Uart_Tick();
}

void do_Uart_Tick()
{

  char Uart_Date=0;
  if(Serial1.available()) 
  {
    size_t len = Serial1.available();
    uint8_t sbuf[len + 1];
    sbuf[len] = 0x00;
    Serial1.readBytes(sbuf, len);
    //parseUartPackage((char*)sbuf);
    memcpy(buffUART + buffUARTIndex, sbuf, len);//ensure that the serial port can read the entire frame of data
    buffUARTIndex += len;
    preUARTTick = millis();
    if(buffUARTIndex >= MAX_PACKETSIZE - 1) 
    {
      buffUARTIndex = MAX_PACKETSIZE - 2;
      preUARTTick = preUARTTick - 200;
    }
  }
  car_status cs;
  if(buffUARTIndex > 0 && (millis() - preUARTTick >= 100))//APP send flag to modify the obstacle avoidance parameters
  { //data ready
    buffUART[buffUARTIndex] = 0x00;
    Uart_Date=buffUART[0];
    cs=get_status(buffUART);
    car_direction=cs.angle;
    buffUARTIndex = 0;
  }
  move_speed=cs.speed;
   if (cs.speed>MAX_SPEED) move_speed= MAX_SPEED;
   if (cs.speed<MIN_SPEED) move_speed= MIN_SPEED;

  switch (Uart_Date)    //serial control instructions
  {
    case 'M':  
    if(old_status=='0')
    go_advance(110,110);
    old_status='M';
    delay(55);
    go_advance(move_speed,move_speed);
    break;
    
    case 'L':  
    car_direction=1;
    if (cs.angle<2)
     go_advance(SLOW_TURN_SPEED,TURN_SPEED);
    else  left_turn(SLOW_TURN_SPEED);
    old_status='0';
    break;
    case 'R': 
      car_direction=1;
     if (cs.angle>-2)
      go_advance(TURN_SPEED,SLOW_TURN_SPEED);
     else right_turn(SLOW_TURN_SPEED); 
     old_status='0';
    break;
    case 'B':  
      car_direction=0;
    go_back(BACK_SPEED,BACK_SPEED); 
     old_status='0';
    break;
    case 'X': 
      car_direction=0;
    if (cs.angle>-2)
      go_back(SLOW_TURN_SPEED,TURN_SPEED); 
    else
      left_back(TURN_SPEED);
   old_status='0';
    break;
    case 'Y':  
     car_direction=0;
    if (cs.angle<2)
      go_back(TURN_SPEED,SLOW_TURN_SPEED); 
    else
     right_back(TURN_SPEED); 
    old_status='0';
    break;
     case 'F':  
   //   left_shift(200,150,150,200); //left shift
      left_shift(180,170,190,190) ;//left shift
      delay(800);
      old_status='0';
      break;
    case 'J':       
    //  right_shift(200,150,150,200); //right shift
         right_shift(200,170,170,200); //right shift
      delay(800);
      old_status='0';
      break;
    case 'G': 
       if (car_direction==1) left_shift(0,150,0,150); //left ahead
        else left_shift(150,0,150,0); //left back
    delay(800);
    old_status='0';
    break;
    case 'I': 
     if (car_direction==1) right_shift(180,0,150,0); //right ahead
      else  right_shift(0,130,0,130); //right back
     delay(100);
     old_status='0';
    break;
    case 'E': stop_stop(); 
         old_status='0';
    break;
    default:break;
  }
}

car_status get_status( char buffUART[])
{
  car_status cstatus;
  int index=2;
  if (buffUART[index]=='-'){
    cstatus.angle=-buffUART[index+1]+'0';
    index=index+3;
    
  } else {
   
    cstatus.angle=buffUART[index]-'0';
     index=index+2;
  }
  int currentvalue;
  int spd=0;
  while (buffUART[index]!=',')
  {
    currentvalue=buffUART[index]-'0';
    spd=spd*10+currentvalue;
    index++;
  }
  cstatus.speed=spd;
  index++;
  cstatus.direct=buffUART[index]-'0';
  return cstatus;
}
                    
                    
                    
                

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