SIP CAR Code BLUETOOTH

 BLUETOOTH


#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  50


#define TURN_SPEED  70

#define SLOW_TURN_SPEED  50

#define BACK_SPEED  60


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,LOW);

  digitalWrite(RightMotorDirPin2,HIGH); 

  analogWrite(speedPinR,speed);

}

void FR_bck(int speed) // front-right wheel backward turn

{

  digitalWrite(RightMotorDirPin1,HIGH);

  digitalWrite(RightMotorDirPin2,LOW); 

  analogWrite(speedPinR,speed);

}

void FL_fwd(int speed) // front-left wheel forward turn

{

  digitalWrite(LeftMotorDirPin1,LOW);

  digitalWrite(LeftMotorDirPin2,HIGH);

  analogWrite(speedPinL,speed);

}

void FL_bck(int speed) // front-left wheel backward turn

{

  digitalWrite(LeftMotorDirPin1,HIGH);

  digitalWrite(LeftMotorDirPin2,LOW);

  analogWrite(speedPinL,speed);

}


void RR_fwd(int speed)  //rear-right wheel forward turn

{

  digitalWrite(RightMotorDirPin1B, LOW);

  digitalWrite(RightMotorDirPin2B,HIGH); 

  analogWrite(speedPinRB,speed);

}

void RR_bck(int speed)  //rear-right wheel backward turn

{

  digitalWrite(RightMotorDirPin1B, HIGH);

  digitalWrite(RightMotorDirPin2B,LOW); 

  analogWrite(speedPinRB,speed);

}

void RL_fwd(int speed)  //rear-left wheel forward turn

{

  digitalWrite(LeftMotorDirPin1B,LOW);

  digitalWrite(LeftMotorDirPin2B,HIGH);

  analogWrite(speedPinLB,speed);

}

void RL_bck(int speed)    //rear-left wheel backward turn

{

  digitalWrite(LeftMotorDirPin1B,HIGH);

  digitalWrite(LeftMotorDirPin2B,LOW);

  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(35);

    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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