Skip to content
Snippets Groups Projects
Commit 579623f7 authored by Viktor Rönnbäck's avatar Viktor Rönnbäck
Browse files

Final code for bluetooth_reciever_basic

parent 14761f7e
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
bluetooth_reciever_basic/bluetooth_reciever_basic.ino
+ 72
− 72
View file @ 579623f7
......@@ -43,10 +43,12 @@ const int LEFT = 1;
const int UP = 2;
const int DOWN = 3;
const int PWM_MAX = 150; // Max speed of motor (PWM) in range (0-255)
const int PWM_TURN_SPEED = PWM_MAX / 2; // Max speed of motor (PWM) in range (0-255)
// Speed constant
const int PWM_MAX = 90; // Max speed of motor (PWM) in range (0-255)
const int PWM_TURN_SPEED = 40; // Max speed of motor (PWM) in range (0-255)
long int TIMEOUT = 250; // Timeout in ms until motors are disabled (after not recieving any command)
long int TIMEOUT = 150; // Timeout in ms until motors are disabled (after not recieving any command)
// Commands
unsigned int SHORTEST_CMD_LEN = 6; // For optimisation purposes (shortest current command is <stop> : len = 6)
......@@ -63,7 +65,6 @@ unsigned long timeLastCmd = 0;
// Autonomous = distance command (ex: f3, forward 3 meters)
int drivingState = 0;
void setup() {
Serial.begin(9600);
......@@ -86,59 +87,57 @@ void setup() {
}
void loop() {
if (drivingState == 0) {
// Manual mode
bool isValidCommand = false;
// Read Serial command char byte as a char (returns -1 if not available)
char cmd = Serial.read();
// Run if valid serial data is read
if (cmd > 0) {
// If active command is not set
if (activeCommand == 0) {
activeCommand = cmd;
// Execute command (returns false if it is an invalid command)
isValidCommand = executeCmd(cmd, false);
//Serial.println("New command: " + cmd); // Doesnt always print perfectly
} else if (activeCommand != cmd) {
// If command has changed (and the new command is valid)
// De-execute previous command
executeCmd(activeCommand, true);
// Set new command to be active command
activeCommand = cmd;
// Execute new command (returns false if it is an invalid command)
isValidCommand = executeCmd(cmd, false);
} else {
//Serial.println("Same command: " + cmd);
timeLastCmd = millis();
}
if (isValidCommand) {
// Update timout timer if valid command registered
timeLastCmd = millis(); // Time in ms since the program started
//Serial.println("Reset timeout");
}
}
if (activeCommand > 0 && (millis() - timeLastCmd) > TIMEOUT) {
// De-execute last command if time since it was last recieved exceeds timeout
// Maybe stop instead?
// Manual mode
bool isValidCommand = false;
// Read Serial command char byte as a char (returns -1 if not available)
char cmd = Serial.read();
// Run if valid serial data is read
if (cmd > 0) {
// If active command is not set
if (activeCommand == 0) {
activeCommand = cmd; // Set new active command
// Execute command (returns false if it is an invalid command)
isValidCommand = executeCmd(cmd, false);
Serial.println("New command");
} else if (activeCommand != cmd) {
// If command has changed (and the new command is valid)
// De-execute previous command
executeCmd(activeCommand, true);
//Serial.println("Command timeout! time: " + String(millis() - timeLastCmd));
//Serial.println(activeCommand);
activeCommand = 0;
// Set new command to be active command
activeCommand = cmd;
// Execute new command (returns false if it is an invalid command)
isValidCommand = executeCmd(cmd, false);
Serial.println("Replace command!");
//Serial.println("New command, replace old");
} else {
timeLastCmd = millis();
Serial.println("Same command, reset timeout");
}
if (isValidCommand) {
// Update timout timer if valid command registered
timeLastCmd = millis(); // Time in ms since the program started
Serial.println("Valid command entered, reset timeout");
}
} else if (drivingState == 1) {
// Autonomous mode
// TODO
}
if (activeCommand > 0 && (millis() - timeLastCmd) > TIMEOUT) {
// De-execute last command if time since it was last recieved exceeds timeout
// Maybe stop instead?
executeCmd(activeCommand, true);
//Serial.println("Command timeout! time: " + String(millis() - timeLastCmd));
//Serial.println(activeCommand);
Serial.println("Command has timed out");
activeCommand = 0;
}
}
......@@ -154,24 +153,24 @@ bool executeCmd(char cmd, bool clearCmd) {
if (cmd == 's') {
// Stop
if (clearCmd) {
//Serial.println("Clearing stop!");
Serial.println("Clearing stop!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
} else {
//Serial.println("Stopping robot!");
Serial.println("Stopping robot!");
updateSpeed(0, RIGHT, false);
updateSpeed(0, LEFT, false);
}
} else if (cmd == 'b') {
// Backwards
if (clearCmd) {
//Serial.println("Clearing backwards!");
Serial.println("Clearing backwards!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
digitalWrite(RVS_RIGHT, LOW);
digitalWrite(RVS_LEFT, LOW);
} else {
//Serial.println("Going backwards!");
Serial.println("Going backwards!");
updateSpeed(PWM_MAX, RIGHT, true);
updateSpeed(PWM_MAX, LEFT, true);
}
......@@ -183,53 +182,53 @@ bool executeCmd(char cmd, bool clearCmd) {
digitalWrite(EN_LEFT, LOW);
digitalWrite(RVS_RIGHT, LOW);
} else {
//Serial.println("Turning right!");
Serial.println("Turning right!");
updateSpeed(PWM_TURN_SPEED, RIGHT, true);
updateSpeed(PWM_TURN_SPEED, LEFT, false);
}
} else if (cmd == 'f') {
// Forward
if (clearCmd) {
//Serial.println("Clearing forward!");
Serial.println("Clearing forward!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
} else {
//Serial.println("Going forward!");
Serial.println("Going forward!");
updateSpeed(PWM_MAX, RIGHT, false);
updateSpeed(PWM_MAX, LEFT, false);
}
} else if (cmd == 'l') {
// Left
if (clearCmd) {
//Serial.println("Clearing left!");
Serial.println("Clearing left!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
digitalWrite(RVS_LEFT, LOW);
} else {
//Serial.println("Turning left!");
Serial.println("Turning left!");
updateSpeed(PWM_TURN_SPEED, RIGHT, false);
updateSpeed(PWM_TURN_SPEED, LEFT, true);
}
} else if (cmd == 'o') {
// Forward-left
if (clearCmd) {
//Serial.println("Clearing forward-left!");
Serial.println("Clearing forward-left!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
} else {
//Serial.println("Going forward-left!");
Serial.println("Going forward-left!");
updateSpeed(PWM_MAX, RIGHT, false); // Max speed right
updateSpeed(PWM_MAX/4, LEFT, false); // Go 1/4 max speed with left wheel
updateSpeed(PWM_MAX/2, LEFT, false); // Go 1/4 max speed with left wheel
}
} else if (cmd == 'p') {
// Forward-right
if (clearCmd) {
//Serial.println("Clearing forward-right!");
Serial.println("Clearing forward-right!");
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
} else {
//Serial.println("Going forward-right!");
updateSpeed(PWM_MAX/4, RIGHT, false); // Go 1/4 max speed with right wheel
Serial.println("Going forward-right!");
updateSpeed(PWM_MAX/2, RIGHT, false); // Go 1/4 max speed with right wheel
updateSpeed(PWM_MAX, LEFT, false); // Max speed left
}
}
......@@ -242,6 +241,8 @@ bool executeCmd(char cmd, bool clearCmd) {
return true;
}
/*
* Function for updating motor speed
* int motor_speed, is PWM value between 0-255
......@@ -296,7 +297,6 @@ void toggleEnable(const int motor) {
// Toggle enable
digitalWrite(pin, LOW); // Disable motor
delay(1); // Wait 1 ms
delay(1);
digitalWrite(pin, HIGH); // Enable motor
}
super_basic_movement/super_basic_movement.ino
+ 32
− 22
View file @ 579623f7
......@@ -19,7 +19,7 @@ const int LEFT = 1;
const int UP = 2;
const int DOWN = 3;
const int PWM_MAX = 150; // Max speed of motor (PWM) in range (0-255)
const int PWM_MAX = 100; // Max speed of motor (PWM) in range (0-255)
const int PWM_TURN_SPEED = 50; // Max speed of motor (PWM) in range (0-255)
......@@ -38,15 +38,13 @@ void setup() {
pinMode(PWM_LEFT, OUTPUT);
digitalWrite(RVS_RIGHT, LOW);
digitalWrite(STP_RIGHT, LOW);
digitalWrite(RVS_LEFT, LOW);
digitalWrite(STP_LEFT, LOW);
}
void loop() {
// Forward
updateSpeed(PWM_MAX, RIGHT, false);
/*updateSpeed(PWM_MAX, RIGHT, false);
updateSpeed(PWM_MAX, LEFT, false);
Serial.println("Going forward!");
......@@ -59,31 +57,45 @@ void loop() {
delay(2000);
Serial.println("Turning left!");
// Turn left
// Go forward-left
updateSpeed(PWM_MAX, RIGHT, false);
updateSpeed(PWM_MAX, LEFT, true);
delay(2000);
updateSpeed(PWM_MAX/3, LEFT, false);*/
digitalWrite(RVS_RIGHT, HIGH);
digitalWrite(RVS_LEFT, HIGH);
Serial.println("Half speed forward 4 seconds");
analogWrite(PWM_RIGHT, PWM_MAX / 2);
analogWrite(PWM_LEFT, PWM_MAX / 2);
toggleEnable(RIGHT);
toggleEnable(LEFT);
delay(4000);
// Clear
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
delay(2000);
delay(150);
Serial.println("Turning right!");
// Turn right
updateSpeed(PWM_MAX, RIGHT, true);
updateSpeed(PWM_MAX, LEFT, false);
Serial.println("Max speed forward 3 seconds");
analogWrite(PWM_RIGHT, PWM_MAX);
analogWrite(PWM_LEFT, PWM_MAX);
delay(2000);
toggleEnable(RIGHT);
toggleEnable(LEFT);
delay(3000);
Serial.println("Stop 4 seconds");
analogWrite(PWM_RIGHT, 0);
analogWrite(PWM_LEFT, 0);
toggleEnable(RIGHT);
toggleEnable(LEFT);
delay(4000);
// Clear
digitalWrite(EN_RIGHT, LOW);
digitalWrite(EN_LEFT, LOW);
delay(2000);
Serial.println("Waiting 10 seconds!");
delay(10000);
......@@ -129,7 +141,7 @@ void updateSpeed(int motor_speed, const int motor, bool reverse) {
}
// Toggle enable for correct motor to update new PWM value
toggleEnable(motor);
//toggleEnable(motor);
}
/*
......@@ -151,7 +163,5 @@ void toggleEnable(const int motor) {
// Toggle enable
digitalWrite(pin, LOW); // Disable motor
delay(1); // Wait 1 ms
digitalWrite(pin, HIGH); // Enable motor
}
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment