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MakeBlock Bluetooth v3.0
/*************************************************************************
* File Name : MakeBlock_BT3.ino
* Author : David Cotterill-Drew
* Updated : 19/04/2017
* Version : V3.0
* Date : 19/04/2017
* Description : Program to be used with Orion controller/Uno
* License : Open Source
* Copyright (C) 2017 RoboTonics.
* https://r0b0t.wordpress.com/
**************************************************************************/
#include "MeOrion.h"
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>
MeDCMotor MotorL(M1);
MeDCMotor MotorR(M2);
MeDCMotor Holder(PORT_1);
MeDCMotor Hand(PORT_2);
MeRGBLed led(PORT_3);
MeUltrasonicSensor ultraSensor(PORT_7);
MeBluetooth bluetooth(PORT_5);
int distance=0;
int HolderSpeed = 250;
int HandSpeed = 250;
int moveSpeed = 190;
boolean leftflag,rightflag;
int minSpeed = 55;
int factor = 23;
int range=0;
void setup()
{
pinMode(2,INPUT);
pinMode(8,INPUT);
ledsoff();
bluetooth.begin(115200);
}
void loop()
{
front_check();
range_check();
int inByte = bluetooth.read();
if(inByte=='f')
{
TurnRight();
}
if(inByte=='s')
{
Stop();
}
if(inByte=='l')
{
Backward();
}
if(inByte=='b')
{
TurnLeft();
}
if(inByte=='r')
{
Forward();
}
if(inByte=='a')
{
Holder_down();
}
if(inByte=='c')
{
Holder_up();
}
if(inByte=='e')
{
Hand_close();
}
if(inByte=='d')
{
Hand_open();
}
if(inByte=='1')
{
ChangeSpeed(factor*1+minSpeed);
}
if(inByte=='2')
{
ChangeSpeed(factor*2+minSpeed);
}
if(inByte=='3')
{
ChangeSpeed(factor*3+minSpeed);
}
if(inByte=='4')
{
ChangeSpeed(factor*4+minSpeed);
}
if(inByte=='5')
{
ChangeSpeed(factor*5+minSpeed);
}
if(inByte=='6')
{
ChangeSpeed(factor*6+minSpeed);
}
if(inByte=='7')
{
ChangeSpeed(factor*7+minSpeed);
}
if(inByte=='8')
{
ChangeSpeed(factor*8+minSpeed);
}
if(inByte=='9')
{
ChangeSpeed(factor*9+minSpeed);
}
if(inByte=='g')
{
ledsoff();
}
if(inByte=='h')
{
ledson();
}
if(inByte=='x')
{
ledsblue();
}
if(inByte=='y')
{
ledsred();
}
if(inByte=='z')
{
ledsgreen();
}
}
void Forward()
{
//front_check();
MotorL.run(moveSpeed);
MotorR.run(moveSpeed);
}
void Backward()
{
range_check();
MotorL.run(-moveSpeed);
MotorR.run(-moveSpeed);
}
void TurnLeft()
{
//front_check();
MotorL.run(-moveSpeed);
MotorR.run(moveSpeed);
}
void TurnRight()
{
//front_check(); //check front left & right Infra red
MotorL.run(moveSpeed);
MotorR.run(-moveSpeed);
}
void Stop()
{
MotorL.run(0);
MotorR.run(0);
Holder.run(0);
Hand.run(0);
}
void ChangeSpeed(int spd)
{
moveSpeed = spd;
}
void Holder_up()
{
Holder.run(HolderSpeed);
}
void Holder_down()
{
Holder.run(-HolderSpeed);
}
void Hand_close()
{
Hand.run(HandSpeed);
}
void Hand_open()
{
Hand.run(-HandSpeed);
}
void ledson()
{
led.setColorAt(0, 255, 255, 255);
led.setColorAt(1, 255, 255, 255);
led.setColorAt(2, 255, 255, 255);
led.setColorAt(3, 255, 255, 255);
led.show();
}
void ledsoff()
{
led.setColorAt(0, 0, 0, 0);
led.setColorAt(1, 0, 0, 0);
led.setColorAt(2, 0, 0, 0);
led.setColorAt(3, 0, 0, 0);
led.show();
}
void ledsblue()
{
led.setColorAt(0, 0, 0, 255);
led.setColorAt(1, 0, 0, 255);
led.setColorAt(2, 0, 0, 255);
led.setColorAt(3, 0, 0, 255);
led.show();
}
void ledsred()
{
led.setColorAt(0, 255, 0, 0);
led.setColorAt(1, 255, 0, 0);
led.setColorAt(2, 255, 0, 0);
led.setColorAt(3, 255, 0, 0);
led.show();
}
void ledsgreen()
{
led.setColorAt(0, 0, 255, 0);
led.setColorAt(1, 0, 255, 0);
led.setColorAt(2, 0, 255, 0);
led.setColorAt(3, 0, 255, 0);
led.show();
}
void Backward_ten()
{
MotorL.run(-moveSpeed);
MotorR.run(-moveSpeed);
delay(10);
MotorL.run(0);
MotorR.run(0);
}
void Forward_ten()
{
MotorL.run(moveSpeed);
MotorR.run(moveSpeed);
delay(10);
MotorL.run(0);
MotorR.run(0);
}
void TurnRight_ten()
{
MotorL.run(moveSpeed);
MotorR.run(-moveSpeed);
delay(10);
MotorL.run(0);
MotorR.run(0);
}
void TurnLeft_ten()
{
MotorL.run(-moveSpeed);
MotorR.run(moveSpeed);
delay(10);
MotorL.run(0);
MotorR.run(0);
}
void range_check()
{
distance=ultraSensor.distanceCm();
if(distance<5)
{
TurnRight_ten(); // Forward...
}
}
void front_check()
{
if(digitalRead(2)==LOW)
{
Backward_ten(); // turn right
}
if(digitalRead(8)==LOW)
{
Forward_ten(); // turn left
}
if((digitalRead(8)==LOW)&&(digitalRead(2)==LOW))
{
TurnLeft_ten();
}
}
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