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Arduino program to communicate with makeblockbluetooth.py
#include <MeOrion.h>
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>
#include "MatrixGraphics.h"
MeBluetooth bluetooth(PORT_5);
MeDCMotor MotorL(M1);
MeDCMotor MotorR(M2);
MeDCMotor Holder(PORT_1);
MeDCMotor Hand(PORT_2);
MeLEDMatrix ledMx(PORT_4);
MeInfraredReceiver infraredReceiverDecode(PORT_6);
MeUltrasonicSensor ultraSensor(PORT_7);
int distance=0;
int HolderSpeed = 250;
int HandSpeed = 250;
int moveSpeed = 190;
boolean leftflag,rightflag;
int minSpeed = 55;
int factor = 23;
void setup()
{
infraredReceiverDecode.begin();
ledMx.setBrightness(6);
ledMx.setColorIndex(1);
bluetooth.begin(115200);
ledMx.drawBitmap(0, 0, sizeof(Bitmap_Logo), Bitmap_Logo);
buzzerOn();
delay(1000);
buzzerOff();
}
void loop()
{
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);
}
}
void Forward()
{
MotorL.run(moveSpeed);
MotorR.run(moveSpeed);
}
void Backward()
{
MotorL.run(-moveSpeed);
MotorR.run(-moveSpeed);
}
void TurnLeft()
{
MotorL.run(-moveSpeed);
MotorR.run(moveSpeed);
}
void TurnRight()
{
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);
}
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