BlueCar.ino

#include <SoftwareSerial.h>
#include <Wire.h>

SoftwareSerial CAR_BT(11,12); //定義 PIN11 及 PIN12 分別為 RX 及 TX 腳位

/* Input for leftMotor:
   IN1      IN2      Action
   LOW      LOW      Stop
   HIGH     LOW      Forward  
   LOW      HIGH     Backward
   HIGH     HIGH     Stop
*/

const int leftMotorIn1 = 5;
const int leftMotorIn2 = 6;

/* Input for rightMotor:
   IN3      IN4      Action
   LOW      LOW      Stop
   HIGH     LOW      Forward  
   LOW      HIGH     Backward
   HIGH     HIGH     Stop
*/

const int rightMotorIn3 = 9;      
const int rightMotorIn4 = 10;

bool isForward = true;

void setup()  
{
  pinMode(leftMotorIn1, OUTPUT);
  pinMode(leftMotorIn2, OUTPUT);
  pinMode(rightMotorIn3, OUTPUT);
  pinMode(rightMotorIn4, OUTPUT);
  Serial.begin(9600); //Arduino起始鮑率：9600
  CAR_BT.begin(9600); //藍牙鮑率：9600 注意！每個藍牙晶片的鮑率都不太一樣，請務必確認
}

void loop()
{
  int inSize;
  char input;
  if( (inSize = (CAR_BT.available())) > 0) { //讀取藍牙訊息
      Serial.print("size = ");
      Serial.println(inSize);
      Serial.print("Input = ");
      Serial.println(input=(char)CAR_BT.read());
      
      if( input == 'f' ) {
        forward();
        isForward = true;
      }
      
      if( input == 'b' ) {
        backward();
        isForward = false;
      }
    
      if( input == 'l' ) {
        left();
      }
      
      if( input == 'r' ) {
        right();
      }
    
      if( input == 's' ) {
        motorstop();
      }
  }    
}

void motorstop()
{
  digitalWrite(leftMotorIn1, LOW);
  digitalWrite(leftMotorIn2, LOW);
  digitalWrite(rightMotorIn3, LOW);
  digitalWrite(rightMotorIn4, LOW);
}

void forward()
{
  digitalWrite(leftMotorIn1, HIGH);
  digitalWrite(leftMotorIn2, LOW);
  digitalWrite(rightMotorIn3, HIGH);
  digitalWrite(rightMotorIn4, LOW);
}

void backward()
{
  digitalWrite(leftMotorIn1, LOW);
  digitalWrite(leftMotorIn2, HIGH);
  digitalWrite(rightMotorIn3, LOW);
  digitalWrite(rightMotorIn4, HIGH);
}

void right()
{
  if( isForward ) {
    digitalWrite(leftMotorIn1, HIGH);
    digitalWrite(leftMotorIn2, LOW);
    digitalWrite(rightMotorIn3, LOW);
    digitalWrite(rightMotorIn4, LOW);
  } else {
    digitalWrite(leftMotorIn1, LOW);
    digitalWrite(leftMotorIn2, LOW);
    digitalWrite(rightMotorIn3, LOW);
    digitalWrite(rightMotorIn4, HIGH);
  }
}

void left()
{
  if( isForward ) {
    digitalWrite(leftMotorIn1, LOW);
    digitalWrite(leftMotorIn2, LOW);
    digitalWrite(rightMotorIn3, HIGH);
    digitalWrite(rightMotorIn4, LOW);
  } else {
    digitalWrite(leftMotorIn1, LOW);
    digitalWrite(leftMotorIn2, HIGH);
    digitalWrite(rightMotorIn3, LOW);
    digitalWrite(rightMotorIn4, LOW);
  }
}