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Control DFRobot Devastator Tank via a Romeo BLE (Uno equivalent) and the Arduino IDE Serial Monitor.
/*
* SerialControl: Control a DFRobot Devastator tank via a Romeo BLE
* (Uno equivalent) and the Arduino IDE Serial Monitor.
* Based on the DFRobot Devastator Tank Mobile Platform sample
* code written by Phoebe.
*
*
* Version 0.1, August, 2018
* Copyright 2018 David Such
*
*/
#define NO_DATA -1
const byte M1_DIRECTION = 4; // M1 Direction Control
const byte M1_SPEED = 5; // M1 Speed Control
const byte M2_SPEED = 6; // M2 Speed Control
const byte M2_DIRECTION = 7; // M2 Direction Control
// Motor Control
//////////////////////////////////////////////////////////////////////////////////////////////////////////
// Functions
void stop()
{
digitalWrite(M1_SPEED, LOW);
digitalWrite(M1_DIRECTION, LOW);
digitalWrite(M2_SPEED, LOW);
digitalWrite(M2_DIRECTION, LOW);
}
void forward(int m1DutyCycle, int m2DutyCycle)
{
analogWrite (M1_SPEED, m1DutyCycle);
digitalWrite(M1_DIRECTION, HIGH);
analogWrite (M2_SPEED, m2DutyCycle);
digitalWrite(M2_DIRECTION, HIGH);
}
void back (int m1DutyCycle, int m2DutyCycle)
{
analogWrite (M1_SPEED, m1DutyCycle);
digitalWrite(M1_DIRECTION, LOW);
analogWrite (M2_SPEED, m2DutyCycle);
digitalWrite(M2_DIRECTION, LOW);
}
void left (int m1DutyCycle, int m2DutyCycle)
{
analogWrite (M1_SPEED, m1DutyCycle);
digitalWrite(M1_DIRECTION, LOW);
analogWrite (M2_SPEED, m2DutyCycle);
digitalWrite(M2_DIRECTION, HIGH);
}
void right (int m1DutyCycle, int m2DutyCycle)
{
analogWrite (M1_SPEED, m1DutyCycle);
digitalWrite(M1_DIRECTION, HIGH);
analogWrite (M2_SPEED, m2DutyCycle);
digitalWrite(M2_DIRECTION, LOW);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup(void)
{
// Serial Monitor
Serial.begin(115200);
Serial.println("Romeo BLE Device");
Serial.println("Initializing...");
Serial.println("Serial connected - awaiting command (w, a, s, d, t, x): ");
// PIN Definitions
pinMode(M1_DIRECTION, OUTPUT);
pinMode(M1_SPEED, OUTPUT);
pinMode(M2_DIRECTION, OUTPUT);
pinMode(M2_SPEED, OUTPUT);
// Initial State - stopped
digitalWrite(M1_SPEED, LOW);
digitalWrite(M2_SPEED, LOW);
}
void loop(void)
{
if (Serial.available()) {
// Get the number of bytes (characters) available for reading from the serial port.
// This is data that's already arrived and stored in the serial receive buffer (which holds 64 bytes).
char incomingByte = Serial.read();
if (incomingByte != NO_DATA)
{
switch(incomingByte)
{
case 'w':
Serial.println("Forward Maximum Speed.");
forward(255, 255);
break;
case 's':
Serial.println("Backward Maximum Speed.");
back(255, 255);
break;
case 'a':
Serial.println("Turning Left.");
left(100, 100);
break;
case 'd':
Serial.println("Turning Right.");
right(100, 100);
break;
case 't':
Serial.println("Hello");
break;
case 'x':
Serial.println("Stopped.");
stop();
break;
default:
Serial.println("Unknown Command...");
Serial.println("Valid Commands are: w = forward, a = left, s = back, d = right, t = test message, x = stop.");
break;
}
}
else stop();
}
}
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