HSKL Demo Bot Test Code

client.py

from Tkinter import *
import serial
import time

class RobotUI:
    def __init__(self,master,port):
        self.port = port
        frame = Frame(master)
        frame.pack()
        self.forward_button = Button(frame,text="Forward",command=self.move_forward)
        self.forward_button.pack(side=TOP)
        
        self.backward_button = Button(frame,text="Backward",command=self.move_backward)
        self.backward_button.pack(side=BOTTOM)
        
        self.left_button = Button(frame,text="Rotate Left",command=self.rotate_left)
        self.left_button.pack(side=LEFT)
        
        self.right_button = Button(frame,text="Rotate Right",command=self.rotate_right)
        self.right_button.pack(side=LEFT)
        
    def move_forward(self):
        print "forward"
        self.move_('w')
    
    def move_backward(self):
        print "backward"
        self.move_('s')
    
    def rotate_left(self):
        print "left"
        self.move_('a')
        
    def rotate_right(self):
        print "right"
        self.move_('d')
        
    def move_(self,direction):
        s = serial.Serial(self.port)
        time.sleep(2)
        s.write(direction)
        s.close()
        
root = Tk()
app = RobotUI(root,2)
root.mainloop()

new_softserial_relay

#include <NewSoftSerial.h>

uint8_t pinRx=2;
uint8_t pinTx=4;
long BaudRate = 57600;

NewSoftSerial mySerial(pinRx,pinTx);

void setup(){
  Serial.begin(BaudRate);
  mySerial.begin(BaudRate);
  
}

void loop(){
  if(mySerial.available()){
    int val = mySerial.read();
    mySerial.print(val);
    Serial.print(val);
  }
}

robot_code_function

//int left_1 = 3;
int left_1 = 9;
//int left_2 = 2;
int left_2 = 8;

//int right_1 = 5;
int right_1 = 13;
//int right_2 = 4;
int right_2 = 12;

int speed_left = 10;
int speed_right = 11;

void setup(){
  pinMode(left_1,OUTPUT);
  pinMode(left_2,OUTPUT);
  pinMode(right_1,OUTPUT);
  pinMode(right_2,OUTPUT);
  pinMode(speed_left,OUTPUT);
  pinMode(speed_right,OUTPUT);
}

void loop(){
      forward();
      delay(2000);
      halt();
      backward();
      delay(2000);
      halt();
      turn_left();
      delay(2000);
      halt();
      turn_right();
      delay(2000);
      halt();
}

void halt(){
  wheel_halt(right_2,right_1);
  wheel_halt(left_2,left_1);
}

void forward(){
  wheel_forward(right_1,right_2,speed_right);
  wheel_forward(left_1,left_2,speed_left);
}

void turn_left(){
  wheel_forward(right_1,right_2,speed_right);
  wheel_forward(left_2,left_1,speed_left);
}

void turn_right(){
  wheel_forward(right_2,right_1,speed_right);
  wheel_forward(left_1,left_2,speed_left);
}

void backward(){
  wheel_forward(right_2,right_1,speed_right);
  wheel_forward(left_2,left_1,speed_left);
}

void wheel_forward(int pin_1,int pin_2,int spd){
 analogWrite(spd,100);
 digitalWrite(pin_1,HIGH);
 digitalWrite(pin_2,LOW);
}

void wheel_backward(int pin_1,int pin_2){
  digitalWrite(pin_1,LOW);
  digitalWrite(pin_2,HIGH);
}

void wheel_halt(int pin_1,int pin_2){
 digitalWrite(pin_1,LOW);
 digitalWrite(pin_2,LOW);
}

robot_control

int left_1 = 9;

int left_2 = 8;

int right_1 = 13;

int right_2 = 12;

int speed_left = 10;
int speed_right = 11;

void setup(){
  pinMode(left_1,OUTPUT);
  pinMode(left_2,OUTPUT);
  pinMode(right_1,OUTPUT);
  pinMode(right_2,OUTPUT);
  pinMode(speed_left,OUTPUT);
  pinMode(speed_right,OUTPUT);
  Serial.begin(9600);
}

void loop(){
  int incoming_byte = 0;
  char incoming_char;
  if(Serial.available() > 0){
    incoming_byte = Serial.read();
    incoming_char = char(incoming_byte);
    if(incoming_char == 'w'){
      forward();
      delay(2000);
      halt();
    }
    else if(incoming_char == 's'){
      backward();
      delay(2000);
      halt();
    }
    
    else if(incoming_char == 'a'){
      turn_left();
      delay(2000);
      halt();
    }
    
    else if(incoming_char == 'd'){
      turn_right();
      delay(2000);
      halt();
    }
  }  
}

void halt(){
  wheel_halt(right_2,right_1);
  wheel_halt(left_2,left_1);
}

void forward(){
  wheel_forward(right_1,right_2,speed_right);
  wheel_forward(left_1,left_2,speed_left);
}

void turn_left(){
  wheel_forward(right_1,right_2,speed_right);
  wheel_forward(left_2,left_1,speed_left);
}

void turn_right(){
  wheel_forward(right_2,right_1,speed_right);
  wheel_forward(left_1,left_2,speed_left);
}

void backward(){
  wheel_forward(right_2,right_1,speed_right);
  wheel_forward(left_2,left_1,speed_left);
}

void wheel_forward(int pin_1,int pin_2,int spd){
 analogWrite(spd,100);
 digitalWrite(pin_1,HIGH);
 digitalWrite(pin_2,LOW);
}

void wheel_backward(int pin_1,int pin_2){
  digitalWrite(pin_1,LOW);
  digitalWrite(pin_2,HIGH);
}

void wheel_halt(int pin_1,int pin_2){
 digitalWrite(pin_1,LOW);
 digitalWrite(pin_2,LOW);
}

robot_test

//Define pin number
int left_1 = 9;

int left_2 = 8;

int right_1 = 13;

int right_2 = 12;

int speed_left = 10;
int speed_right = 11;

void setup(){
  pinMode(left_1,OUTPUT);
  pinMode(left_2,OUTPUT);
  pinMode(right_1,OUTPUT);
  pinMode(right_2,OUTPUT);
  pinMode(speed_left,OUTPUT);
  pinMode(speed_right,OUTPUT);

}

void loop(){
  analogWrite(speed_left,100);
  digitalWrite(left_1,HIGH);
  digitalWrite(left_2,LOW);
  digitalWrite(left_1,LOW);
  delay(1000);
  analogWrite(speed_right,100);
  digitalWrite(right_1,HIGH);
  digitalWrite(right_2,LOW);
  digitalWrite(right_1,LOW);
  delay(1000);
}