skule.sormo.no

#include <Servo.h>
//#include <L293.h>
#define pinForward 8     
#define pinBack 7       
#define pinSpeedForwardBack 6
#define pinFrontLights 2
#define pinBackLights 3
#define pinFrontSteering 10
//L293(pinForward, pinBack, pinFwdBakVel);
//L293 redCar(pinForward,pinBack,pinSpeedForwardBack);
Servo leftRight;
byte commands[4] = {0x00,0x00,0x00,0x00};
byte prevCommands[4] = {0x01,0x01,0x01,0x01};
//Variables will be used to determine the frequency at which the sensor readings are sent 
//to the phone, and when the last command was received.  
unsigned long timer0 = 2000;  //Stores the time (in millis since execution started) 
unsigned long timer1 = 0;  //Stores the time when the last sensor reading was sent to the phone
unsigned long timer2 = 0;  //Stores the time when the last command was received from the phone
//14 byte payload that stores the sensor readings
byte three[14] = {0xee,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xcc};
//Constant used to caculate the 9V battery voltage (9.04 mV per step)
float stepSize = 9.04;
//The union allows you to declare a customized data type, in this case it can be either 
//a float or a byte array of size 4. What we need is to store a float which is 4
//bytes long and retrieve each of the 4 bytes separately.
union u_sensor0{
  byte a[4];  
  float b;
}sensor0;
union u_sensor1{
  byte c[4];  
  float d;
}sensor1;
int i = 0;

 #define M1a 5   // pwm-porter
 #define M1b 6
 #define M2a 9
 #define M2b 10
 #define ENA 8
 #define ENB 7

#define bluetooth Serial

void setup()
{       
  bluetooth.begin(115200);  
//  Serial.begin(115200);  
//  Serial.println("test");
  pinMode(pinFrontLights, OUTPUT);
  pinMode(pinBackLights, OUTPUT);
  digitalWrite(pinFrontLights,HIGH);
  digitalWrite(pinFrontLights,HIGH);
 // delay(500);
  digitalWrite(pinFrontLights,LOW);
//  digitalWrite(pinFrontLights,LOW);

  motor(0,88); // kjøretøy i roø Første parameter er fart, den andre retning der 88 er rett fram
}

void loop()
{
  if (bluetooth.available() == 4) {
    timer2 = millis();  //Store the time when last command was received
    memcpy(prevCommands, commands, 4); //Storing the received commands
    commands[0] = bluetooth.read();  //Direction
    commands[1] = bluetooth.read();  //Speed
    commands[2] = bluetooth.read();  //Angle
    commands[3] = bluetooth.read();  //Lights and buttons states
/*
    Serial.print(int(commands[0]), HEX);
    Serial.print("  ");
    Serial.print(int(commands[1]));
    Serial.print("  ");
    Serial.print(int(commands[2]));
    Serial.print("  ");
    Serial.print(int(commands[3]));
    Serial.println("  ");
*/
 if((commands[2]<=0xb4)&&((commands[0]<=0xf5)&&(commands[0]>=0xf1))){
      //Make sure that the command received involves controlling the car's motors (0xf1,0xf2,0xf3)
      if(commands[0] <= 0xf3){
        if(commands[0] == 0xf1){  //Check if the move forward command was received
          if(prevCommands[0] != 0xf1){  //Change pin state to move forward only if previous state was not move forward
//            redCar.forward_1W(commands[1]);
 //    Serial.println("Updated direction FWD");
        motor(commands[1],commands[2]);
          }  
        }
        else if(commands[0] == 0xf2){  //Check if the move back command was received     
          if(prevCommands[0] != 0xf2){  //Change pin state to move back only if previous state was not move back
 //           redCar.back_1W(commands[1]);
//Serial.println("Updated direction BAK");
           motor(-commands[1],commands[2]);
          }
        }
        else if(commands[0] == 0xf3){ //Check if the move back command was received     
//          if(prevCommands[0] != 0xf3)
             {  //Change pin state to move back only if previous state was not move back
//            redCar.stopped_1W();   
//Serial.println("Updated direction STP");
          motor(0,commands[2]);
          }
        }
        //Change speed only if new speed is not equal to the previous speed
        if(prevCommands[1] != commands[1]){
          prevCommands[1]=commands[1];
//          redCar.setSpeed_1W(commands[1]);  
//Serial.println("Updated speed");
        if(commands[0] == 0xf1)
           motor(commands[1],commands[2]);
         else if(commands[0] == 0xf2)
           motor(-commands[1],commands[2]);
       } ;    
        //Steer front wheels only if the new angle is not equal to the previous angle
        if(prevCommands[2] != commands[2]){
          leftRight.write(commands[2]);  
          //Serial.println("Updated angle"); 
        }         
      }
      else if(commands[0] == 0xf5){
        if(prevCommands[0] != 0xf5){
          //Stop everything
//          redCar.stopped_1W(); 
      motor(0,commands[2]);
          digitalWrite(pinFrontLights,LOW);
          digitalWrite(pinBackLights,LOW);
        }
      }
      else{
        //Here you put the code that will control the tilt pan (commands[0] == 0xf4)   
      } 
    //Check the front/back lights and other toggles   
      if(prevCommands[3] != commands[3]){
//Serial.println(commands[3],BIN);
      //Change the light/button states
        //               _______________________________________________
        //command[3] =  |  0  |  0  |  0  |  0  |  0  |  0  |  0  |  0  |  binary
        //              |_____|_____|_____|_____|_____|_____|_____|_____|
        //Buttons ---->  Front  Back  Horn   A     B     C     D     E   
        //Front lights
        if((bitRead(prevCommands[3],7))!=(bitRead(commands[3],7))){
          if(bitRead(commands[3],7)){
            digitalWrite(pinFrontLights,HIGH);
          }
          else{
            digitalWrite(pinFrontLights,LOW);
          }
        }
        //Back lights
        if((bitRead(prevCommands[3],6))!=(bitRead(commands[3],6))){
          if(bitRead(commands[3],6)){
            digitalWrite(pinBackLights,HIGH);
          }
          else{
            digitalWrite(pinBackLights,LOW);
          }
        }
        //Horn
        if((bitRead(prevCommands[3],5))!=(bitRead(commands[3],5))){
          if(bitRead(commands[3],5)){
            tone(horn,500);
          }
          else{
            noTone(horn);  // slår av hornet
          }

        }
      }      
    }
    else
    {
      //Resetting the Serial port (clearing the buffer) in case the bytes are not being read in correct order.
//      Serial.end();
//      Serial.begin(9600);
    }
  }
  else{
    timer0 = millis();  //Get the current time (millis since execution started)
    if((timer0 - timer2)>400){  //Check if it has been 400ms since we received last command
      //More tan 400ms have passed since last command received, car is out of range. Therefore
      //Stop the car and turn lights off
//    redCar.stopped_1W();  
 //     motor(0,commands[2]);
      digitalWrite(pinFrontLights,LOW); 
      digitalWrite(pinBackLights,LOW);
    }
    if((timer0 - timer1)>=477){  //Check if it has been 477ms since sensor reading were sent
      //Calculate the 9V's voltage by multiplying the step size by the step number (analogRead(0)) 
      //This value will be in mV, which is why it's multiplied by 0.001 to convert into Volts.
      sensor0.b = (analogRead(0) * stepSize) * 0.001;  
      //Break the sensor0 float into four bytes for transmission
      three[1] = sensor0.a[0];
      three[2] = sensor0.a[1];
      three[3] = sensor0.a[2];
      three[4] = sensor0.a[3];
      //Get sensor 2's reading
      sensor1.d = analogRead(1);  
      //Break the sensor1 float into four bytes for transmission
      three[5] = sensor1.c[0];
      three[6] = sensor1.c[1];
      three[7] = sensor1.c[2];
      three[8] = sensor1.c[3];
      //Get the remaining reading from the analog inputs
      three[9] = map(analogRead(2),0,1023,0,255);
      three[10] = map(analogRead(3),0,1023,0,255);
      three[11] = map(analogRead(4),0,1023,0,255);
      three[12] = map(analogRead(5),0,1023,0,255); 
      //Send the six sensor readings
     Serial.write(three,14);
      //Store the time when the sensor readings were sent
      timer1 = millis();
    }
  }
}

void motor(int x, int y)   /
{
    y= map(y,66,110,-100,100);   // kursen endres til et intervall mellom -100 og 100. Større                                                        //verdier gir for kraftige utslag.
    analogWrite(M1a,constrain(x+y,0,255));
   analogWrite(M1b,constrain(-x-y,0,255));
   analogWrite(M2a,constrain(x-y,0,255));
   analogWrite(M2b,constrain(-x+y,0,255));
}