//*******************************************************************************
/*
keyestudio 4wd BT Car
lesson 17
Bluetooth Multifunctional Car
[Link]
*/
#define SCL_Pin A5 //Set the clock pin to A5
#define SDA_Pin A4 //Set data pin to A4
//Array, used to store the data of pattern, can be calculated by yourself or
obtained from the modulus tool
unsigned char start01[] =
{0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80,0x80,0x40,0x20,0x10,0x08,0x04,0x02,0x01};
unsigned char front[] =
{0x00,0x00,0x00,0x00,0x00,0x24,0x12,0x09,0x12,0x24,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char back[] =
{0x00,0x00,0x00,0x00,0x00,0x24,0x48,0x90,0x48,0x24,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char left[] =
{0x00,0x00,0x00,0x00,0x00,0x00,0x44,0x28,0x10,0x44,0x28,0x10,0x44,0x28,0x10,0x00};
unsigned char right[] =
{0x00,0x10,0x28,0x44,0x10,0x28,0x44,0x10,0x28,0x44,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char STOP01[] =
{0x2E,0x2A,0x3A,0x00,0x02,0x3E,0x02,0x00,0x3E,0x22,0x3E,0x00,0x3E,0x0A,0x0E,0x00};
unsigned char clear[] =
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char speed_a[] =
{0x00,0x40,0x20,0x10,0x08,0x04,0x02,0xff,0x02,0x04,0x08,0x10,0x20,0x40,0x00,0x00};
unsigned char speed_d[] =
{0x00,0x02,0x04,0x08,0x10,0x20,0x40,0xff,0x40,0x20,0x10,0x08,0x04,0x02,0x00,0x00};
int left_ctrl = 2;//define the direction control pins of group B motor
int left_pwm = 5;//define the PWM control pins of group B motor
int right_ctrl = 4;//define the direction control pins of group A motor
int right_pwm = 6;//define the PWM control pins of group A motor
int speeds = 150; //Set the initial speed to 150
const int servopin = A3;//set the pin of servo to A3
int L_pin = 11; //define the left tracking sensor pin as D11
int M_pin = 7; //define the middle tracking sensor pin as D7
int R_pin = 8; //define the right tracking sensor pin as D8
int L_val, M_val, R_val;
int trigPin = 12; //TRIG Pin be connected to D12
int echoPin = 13; //ECHO Pin be connected to D13
int distance, distance_l, distance_r;
char BLE_val;
void setup() {
[Link](9600);//Set baud rate to 9600
pinMode(left_ctrl,OUTPUT);//set direction control pins of group B motor to OUTPUT
pinMode(left_pwm,OUTPUT);//set PWM control pins of group B motor to OUTPUT
pinMode(right_ctrl,OUTPUT);//set direction control pins of group A motor to
OUTPUT
pinMode(right_pwm,OUTPUT);//set PWM control pins of group A motor to OUTPUT
servopulse(servopin,90);//the angle of servo is 90 degree
delay(300);
pinMode(L_pin, INPUT); //Tracking sensor pins are configured for input mode
pinMode(M_pin, INPUT);
pinMode(R_pin, INPUT);
pinMode(trigPin, OUTPUT); //define TRIG as the output mode
pinMode(echoPin, INPUT); //define ECHO as the input mode
pinMode(SCL_Pin,OUTPUT);// Set the clock pin to output
pinMode(SDA_Pin,OUTPUT);//Set the data pin to output
matrix_display(clear);
matrix_display(start01); //display start01 expression pattern
}
void loop() {
if([Link]()>0) {
BLE_val = [Link]();
[Link](BLE_val);
}
switch(BLE_val)
{
case 'F' : car_front();
matrix_display(clear);
matrix_display(front);
break;
case 'B' : car_back();
matrix_display(clear);
matrix_display(back);
break;
case 'L' : car_left();
matrix_display(clear);
matrix_display(left);
break;
case 'R' : car_right();
matrix_display(clear);
matrix_display(right);
break;
case 'S' : car_Stop();
matrix_display(clear);
matrix_display(STOP01);
break;
case 'a' : speeds_a();
matrix_display(clear);
matrix_display(speed_a);
break;
case 'd' : speeds_d();
matrix_display(clear);
matrix_display(speed_d);
break;
case 'U': follow(); //Receiving ‘U’,enter follow mode
break;
case 'Y': avoid(); //Receiving ‘Y’,enter obstacle avoidance mode
break;
case 'G': confinement(); //Receiving ‘G’,enter confinement mode
break;
case 'X': tracking(); //Receiving ‘X’,enter tracking mode
break;
}
}
void car_front()//define the state of going front
{
digitalWrite(left_ctrl,HIGH);
analogWrite(left_pwm,(255-speeds));
digitalWrite(right_ctrl,HIGH);
analogWrite(right_pwm,(255-speeds));
}
void car_back()//define the status of going back
{
digitalWrite(left_ctrl,LOW);
analogWrite(left_pwm,speeds);
digitalWrite(right_ctrl,LOW);
analogWrite(right_pwm,speeds);
}
void car_left()//set the status of left turning
{
digitalWrite(left_ctrl, LOW);
analogWrite(left_pwm, speeds);
digitalWrite(right_ctrl, HIGH);
analogWrite(right_pwm, (255-speeds));
}
void car_right()//set the status of right turning
{
digitalWrite(left_ctrl, HIGH);
analogWrite(left_pwm, (255-speeds));
digitalWrite(right_ctrl, LOW);
analogWrite(right_pwm, speeds);
}
void car_Stop()//define the state of stop
{
digitalWrite(left_ctrl,LOW);
analogWrite(left_pwm,0);
digitalWrite(right_ctrl,LOW);
analogWrite(right_pwm,0);
}
void speeds_a() { //rapidly growing function
while (1) {
[Link](speeds); //display speed information
if (speeds < 255) { //Up to 255
matrix_display(clear);
matrix_display(speed_a);
speeds++;
delay(10); //adjust the speed of growth
}
BLE_val = [Link]();
if (BLE_val == 'S') //Receive 'S',the car stops accelerating
break;
}
}
void speeds_d() { //velocity reduction function
while (1) {
[Link](speeds); //display speed information
if (speeds > 0) { //down to 0
matrix_display(clear);
matrix_display(speed_d);
speeds--;
delay(10); //adjust the speed of deceleration
}
BLE_val = [Link]();
if (BLE_val == 'S') //Receive 'S',the car stops deceleration
break;
}
}
int get_distance() {
int distance = 0;
digitalWrite(trigPin, LOW); // send pulse through Trig/Pin, trigger HC-SR04
ranging, so that send out ultrasonic signal interface low level 2μs
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // make ultrasonic signal interface high level
10μs, here is at least 10μs
delayMicroseconds(10);
digitalWrite(trigPin, LOW); // keep the ultrasonic signal interface low level
distance = pulseIn(echoPin, HIGH) / 58; // read the pulse time and convert the
pulse time to the distance (unit: cm)
[Link](distance); //output distance value
return distance;
}
void follow() {
servopulse(servopin,90);
delay(200);
int follow_flag = 1;
while (follow_flag) {
distance = get_distance(); //call the ranging function
if (distance < 8 ) {//If the distance is less than 8
car_back();//the car goes back
matrix_display(clear);
matrix_display(back);
}
else if (distance >= 8 && distance < 13) { //If the distance is greater than or
equal to 8, it's less than 13
car_Stop();//stop
matrix_display(clear);
matrix_display(STOP01);
}
else if (distance >= 13 && distance <= 35 ) { //If the distance is greater than
or equal to 13, it's less than 35
car_front();//the car goes forward
matrix_display(clear);
matrix_display(front);
}
else {//If none of the above
car_Stop();//stop
matrix_display(clear);
matrix_display(STOP01);
}
BLE_val = [Link]();
if (BLE_val == 'S') { //When S is received, the car stops
follow_flag = 0;
car_Stop();
}
}
}
void avoid() {
int avoid_flag = 1;
while (avoid_flag) {
distance = get_distance(); //Call the ranging function
if (distance > 0 && distance < 20) { //If the distance is less than 20 and
greater than 0
car_Stop();//stops
matrix_display(clear);
matrix_display(STOP01); //the dot matrix displays a stop pattern
delay(1000);
servopulse(servopin,160); //bring the steering gear over 180 degrees
delay(500);
distance_l = get_distance(); //gets the left distance
delay(100);
servopulse(servopin,20); //turn the steering gear to 0 degrees
delay(500);
distance_r = get_distance(); //get the right distance
delay(100);
if (distance_l > distance_r) { //compare the distance, if the left is bigger
than the right
car_left(); //the car turns left
matrix_display(clear);
matrix_display(left); //the dot matrix shows a left pattern
servopulse(servopin,90);//the steering gear returns to 90 degrees
delay(700);
matrix_display(clear);
matrix_display(front); //the dot matrix displays a forward pattern
}
else { //Otherwise if the right is bigger than the left
car_right();//the car turns right
matrix_display(clear);
matrix_display(right); //the dot matrix shows a left pattern
servopulse(servopin,90);//the steering gear returns to 90 degrees
delay(700);
matrix_display(clear);
matrix_display(front); //the dot matrix displays a forward pattern
}
}
else { //When the front distance is less than or equal to 10cm
car_front();//the car goes forward
matrix_display(clear);
matrix_display(front); //the dot matrix displays a forward pattern
}
BLE_val = [Link]();
if (BLE_val == 'S') {//When S is received, the car stops
avoid_flag = 0;
car_Stop();
}
}
}
void confinement() {
int confinement_flag = 1;
while (confinement_flag) {
L_val = digitalRead(L_pin); //read the value of the left sensor
M_val = digitalRead(M_pin); //read the value of the middle sensor
R_val = digitalRead(R_pin); //read the value of the right sensor
if ( L_val == 0 && M_val == 0 && R_val == 0 ) { //the car goes forward when no
black line is detected
car_front();
}
else { //Otherwise, if any of the tracking sensors detect a black line, the
goes back and then turns left
car_back();
delay(500);
car_left();
delay(800);
}
BLE_val = [Link]();
if (BLE_val == 'S') { //When S is received, the car stops
confinement_flag = 0;
car_Stop();
}
}
}
void tracking() {
int track_flag = 1;
while (track_flag) {
L_val = digitalRead(L_pin); //read the value of the left sensor
M_val = digitalRead(M_pin); //read the value of the middle sensor
R_val = digitalRead(R_pin); //read the value of the right sensor
if (M_val == 1) { //Black line detected in the middle
if (L_val == 1 && R_val == 0) { //If a black line is detected on the left,
but not on the right, turn left
car_left();
}
else if (L_val == 0 && R_val == 1) { //Otherwise, if a black line is detected
on the right and not on the left, turn right
car_right();
}
else { //Otherwise, the car goes forward
car_front();
}
}
else { //no black lines detected in the middle
if (L_val == 1 && R_val == 0) { //If a black line is detected on the left,
but not on the right, turn left
car_right();
}
else if (L_val == 0 && R_val == 1) { //Otherwise, if a black line is detected
on the right and not on the left, turn right
car_right();;
}
else { //Otherwise, stop
car_Stop();
}
}
BLE_val = [Link]();
if (BLE_val == 'S') { //When S is received, the car stops
track_flag = 0;
car_Stop();
}
}
}
void servopulse(int servopin,int myangle)//Steering gear running angle
{
for(int i=0; i<30; i++)
{
int pulsewidth = (myangle*11)+500;
digitalWrite(servopin,HIGH);
delayMicroseconds(pulsewidth);
digitalWrite(servopin,LOW);
delay(20-pulsewidth/1000);
}
}
//this function is used for dot matrix display
void matrix_display(unsigned char matrix_value[])
{
IIC_start(); //the function that calls the data transfer start condition
IIC_send(0xc0); //select address
for (int i = 0; i < 16; i++) //the pattern data is 16 bytes
{
IIC_send(matrix_value[i]); //Transmit the data of the pattern
}
IIC_end(); //End pattern data transmission
IIC_start();
IIC_send(0x8A); //Display control, select 4/16 pulse width
IIC_end();
}
//Conditions under which data transmission begins
void IIC_start()
{
digitalWrite(SDA_Pin, HIGH);
digitalWrite(SCL_Pin, HIGH);
delayMicroseconds(3);
digitalWrite(SDA_Pin, LOW);
delayMicroseconds(3);
digitalWrite(SCL_Pin, LOW);
}
//Indicates the end of data transmission
void IIC_end()
{
digitalWrite(SCL_Pin, LOW);
digitalWrite(SDA_Pin, LOW);
delayMicroseconds(3);
digitalWrite(SCL_Pin, HIGH);
delayMicroseconds(3);
digitalWrite(SDA_Pin, HIGH);
delayMicroseconds(3);
}
//transmit data
void IIC_send(unsigned char send_data)
{
for (byte mask = 0x01; mask != 0; mask <<= 1) //Each byte has 8 bits and is
checked bit by bit starting at the lowest level
{
if (send_data & mask) { //Sets the high and low levels of SDA_Pin depending on
whether each bit of the byte is a 1 or a 0
digitalWrite(SDA_Pin, HIGH);
} else {
digitalWrite(SDA_Pin, LOW);
}
delayMicroseconds(3);
digitalWrite(SCL_Pin, HIGH); //Pull the clock pin SCL_Pin high to stop data
transmission
delayMicroseconds(3);
digitalWrite(SCL_Pin, LOW); //pull the clock pin SCL_Pin low to change the
SIGNAL of SDA
}
}
//*******************************************************************************
