Robotcar Controlled Using G-Sensor Smartphone
อุปกรณ์
1.Arduino UNO & Genuino UNO ×1
2.Bluetooth HC-06 module ×1
3.Motor driver chip L298N ×1
4.Any robot car platform ×1
5.RemoteXY
ตัวอย่างโค้ด
///////////////////////////////////////////// // RemoteXY include library //
/////////////////////////////////////////////
/* RemoteXY select connection mode and include library */
#define REMOTEXY_MODE__SOFTWARESERIAL
#include <SoftwareSerial.h>
#include <RemoteXY.h>
/* RemoteXY connection settings */
#define REMOTEXY_SERIAL_RX 2
#define REMOTEXY_SERIAL_TX 3
#define REMOTEXY_SERIAL_SPEED 9600
/* RemoteXY configurate */
unsigned char RemoteXY_CONF[] =
{ 3,0,23,0,1,5,5,15,41,11
,43,43,1,2,0,6,5,27,11,5
,79,78,0,79,70,70,0 };
/* this structure defines all the variables of your control interface */
struct {
/* input variable */
signed char joystick_1_x; /* =-100..100 x-coordinate joystick position */
signed char joystick_1_y; /* =-100..100 y-coordinate joystick position */
unsigned char switch_1; /* =1 if switch ON and =0 if OFF */
/* other variable */
unsigned char connect_flag; /* =1 if wire connected, else =0 */
} RemoteXY;
/////////////////////////////////////////////
// END RemoteXY include //
/////////////////////////////////////////////
/* defined the right motor control pins */
#define PIN_MOTOR_RIGHT_UP 7
#define PIN_MOTOR_RIGHT_DN 6
#define PIN_MOTOR_RIGHT_SPEED 10
/* defined the left motor control pins */
#define PIN_MOTOR_LEFT_UP 5
#define PIN_MOTOR_LEFT_DN 4
#define PIN_MOTOR_LEFT_SPEED 9
/* defined the LED pin */
#define PIN_LED 13
/* defined two arrays with a list of pins for each motor */
unsigned char RightMotor[3] =
{PIN_MOTOR_RIGHT_UP, PIN_MOTOR_RIGHT_DN, PIN_MOTOR_RIGHT_SPEED};
unsigned char LeftMotor[3] =
{PIN_MOTOR_LEFT_UP, PIN_MOTOR_LEFT_DN, PIN_MOTOR_LEFT_SPEED};
/*
speed control of the motor
motor - pointer to an array of pins
v - motor speed can be set from -100 to 100
*/
void Wheel (unsigned char * motor, int v)
{
if (v>100) v=100;
if (v<-100) v=-100;
if (v>0) {
digitalWrite(motor[0], HIGH);
digitalWrite(motor[1], LOW);
analogWrite(motor[2], v*2.55);
}
else if (v<0) {
digitalWrite(motor[0], LOW);
digitalWrite(motor[1], HIGH);
analogWrite(motor[2], (-v)*2.55);
}
else {
digitalWrite(motor[0], LOW);
digitalWrite(motor[1], LOW);
analogWrite(motor[2], 0);
}
}
void setup()
{
/* initialization pins */
pinMode (PIN_MOTOR_RIGHT_UP, OUTPUT);
pinMode (PIN_MOTOR_RIGHT_DN, OUTPUT);
pinMode (PIN_MOTOR_LEFT_UP, OUTPUT);
pinMode (PIN_MOTOR_LEFT_DN, OUTPUT);
pinMode (PIN_LED, OUTPUT);
/* initialization module RemoteXY */
RemoteXY_Init ();
}
void loop()
{
/* event handler module RemoteXY */
RemoteXY_Handler ();
/* manage LED pin */
digitalWrite (PIN_LED, (RemoteXY.switch_1==0)?LOW:HIGH);
/* manage the right motor */
Wheel (RightMotor, RemoteXY.joystick_1_y - RemoteXY.joystick_1_x);
/* manage the left motor */
Wheel (LeftMotor, RemoteXY.joystick_1_y + RemoteXY.joystick_1_x);
}
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