Here I left the code for the robot Glory 3.0. There are two codes, one for the robot and the other for the control base. Both codes were made using arduino IDE and using arduino tabs. You have to instal two libraries for compiling the code, virtualwire and servotimer2. Here I left a zip with the code and the libraries.
Download here
Base Arduino Nano
Arduino_Nano_control
/*******************************************************
* Glory 3.0 Code *
* This is the transmitter code. *
* *
* Author: Rodrigo Mompó Redoli *
* with Arduino comunity help *
* Webpage: controlrobotics.rodrigomompo.com *
* Email: controlrobotics@rodrigomompo.com *
*******************************************************/
#include <LiquidCrystal.h> //Librarys
#include <VirtualWire.h>
// Variables
const int Sensor1Pin = A1; // Joystick pins
const int Sensor2Pin = A2;
const int Sensor3Pin = A3;
const int Sensor4Pin = A4;
const int ledPin = 13;
int selectstatus= 0;
int Menupag = 1;
int ModoCabeza = 0;
int Laserstatus = 0;
int reading = 0;
int Sensor1Data;
int Sensor2Data;
int Sensor3Data;
int Sensor4Data;
int fire;
long previousMillis;
long currentMillis;
char Sensor1CharMsg[30]; // String were all the varaibles will be stored
LiquidCrystal lcd(8,3,4,5,6,7); // define the pins for the lcd
void setup() {
// LED
pinMode(ledPin,OUTPUT);
// Sensor(s)
pinMode(Sensor1Pin,INPUT);
pinMode(Sensor2Pin,INPUT);
pinMode(Sensor3Pin,INPUT);
pinMode(Sensor4Pin,INPUT);
pinMode(2,INPUT); // Fire botton
lcd.begin(16,2); // Lcd
lcd.setCursor(3,0);
lcd.print("Glory 3.0");
// for debuggin
Serial.begin(9600);
// VirtualWire setup
vw_setup(2000); // Bits per sec
delay(1000);
}
void loop() {
// Read and store Sensor 1 data
Sensor1Data = analogRead(Sensor1Pin);
Sensor2Data = analogRead(Sensor2Pin);
Sensor3Data = analogRead(Sensor3Pin);
Sensor4Data = analogRead(Sensor4Pin);
//This code is made to prevent fire several bullets at the same time
currentMillis = millis();
if(digitalRead(2)== 1 && currentMillis - previousMillis > 1000) {
previousMillis = currentMillis;
fire = 1;}
else{fire = 0;}
//Convert the variables into a string
sprintf(Sensor1CharMsg, "%d,%d,%d,%d,%d,%d,%d,", Sensor1Data, Sensor2Data, Sensor3Data, Sensor4Data, ModoCabeza, Laserstatus, fire);
//* DEBUG
Serial.print("Sensor1 Integer: ");
Serial.print("X");
Serial.print(Sensor1Data);
Serial.print("Y");
Serial.print(Sensor2Data);
Serial.print("X1");
Serial.print(Sensor3Data);
Serial.print("Y1");
Serial.print(Sensor4Data);
Serial.print("Sensor1Datamsg");
Serial.print(Sensor1CharMsg);
Serial.println("//");
// END DEBUG*/
digitalWrite(13,LOW); // Turn on a light to show transmitting
vw_send((uint8_t *)Sensor1CharMsg, strlen(Sensor1CharMsg));
vw_wait_tx(); // Wait until the whole message is gone
// Turn off a light after transmission
delay(2);
digitalWrite(13,HIGH); // Turn off a light to show transmitting
reading = analogRead(0); // read the botons
Serial.println(analogRead(0));// For debug
DisplayData();
}
DisplayData
void DisplayData(){
// this code lets you select differents menus
if(reading == 0){
if(Menupag==3){}
else{Menupag++;}
}
if(reading == 481){
if(Menupag==1){}
else{Menupag--;}
}
switch(Menupag){
case 1:
Menu1();
break;
case 2:
Menu2();
break;
case 3:
Menu3();
break;
}
}
Menu1
void Menu1(){
// This code display informatión about the movement of the robot
int variable =map(Sensor1Data,0,1023,0,3);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Direcion:");
lcd.setCursor(10,0);
switch( variable ){
case 0:
lcd.print("Atras");
break;
case 1:
switch(map(Sensor2Data,0,1023,0,3)){
case 0:
lcd.print(" <== ");
break;
case 1:
lcd.print("Stop");
break;
case 2:
lcd.print(" ==> ");
break;
}
break;
case 2:
lcd.print("Ade");
break;
case 3:
lcd.print("Ade");
break;
}
lcd.setCursor(0,1);
lcd.print("X: ");
lcd.print(Sensor1Data);
lcd.print(" Y: ");
lcd.print(Sensor2Data);
}
Menu2
void Menu2(){
// this menu display information of the head of the robot
lcd.clear();
lcd.setCursor(0,0);
lcd.print("ModoCabeza: ");
lcd.setCursor(11,0);
//This part of the code let's you to select diferent modes for the head
if(reading == 722){
switch(ModoCabeza){
case 0:
ModoCabeza = 1;
break;
case 1:
ModoCabeza = 2;
break;
case 2:
ModoCabeza = 0;
break;
}
}
switch(ModoCabeza){
case 0:
lcd.print("Movil");
break;
case 1:
lcd.print(" Fijo");
break;
case 2:
lcd.print("Ultra");
break;
}
lcd.setCursor(0,1);
lcd.print("X: ");
lcd.print(Sensor4Data);
lcd.print(" Y: ");
lcd.print(Sensor3Data);
}
Menu3
void Menu3(){
// display the laser status and let you chage it
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Laser: ");
lcd.setCursor(8,0);
if(reading == 722){
switch(Laserstatus){
case 0:
Laserstatus= 1;
break;
case 1:
Laserstatus = 0;
break;
}
}
switch(Laserstatus){
case 0:
lcd.print("OFF");
break;
case 1:
lcd.print("ON");
break;
}
}
Robot Glory 3.0 Arduino Mega
Arduino_Mega_en_robot
/*******************************************************
* Glory 3.0 Code *
* This is the code that Glory runs. You need also *
* a robot controler with the transmitter code. *
* *
* Author: Rodrigo Mompó Redoli *
* with Arduino comunity help *
* Webpage: controlrobotics.rodrigomompo.com *
* Email: controlrobotics@rodrigomompo.com *
*******************************************************/
#include <VirtualWire.h>//Librarys
#include <ServoTimer2.h>// You can`t use VirtualWire and Servo library together,
// both use the same Arduino Timer. You nedd to use ServoTimer2.h that use Timer2 of the arduino.
// This code have extracts from differents tutorials on the web that I used long time ago, so I can remmeber the authors
#define MOTOR1_DIR_PIN 4 // Dir
#define MOTOR1_PWM 5 // CH2 Left Motor
#define MOTOR2_DIR_PIN 7 // Dir
#define MOTOR2_PWM 6 // CH3 Right Motor
#define MOTOR_DIR_FORWARD 0
#define MOTOR_DIR_BACKWARD 1
//Variables for Pan/Tilt servomotors
int oneb; int previousoneb; int servo1x;
int twob; int previoustwob; int servo2x;
//Creating servo objects
ServoTimer2 one;
ServoTimer2 two;
// Values from RF
int Sensor1Data;
int Sensor2Data;
int Servo1;
int Servo2;
int ModoCabeza;
int Laser;
int finish;
//Pin for the laser
int Laserpin = 2;
int Canonpin = 3;
int sensorcanon = 8;
int firesensor;
long previousMillis;
long currentMillis;
// RF Transmission container
char Sensor1CharMsg[26];
void setup() {
digitalWrite(Canonpin, HIGH);
Serial.begin(9600);//For debuggin
// Setup pins for motor 2
pinMode(MOTOR1_DIR_PIN,OUTPUT);
pinMode(MOTOR1_PWM,OUTPUT);
// Setup pins for motor 2
pinMode(MOTOR2_DIR_PIN,OUTPUT);
pinMode(MOTOR2_PWM,OUTPUT);
// Sets the digital pins as output
pinMode(13, OUTPUT);
pinMode(Laserpin, OUTPUT);
pinMode(Canonpin, OUTPUT);
pinMode(sensorcanon, INPUT);
//Attach the servo to enable their use
one.attach(9);
two.attach(10);
// VirtualWire
//(see controlrobotics.rodrigomompo.com for more information and tutorials)
vw_setup(2000);//Bits per second
vw_set_rx_pin(11);//Set receiver Pin
// Start the receiver PLL running
vw_rx_start();
Serial.print("Ready");//For debuggin
} // END void setup
void loop(){
TakingData();//Call a funtion that takes the data from RF
//Control del laser
if(Laser==1){digitalWrite(Laserpin,LOW);}
else{digitalWrite(Laserpin,HIGH);}
Serial.println(Laser);
MotorControl();//Control the robot motors
// For controling the cannon
currentMillis = millis();
if(firesensor == 1 && currentMillis - previousMillis > 500) {
previousMillis = currentMillis;
digitalWrite(Canonpin,LOW);
delay(10);
fire();}
digitalWrite(Canonpin,HIGH);
Serial.print(digitalRead(sensorcanon));
PanTilt();//Loop for controling the Pan/Tilt Head
}
Cannon
// This loop runs until the sensor of the cannon it's activeted when a bullet has been shooted
void fire(){
while (digitalRead(sensorcanon) == 0){
digitalWrite(Canonpin,LOW);
}
}
MotorControl
// This funtion Control the motors
// for moving the robot
void MotorControl(){
int speed1 = map(Sensor1Data,500,69,0,255);
int speed2 = map(Sensor1Data,500,1023,0,255);
int variable =map(Sensor2Data,0,1023,0,3);//Take Y coordinate
switch( variable ){
case 0:
// The robot go Backward
motorStart(1, MOTOR_DIR_BACKWARD);
setSpeed(1,
100);
motorStart(2, MOTOR_DIR_BACKWARD);
setSpeed(2, 100);
delay(2);
break;
case 1:
// In this case three new posibilities apeared
switch(map(Sensor1Data,0,1023,0,3)){
case 0:
//Robot goes right
motorStart(2, MOTOR_DIR_BACKWARD);
setSpeed(1, speed1);
motorStart(1, MOTOR_DIR_FORWARD);
setSpeed(2, speed1);
delay(2);
break;
case 1:
//Robot stop
motorStop(1);
motorStop(2);
break;
case 2:
//Robot goes left
motorStart(2, MOTOR_DIR_FORWARD);
setSpeed(1,speed2);
motorStart(1, MOTOR_DIR_BACKWARD);
setSpeed(2,speed2 );
delay(2);
break;
}
break;
case 2:
// The motor go Fordward
motorStart(1, MOTOR_DIR_FORWARD);
setSpeed(1,100);
motorStart(2, MOTOR_DIR_FORWARD);
setSpeed(2, 100);
delay(2);
break;
}
}
Motor_Control_Funtions
/*Here there are three funtions:
setSpeed();
motorStart();
motorStop();
All funtions are used for motor control
*/
void setSpeed(char motor_num, char motor_speed)
{
if (motor_num == 1)
{
analogWrite(MOTOR1_PWM, motor_speed);
}
else
{
analogWrite(MOTOR2_PWM, motor_speed);
}
}
void motorStart(char motor_num, byte direction)
{
char pin_dir;
if (motor_num == 1)
{
pin_dir = MOTOR1_DIR_PIN ;
}
else
{
pin_dir = MOTOR2_DIR_PIN ;
}
switch (direction)
{
case MOTOR_DIR_FORWARD:
{
digitalWrite(pin_dir,LOW);
}
break;
case MOTOR_DIR_BACKWARD:
{
digitalWrite(pin_dir,HIGH);
}
break;
}
}
void motorStop(char motor_num)
{
setSpeed(motor_num, 0);
if (motor_num == 1)
{
digitalWrite(MOTOR1_DIR_PIN ,HIGH);
}
else
{
digitalWrite(MOTOR2_DIR_PIN ,HIGH);
}
}
PanTilt
/*
This funtion control the head with
the camera and the shootcanon*/
void PanTilt(){
if(ModoCabeza== 0){
int onea = map(Servo1,950,0,2175,600);
one.write(onea + 50);//vertical
int twoa = map(Servo2,940,30,600,2000);
two.write(twoa + 100);// horizontal
previousoneb = onea;
previoustwob = twoa;
}
if (ModoCabeza == 1){
if(Servo1<350&&previousoneb<2300){oneb = previousoneb+10; one.write(oneb); previousoneb = oneb;}
if(Servo1>550&& previousoneb>754){oneb = previousoneb-10; one.write(oneb); previousoneb = oneb;}
if(Servo2<550&&previoustwob<2300) {twob = previoustwob+10; two.write(twob);previoustwob = twob;}
if(Servo2>400&& previoustwob>754){twob = previoustwob-10; two.write(twob);previoustwob = twob;}
delay(2);
}
if (ModoCabeza == 2){
if(Servo1<350&&previousoneb<2300){oneb = previousoneb+3; one.write(oneb); previousoneb = oneb;}
if(Servo1>550&& previousoneb>754){oneb = previousoneb-3; one.write(oneb); previousoneb = oneb;}
if(Servo2<550&&previoustwob<2300){twob = previoustwob+3; two.write(twob);previoustwob = twob;}
if(Servo2>400&& previoustwob>754){twob = previoustwob-3; two.write(twob);previoustwob = twob;}
}
delay(10);
}
TakingData
/*This funtion take the data from the RF
and store it in diferent integres for controling
the robot*/
void TakingData(){
//For taking data from RF and store it
uint8_t buf[VW_MAX_MESSAGE_LEN];
uint8_t buflen = VW_MAX_MESSAGE_LEN;
//Taking the data from the control base
if (vw_get_message(buf, &buflen))
{
int i;
digitalWrite(13,HIGH);
// Message with a good checksum received, dump it.
for (i = 0; i < buflen; i++){
// Fill Sensor1CharMsg Char array with corresponding
// chars from buffer.
Sensor1CharMsg[i] = char(buf[i]);}
//A funtion used for taking a string with all the data and convert it in differents number variables
sscanf(Sensor1CharMsg, "%d,%d,%d,%d,%d,%d,%d",&Sensor1Data, &Sensor2Data,&Servo1,&Servo2,&ModoCabeza,&Laser,&firesensor); // Convierte un string en un array
Serial.print("Read"); //For debuggin
Serial.print(Sensor1CharMsg); //For debuggin
}
delay(10);
digitalWrite(13,LOW);
}
