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Base Arduino Nano
/*******************************************************
* 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();
}
DisplayDatavoid 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;
}
}
Menu1void 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);
}
Menu2void 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
/*******************************************************
* 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);
}
