Spideruino

A Lego arachnid controlled by your smartphone.

Feb 14, 2017

•

67891 views

•

48 respects

lego

technics

toys

Components and supplies

4S lipo battery

DC motor (generic)

Dual H-Bridge motor drivers L298

SparkFun Bluetooth Modem - BlueSMiRF Silver

Arduino Nano R3

Project description

Code

Androidcode

java

This is the core of the Android application. It uses a virtual Joystick library (zerokol's JoystickView).

1package com.pj.hiro.hiro_control;
2
3import android.bluetooth.BluetoothAdapter;
4import  android.bluetooth.BluetoothDevice;
5import android.bluetooth.BluetoothSocket;
6import  android.content.Intent;
7import android.content.pm.ActivityInfo;
8import android.os.Bundle;
9import  android.os.Handler;
10import android.widget.Button;
11import android.widget.EditText;
12import  android.widget.LinearLayout;
13import android.widget.RelativeLayout;
14import  android.widget.TextView;
15import android.support.design.widget.FloatingActionButton;
16import  android.support.design.widget.Snackbar;
17import android.support.v7.app.AppCompatActivity;
18import  android.support.v7.widget.Toolbar;
19import android.view.View;
20import android.view.Menu;
21import  android.view.MenuItem;
22import android.widget.Toast;
23
24import com.zerokol.views.JoystickView;
25
26import  java.io.IOException;
27import java.io.InputStream;
28import java.io.OutputStream;
29import  java.util.Set;
30import java.util.UUID;
31
32
33public class MainActivity extends  AppCompatActivity {
34
35    //BT
36    private final String DEVICE_ADDRESS="Your  BT module Mac Adress";
37    private final UUID PORT_UUID = UUID.fromString("00001101-0000-1000-8000-00805f9b34fb");//Serial  Port Service ID
38    private BluetoothDevice device;
39    private BluetoothSocket  socket;
40    private OutputStream outputStream;
41    private InputStream inputStream;
42    Button startButton, sendButton,clearButton,stopButton;
43    TextView textView;
44    EditText editText;
45    LinearLayout joystickLayout;
46    RelativeLayout  bluetoothLayout;
47    boolean deviceConnected=false;
48    Thread thread;
49    FloatingActionButton fab;
50    byte buffer[];
51    int bufferPosition;
52    boolean stopThread;
53    //___
54
55    private TextView angleTextView;
56    private TextView powerTextView;
57    private TextView directionTextView;
58    // Importing also other views
59    private JoystickView joystick;
60
61    @Override
62    protected void onCreate(Bundle savedInstanceState) {
63        super.onCreate(savedInstanceState);
64        setContentView(R.layout.activity_main);
65        startButton = (Button)  findViewById(R.id.buttonStart);
66        sendButton = (Button) findViewById(R.id.buttonSend);
67        clearButton = (Button) findViewById(R.id.buttonClear);
68        stopButton  = (Button) findViewById(R.id.buttonStop);
69        editText = (EditText) findViewById(R.id.editText);
70        textView = (TextView) findViewById(R.id.textView);
71        bluetoothLayout  = (RelativeLayout) findViewById(R.id.BluetoothLayout);
72        joystickLayout  = (LinearLayout) findViewById(R.id.JoyStickLayout);
73        fab = (FloatingActionButton)  findViewById(R.id.hider);
74        setUiEnabled(false);
75
76
77
78        //  Set window fullscreen and remove title bar, and force landscape orientation
79        setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
80
81
82
83
84        angleTextView = (TextView) findViewById(R.id.angleTextView);
85        powerTextView  = (TextView) findViewById(R.id.powerTextView);
86        directionTextView = (TextView)  findViewById(R.id.directionTextView);
87        //Referencing also other views
88        joystick = (JoystickView) findViewById(R.id.joystickView);
89
90        joystick.setOnJoystickMoveListener(new  JoystickView.OnJoystickMoveListener() {
91
92            @Override
93            public  void onValueChanged(int angle, int power, int direction) {
94                //  TODO Auto-generated method stub
95                angleTextView.setText(" " +  String.valueOf(angle) + "°");
96                powerTextView.setText(" " +  String.valueOf(power) + "%");
97                if(outputStream != null) {
98                    try {
99                        outputStream.write((String.valueOf(direction)  + "/" + String.valueOf(Math.round(power * 2.5)) + "%").getBytes());
100                    }  catch (IOException e) {
101                        e.printStackTrace();
102                    }
103                }
104                switch (direction) {
105                    case  JoystickView.FRONT:
106                        directionTextView.setText("front_lab"  + " " + direction);
107                        break;
108                    case  JoystickView.FRONT_RIGHT:
109                        directionTextView.setText("front_right_lab"  + " " + direction);
110                        break;
111                    case  JoystickView.RIGHT:
112                        directionTextView.setText("right_lab"  + " " + direction);
113                        break;
114                    case  JoystickView.RIGHT_BOTTOM:
115                        directionTextView.setText("right_bottom_lab"  + " " + direction);
116                        break;
117                    case  JoystickView.BOTTOM:
118                        directionTextView.setText("bottom_lab"  + " " + direction);
119                        break;
120                    case  JoystickView.BOTTOM_LEFT:
121                        directionTextView.setText("bottom_left_lab"  + " " + direction);
122                        break;
123                    case  JoystickView.LEFT:
124                        directionTextView.setText("left_lab"  + " " + direction);
125                        break;
126                    case  JoystickView.LEFT_FRONT:
127                        directionTextView.setText("left_front_lab"  + " " + direction);
128                        break;
129                    default:
130                        directionTextView.setText("center_lab" + " " + direction);
131                }
132
133                int polaR = 0;
134                int polaL  = 0;
135                int thrustR = 0;
136                int thrustL = 0;
137
138            }
139        }, JoystickView.DEFAULT_LOOP_INTERVAL);
140
141        fab.setOnClickListener(new  View.OnClickListener() {
142            @Override
143            public void onClick(View  view) {
144                if(bluetoothLayout.getVisibility()==View.GONE){
145                    bluetoothLayout.setVisibility(View.VISIBLE);
146                }
147                else{
148                    bluetoothLayout.setVisibility(View.GONE);
149                }
150            }
151        });
152
153        joystickLayout.setVisibility(View.GONE);
154
155
156    }
157
158    public void setUiEnabled(boolean bool)
159    {
160        startButton.setEnabled(!bool);
161        sendButton.setEnabled(bool);
162        stopButton.setEnabled(bool);
163        textView.setEnabled(bool);
164
165    }
166
167    public boolean BTinit()
168    {
169        boolean found=false;
170        BluetoothAdapter bluetoothAdapter=BluetoothAdapter.getDefaultAdapter();
171        if (bluetoothAdapter == null) {
172            Toast.makeText(getApplicationContext(),"Device  doesnt Support Bluetooth",Toast.LENGTH_SHORT).show();
173        }
174        if(!bluetoothAdapter.isEnabled())
175        {
176            Intent enableAdapter = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
177            startActivityForResult(enableAdapter, 0);
178            try {
179                Thread.sleep(1000);
180            } catch (InterruptedException e) {
181                e.printStackTrace();
182            }
183        }
184        Set<BluetoothDevice> bondedDevices = bluetoothAdapter.getBondedDevices();
185        if(bondedDevices.isEmpty())
186        {
187            Toast.makeText(getApplicationContext(),"Please  Pair the Device first",Toast.LENGTH_SHORT).show();
188        }
189        else
190        {
191            for (BluetoothDevice iterator : bondedDevices)
192            {
193                if(iterator.getAddress().equals(DEVICE_ADDRESS))
194                {
195                    device=iterator;
196                    found=true;
197                    break;
198                }
199            }
200        }
201        return found;
202    }
203
204    public boolean BTconnect()
205    {
206        boolean connected=true;
207        try  {
208            socket = device.createRfcommSocketToServiceRecord(PORT_UUID);
209            socket.connect();
210        } catch (IOException e) {
211            e.printStackTrace();
212            connected=false;
213        }
214        if(connected)
215        {
216            try {
217                outputStream=socket.getOutputStream();
218            } catch (IOException e) {
219                e.printStackTrace();
220            }
221            try {
222                inputStream=socket.getInputStream();
223            } catch (IOException e) {
224                e.printStackTrace();
225            }
226
227        }
228
229
230        return connected;
231    }
232
233    public void onClickStart(View view) {
234        if(BTinit())
235        {
236            if(BTconnect())
237            {
238                setUiEnabled(true);
239                deviceConnected=true;
240                beginListenForData();
241                textView.append("\
242Connection Opened!\
243");
244                if(joystickLayout.getVisibility()==View.GONE){
245                    joystickLayout.setVisibility(View.VISIBLE);
246                }
247            }
248
249        }
250    }
251
252    void beginListenForData()
253    {
254        final Handler handler = new Handler();
255        stopThread =  false;
256        buffer = new byte[1024];
257        Thread thread  = new Thread(new  Runnable()
258        {
259            public void run()
260            {
261                while(!Thread.currentThread().isInterrupted()  && !stopThread)
262                {
263                    try
264                    {
265                        int byteCount = inputStream.available();
266                        if(byteCount  > 0)
267                        {
268                            byte[] rawBytes  = new byte[byteCount];
269                            inputStream.read(rawBytes);
270                            final String string=new String(rawBytes,"UTF-8");
271                            handler.post(new Runnable() {
272                                public  void run()
273                                {
274                                    textView.append(string);
275                                    Toast.makeText(getApplicationContext(), "Reçu"  + string, Toast.LENGTH_SHORT).show();
276                                }
277                            });
278
279                        }
280                    }
281                    catch  (IOException ex)
282                    {
283                        stopThread  = true;
284                    }
285                }
286            }
287        });
288
289        thread.start();
290    }
291
292    public void onClickSend(View view) {
293        String string = editText.getText().toString() + "?";
294        try {
295            outputStream.write(string.getBytes());
296        } catch (IOException  e) {
297            e.printStackTrace();
298        }
299        textView.append("\
300Sent  Data:"+string+"\
301");
302
303    }
304
305    public void onClickStop(View view)  throws IOException {
306        stopThread = true;
307        outputStream.close();
308        inputStream.close();
309        socket.close();
310        setUiEnabled(false);
311        deviceConnected=false;
312        textView.append("\
313Connection Closed!\
314");
315        if(joystickLayout.getVisibility()==View.VISIBLE){
316            joystickLayout.setVisibility(View.GONE);
317        }
318    }
319
320    public void onClickClear(View view) {
321        textView.setText("");
322    }
323
324    @Override
325    public boolean onCreateOptionsMenu(Menu menu)  {
326        // Inflate the menu; this adds items to the action bar if it is present.
327        getMenuInflater().inflate(R.menu.menu_main, menu);
328        return true;
329    }
330
331    @Override
332    public boolean onOptionsItemSelected(MenuItem  item) {
333        // Handle action bar item clicks here. The action bar will
334        // automatically handle clicks on the Home/Up button, so long
335        //  as you specify a parent activity in AndroidManifest.xml.
336        int id = item.getItemId();
337
338        //noinspection SimplifiableIfStatement
339        if (id == R.id.action_settings)  {
340            return true;
341        }
342
343        return super.onOptionsItemSelected(item);
344    }
345
346    /**
347     * A native method that is implemented by the 'native-lib'  native library,
348     * which is packaged with this application.
349     */
350    public native String stringFromJNI();
351
352    // Used to load the 'native-lib'  library on application startup.
353    static {
354        System.loadLibrary("native-lib");
355    }
356}
357

package com.pj.hiro.hiro_control;

import android.bluetooth.BluetoothAdapter;
import  android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import  android.content.Intent;
import android.content.pm.ActivityInfo;
import android.os.Bundle;
import  android.os.Handler;
import android.widget.Button;
import android.widget.EditText;
import  android.widget.LinearLayout;
import android.widget.RelativeLayout;
import  android.widget.TextView;
import android.support.design.widget.FloatingActionButton;
import  android.support.design.widget.Snackbar;
import android.support.v7.app.AppCompatActivity;
import  android.support.v7.widget.Toolbar;
import android.view.View;
import android.view.Menu;
import  android.view.MenuItem;
import android.widget.Toast;

import com.zerokol.views.JoystickView;

import  java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import  java.util.Set;
import java.util.UUID;


public class MainActivity extends  AppCompatActivity {

    //BT
    private final String DEVICE_ADDRESS="Your  BT module Mac Adress";
    private final UUID PORT_UUID = UUID.fromString("00001101-0000-1000-8000-00805f9b34fb");//Serial  Port Service ID
    private BluetoothDevice device;
    private BluetoothSocket  socket;
    private OutputStream outputStream;
    private InputStream inputStream;
    Button startButton, sendButton,clearButton,stopButton;
    TextView textView;
    EditText editText;
    LinearLayout joystickLayout;
    RelativeLayout  bluetoothLayout;
    boolean deviceConnected=false;
    Thread thread;
    FloatingActionButton fab;
    byte buffer[];
    int bufferPosition;
    boolean stopThread;
    //___

    private TextView angleTextView;
    private TextView powerTextView;
    private TextView directionTextView;
    // Importing also other views
    private JoystickView joystick;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        startButton = (Button)  findViewById(R.id.buttonStart);
        sendButton = (Button) findViewById(R.id.buttonSend);
        clearButton = (Button) findViewById(R.id.buttonClear);
        stopButton  = (Button) findViewById(R.id.buttonStop);
        editText = (EditText) findViewById(R.id.editText);
        textView = (TextView) findViewById(R.id.textView);
        bluetoothLayout  = (RelativeLayout) findViewById(R.id.BluetoothLayout);
        joystickLayout  = (LinearLayout) findViewById(R.id.JoyStickLayout);
        fab = (FloatingActionButton)  findViewById(R.id.hider);
        setUiEnabled(false);



        //  Set window fullscreen and remove title bar, and force landscape orientation
        setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);




        angleTextView = (TextView) findViewById(R.id.angleTextView);
        powerTextView  = (TextView) findViewById(R.id.powerTextView);
        directionTextView = (TextView)  findViewById(R.id.directionTextView);
        //Referencing also other views
        joystick = (JoystickView) findViewById(R.id.joystickView);

        joystick.setOnJoystickMoveListener(new  JoystickView.OnJoystickMoveListener() {

            @Override
            public  void onValueChanged(int angle, int power, int direction) {
                //  TODO Auto-generated method stub
                angleTextView.setText(" " +  String.valueOf(angle) + "°");
                powerTextView.setText(" " +  String.valueOf(power) + "%");
                if(outputStream != null) {
                    try {
                        outputStream.write((String.valueOf(direction)  + "/" + String.valueOf(Math.round(power * 2.5)) + "%").getBytes());
                    }  catch (IOException e) {
                        e.printStackTrace();
                    }
                }
                switch (direction) {
                    case  JoystickView.FRONT:
                        directionTextView.setText("front_lab"  + " " + direction);
                        break;
                    case  JoystickView.FRONT_RIGHT:
                        directionTextView.setText("front_right_lab"  + " " + direction);
                        break;
                    case  JoystickView.RIGHT:
                        directionTextView.setText("right_lab"  + " " + direction);
                        break;
                    case  JoystickView.RIGHT_BOTTOM:
                        directionTextView.setText("right_bottom_lab"  + " " + direction);
                        break;
                    case  JoystickView.BOTTOM:
                        directionTextView.setText("bottom_lab"  + " " + direction);
                        break;
                    case  JoystickView.BOTTOM_LEFT:
                        directionTextView.setText("bottom_left_lab"  + " " + direction);
                        break;
                    case  JoystickView.LEFT:
                        directionTextView.setText("left_lab"  + " " + direction);
                        break;
                    case  JoystickView.LEFT_FRONT:
                        directionTextView.setText("left_front_lab"  + " " + direction);
                        break;
                    default:
                        directionTextView.setText("center_lab" + " " + direction);
                }

                int polaR = 0;
                int polaL  = 0;
                int thrustR = 0;
                int thrustL = 0;

            }
        }, JoystickView.DEFAULT_LOOP_INTERVAL);

        fab.setOnClickListener(new  View.OnClickListener() {
            @Override
            public void onClick(View  view) {
                if(bluetoothLayout.getVisibility()==View.GONE){
                    bluetoothLayout.setVisibility(View.VISIBLE);
                }
                else{
                    bluetoothLayout.setVisibility(View.GONE);
                }
            }
        });

        joystickLayout.setVisibility(View.GONE);


    }

    public void setUiEnabled(boolean bool)
    {
        startButton.setEnabled(!bool);
        sendButton.setEnabled(bool);
        stopButton.setEnabled(bool);
        textView.setEnabled(bool);

    }

    public boolean BTinit()
    {
        boolean found=false;
        BluetoothAdapter bluetoothAdapter=BluetoothAdapter.getDefaultAdapter();
        if (bluetoothAdapter == null) {
            Toast.makeText(getApplicationContext(),"Device  doesnt Support Bluetooth",Toast.LENGTH_SHORT).show();
        }
        if(!bluetoothAdapter.isEnabled())
        {
            Intent enableAdapter = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
            startActivityForResult(enableAdapter, 0);
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }
        Set<BluetoothDevice> bondedDevices = bluetoothAdapter.getBondedDevices();
        if(bondedDevices.isEmpty())
        {
            Toast.makeText(getApplicationContext(),"Please  Pair the Device first",Toast.LENGTH_SHORT).show();
        }
        else
        {
            for (BluetoothDevice iterator : bondedDevices)
            {
                if(iterator.getAddress().equals(DEVICE_ADDRESS))
                {
                    device=iterator;
                    found=true;
                    break;
                }
            }
        }
        return found;
    }

    public boolean BTconnect()
    {
        boolean connected=true;
        try  {
            socket = device.createRfcommSocketToServiceRecord(PORT_UUID);
            socket.connect();
        } catch (IOException e) {
            e.printStackTrace();
            connected=false;
        }
        if(connected)
        {
            try {
                outputStream=socket.getOutputStream();
            } catch (IOException e) {
                e.printStackTrace();
            }
            try {
                inputStream=socket.getInputStream();
            } catch (IOException e) {
                e.printStackTrace();
            }

        }


        return connected;
    }

    public void onClickStart(View view) {
        if(BTinit())
        {
            if(BTconnect())
            {
                setUiEnabled(true);
                deviceConnected=true;
                beginListenForData();
                textView.append("\
Connection Opened!\
");
                if(joystickLayout.getVisibility()==View.GONE){
                    joystickLayout.setVisibility(View.VISIBLE);
                }
            }

        }
    }

    void beginListenForData()
    {
        final Handler handler = new Handler();
        stopThread =  false;
        buffer = new byte[1024];
        Thread thread  = new Thread(new  Runnable()
        {
            public void run()
            {
                while(!Thread.currentThread().isInterrupted()  && !stopThread)
                {
                    try
                    {
                        int byteCount = inputStream.available();
                        if(byteCount  > 0)
                        {
                            byte[] rawBytes  = new byte[byteCount];
                            inputStream.read(rawBytes);
                            final String string=new String(rawBytes,"UTF-8");
                            handler.post(new Runnable() {
                                public  void run()
                                {
                                    textView.append(string);
                                    Toast.makeText(getApplicationContext(), "Reçu"  + string, Toast.LENGTH_SHORT).show();
                                }
                            });

                        }
                    }
                    catch  (IOException ex)
                    {
                        stopThread  = true;
                    }
                }
            }
        });

        thread.start();
    }

    public void onClickSend(View view) {
        String string = editText.getText().toString() + "?";
        try {
            outputStream.write(string.getBytes());
        } catch (IOException  e) {
            e.printStackTrace();
        }
        textView.append("\
Sent  Data:"+string+"\
");

    }

    public void onClickStop(View view)  throws IOException {
        stopThread = true;
        outputStream.close();
        inputStream.close();
        socket.close();
        setUiEnabled(false);
        deviceConnected=false;
        textView.append("\
Connection Closed!\
");
        if(joystickLayout.getVisibility()==View.VISIBLE){
            joystickLayout.setVisibility(View.GONE);
        }
    }

    public void onClickClear(View view) {
        textView.setText("");
    }

    @Override
    public boolean onCreateOptionsMenu(Menu menu)  {
        // Inflate the menu; this adds items to the action bar if it is present.
        getMenuInflater().inflate(R.menu.menu_main, menu);
        return true;
    }

    @Override
    public boolean onOptionsItemSelected(MenuItem  item) {
        // Handle action bar item clicks here. The action bar will
        // automatically handle clicks on the Home/Up button, so long
        //  as you specify a parent activity in AndroidManifest.xml.
        int id = item.getItemId();

        //noinspection SimplifiableIfStatement
        if (id == R.id.action_settings)  {
            return true;
        }

        return super.onOptionsItemSelected(item);
    }

    /**
     * A native method that is implemented by the 'native-lib'  native library,
     * which is packaged with this application.
     */
    public native String stringFromJNI();

    // Used to load the 'native-lib'  library on application startup.
    static {
        System.loadLibrary("native-lib");
    }
}

Nano Code

arduino

Upload it to the Nano, it reads the Android orders incomming by bluetooth.

1//ARDUINO Hiro NANO
2
3//RXD to TXO (white)
4//TXD to RXO (black)   BT adapter
5
6// motor one
7int enA = 11; //gris
8int in1 = 10; // bleu
9int   in2 = 9; //vert
10// motor two
11int enB = 3; // violet
12int in3 = 6; // jaune
13int   in4 = 5; // orange
14
15
16char command;
17String btdata;
18int power;
19int   dir;
20// Variables for the duration and the distance
21long duration;
22int   distance;
23
24void setup() {  
25 
26  pinMode(enA, OUTPUT);
27  pinMode(enB,   OUTPUT);
28  pinMode(in1, OUTPUT);
29  pinMode(in2, OUTPUT);
30  pinMode(in3,   OUTPUT);
31  pinMode(in4, OUTPUT);
32  pinMode(LED_BUILTIN, OUTPUT);
33
34  Serial.begin(57600);   
35  Serial.print("#ihihuuho");
36  //MotorsForward();
37}
38
39
40void   loop()
41{  
42  if (Serial.available() > 0)
43  {
44  }
45  while (Serial.available()   > 0)
46  { command = (Serial.read());
47    //Serial.println(" cmdd ");
48     //Serial.println(command);
49
50    
51    //Serial.println("str: " + btdata);
52     if (command == '?')
53    {
54      //Serial.println();
55      //Serial.println("Command:   " + btdata);
56
57      delay(1);
58
59     if (btdata.indexOf("forw") >=   0){
60        MotorsForward(255);
61        }
62     if (btdata.indexOf("back")   >= 0){
63        MotorsBackward(255);
64        }
65      else{
66        Serial.println("Command   not recognized: " + btdata);
67      }
68      
69
70      btdata = "";
71       }
72    else if (command == '/')
73    {
74      //Serial.println();
75       //Serial.println("Direction: " + btdata);
76      dir = btdata.toInt();
77       btdata = "";
78    }
79    else if (command == '%')
80    {
81      //Serial.println();
82       Serial.println("Power: " + btdata);
83      power = btdata.toInt();
84       btdata = "";
85      if ( dir == 1 && power>0) {
86        MotorsForward(power);
87       }
88      else if ( dir == 5 && power>0) {
89        MotorsBackward(power);
90       }
91      else if ( dir == 7 && power>0) {
92        MotorsSpinR(power);
93       }
94      else if ( dir == 3 && power>0) {
95        MotorsSpinL(power);
96       }
97      else if ( dir == 8 && power>0) {
98        MotorsFR(power);
99       }
100      else if ( dir == 2 && power>0) {
101        MotorsFL(power);
102       }
103      else if ( dir == 4 && power>0) {
104        MotorsBL(power);
105       }
106      else if ( dir == 6 && power>0) {
107        MotorsBR(power);
108       }
109      else{
110        MotorsStop();
111      }
112    }
113    else{
114       btdata = btdata + command;
115    }
116
117    
118   }
119   delay(500);
120   }
121
122void LedBlue()
123{
124  digitalWrite(LED_BUILTIN, HIGH);   // turn the   LED on (HIGH is the voltage level)
125  //delay(1000);                       //   wait for a second
126}
127
128void LedRed()
129{
130  digitalWrite(LED_BUILTIN,   LOW);   // turn the LED on (HIGH is the voltage level)
131}
132
133
134void MotorsBackward(int   powa)
135{
136  digitalWrite(in1, HIGH);
137  digitalWrite(in2, LOW);
138  digitalWrite(in3,   HIGH);
139  digitalWrite(in4, LOW);
140  analogWrite(enA, powa);
141  analogWrite(enB,   powa);
142  
143}
144
145void MotorsForward(int powa)
146{
147  // Serial.println("Forward!");
148
149   digitalWrite(in1, LOW);
150  digitalWrite(in2, HIGH);
151  digitalWrite(in3, LOW);
152   digitalWrite(in4, HIGH);
153  analogWrite(enA, powa);
154  analogWrite(enB, powa);
155   
156}
157
158void MotorsSpinR(int powa)
159{
160  digitalWrite(in1, HIGH);
161  digitalWrite(in2,   LOW);
162  digitalWrite(in3, LOW);
163  digitalWrite(in4, HIGH);
164  analogWrite(enA,   powa);
165  analogWrite(enB, powa);
166  
167}
168void MotorsSpinL(int powa)
169{
170   digitalWrite(in1, LOW);
171  digitalWrite(in2, HIGH);
172  digitalWrite(in3, HIGH);
173   digitalWrite(in4, LOW);
174  analogWrite(enA, powa);
175  analogWrite(enB, powa);
176   
177}
178void MotorsFL(int powa)
179{
180  digitalWrite(in1, LOW);
181  digitalWrite(in2,   HIGH);
182  digitalWrite(in3, LOW);
183  digitalWrite(in4, LOW);
184  analogWrite(enA,   powa);  
185}
186void MotorsFR(int powa)
187{
188  digitalWrite(in1, LOW);
189  digitalWrite(in2,   LOW);
190  digitalWrite(in3, LOW);
191  digitalWrite(in4, HIGH);
192  analogWrite(enB,   powa);  
193}
194void MotorsBR(int powa)
195{
196  digitalWrite(in1, HIGH);
197   digitalWrite(in2, LOW);
198  digitalWrite(in3, LOW);
199  digitalWrite(in4, LOW);
200   analogWrite(enA, powa);  
201}
202void MotorsBL(int powa)
203{
204  digitalWrite(in1,   LOW);
205  digitalWrite(in2, LOW);
206  digitalWrite(in3, HIGH);
207  digitalWrite(in4,   LOW);
208  analogWrite(enB, powa);  
209}
210
211void MotorsStop()
212{
213  //   now turn off motors
214  digitalWrite(in1, LOW);
215  digitalWrite(in2, LOW);
216   digitalWrite(in3, LOW);
217  digitalWrite(in4, LOW);
218}
219
220
221

//ARDUINO Hiro NANO

//RXD to TXO (white)
//TXD to RXO (black)   BT adapter

// motor one
int enA = 11; //gris
int in1 = 10; // bleu
int   in2 = 9; //vert
// motor two
int enB = 3; // violet
int in3 = 6; // jaune
int   in4 = 5; // orange


char command;
String btdata;
int power;
int   dir;
// Variables for the duration and the distance
long duration;
int   distance;

void setup() {  
 
  pinMode(enA, OUTPUT);
  pinMode(enB,   OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3,   OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(LED_BUILTIN, OUTPUT);

  Serial.begin(57600);   
  Serial.print("#ihihuuho");
  //MotorsForward();
}


void   loop()
{  
  if (Serial.available() > 0)
  {
  }
  while (Serial.available()   > 0)
  { command = (Serial.read());
    //Serial.println(" cmdd ");
     //Serial.println(command);

    
    //Serial.println("str: " + btdata);
     if (command == '?')
    {
      //Serial.println();
      //Serial.println("Command:   " + btdata);

      delay(1);

     if (btdata.indexOf("forw") >=   0){
        MotorsForward(255);
        }
     if (btdata.indexOf("back")   >= 0){
        MotorsBackward(255);
        }
      else{
        Serial.println("Command   not recognized: " + btdata);
      }
      

      btdata = "";
       }
    else if (command == '/')
    {
      //Serial.println();
       //Serial.println("Direction: " + btdata);
      dir = btdata.toInt();
       btdata = "";
    }
    else if (command == '%')
    {
      //Serial.println();
       Serial.println("Power: " + btdata);
      power = btdata.toInt();
       btdata = "";
      if ( dir == 1 && power>0) {
        MotorsForward(power);
       }
      else if ( dir == 5 && power>0) {
        MotorsBackward(power);
       }
      else if ( dir == 7 && power>0) {
        MotorsSpinR(power);
       }
      else if ( dir == 3 && power>0) {
        MotorsSpinL(power);
       }
      else if ( dir == 8 && power>0) {
        MotorsFR(power);
       }
      else if ( dir == 2 && power>0) {
        MotorsFL(power);
       }
      else if ( dir == 4 && power>0) {
        MotorsBL(power);
       }
      else if ( dir == 6 && power>0) {
        MotorsBR(power);
       }
      else{
        MotorsStop();
      }
    }
    else{
       btdata = btdata + command;
    }

    
   }
   delay(500);
   }

void LedBlue()
{
  digitalWrite(LED_BUILTIN, HIGH);   // turn the   LED on (HIGH is the voltage level)
  //delay(1000);                       //   wait for a second
}

void LedRed()
{
  digitalWrite(LED_BUILTIN,   LOW);   // turn the LED on (HIGH is the voltage level)
}


void MotorsBackward(int   powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3,   HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB,   powa);
  
}

void MotorsForward(int powa)
{
  // Serial.println("Forward!");

   digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
   digitalWrite(in4, HIGH);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
   
}

void MotorsSpinR(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2,   LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA,   powa);
  analogWrite(enB, powa);
  
}
void MotorsSpinL(int powa)
{
   digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
   digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
   
}
void MotorsFL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2,   HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA,   powa);  
}
void MotorsFR(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2,   LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB,   powa);  
}
void MotorsBR(int powa)
{
  digitalWrite(in1, HIGH);
   digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
   analogWrite(enA, powa);  
}
void MotorsBL(int powa)
{
  digitalWrite(in1,   LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4,   LOW);
  analogWrite(enB, powa);  
}

void MotorsStop()
{
  //   now turn off motors
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
   digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}

Androidcode

java

This is the core of the Android application. It uses a virtual Joystick library (zerokol's JoystickView).

1package com.pj.hiro.hiro_control;
2
3import android.bluetooth.BluetoothAdapter;
4import
5  android.bluetooth.BluetoothDevice;
6import android.bluetooth.BluetoothSocket;
7import
8  android.content.Intent;
9import android.content.pm.ActivityInfo;
10import android.os.Bundle;
11import
12  android.os.Handler;
13import android.widget.Button;
14import android.widget.EditText;
15import
16  android.widget.LinearLayout;
17import android.widget.RelativeLayout;
18import
19  android.widget.TextView;
20import android.support.design.widget.FloatingActionButton;
21import
22  android.support.design.widget.Snackbar;
23import android.support.v7.app.AppCompatActivity;
24import
25  android.support.v7.widget.Toolbar;
26import android.view.View;
27import android.view.Menu;
28import
29  android.view.MenuItem;
30import android.widget.Toast;
31
32import com.zerokol.views.JoystickView;
33
34import
35  java.io.IOException;
36import java.io.InputStream;
37import java.io.OutputStream;
38import
39  java.util.Set;
40import java.util.UUID;
41
42
43public class MainActivity extends
44  AppCompatActivity {
45
46    //BT
47    private final String DEVICE_ADDRESS="Your
48  BT module Mac Adress";
49    private final UUID PORT_UUID = UUID.fromString("00001101-0000-1000-8000-00805f9b34fb");//Serial
50  Port Service ID
51    private BluetoothDevice device;
52    private BluetoothSocket
53  socket;
54    private OutputStream outputStream;
55    private InputStream inputStream;
56
57    Button startButton, sendButton,clearButton,stopButton;
58    TextView textView;
59
60    EditText editText;
61    LinearLayout joystickLayout;
62    RelativeLayout
63  bluetoothLayout;
64    boolean deviceConnected=false;
65    Thread thread;
66
67    FloatingActionButton fab;
68    byte buffer[];
69    int bufferPosition;
70
71    boolean stopThread;
72    //___
73
74    private TextView angleTextView;
75
76    private TextView powerTextView;
77    private TextView directionTextView;
78
79    // Importing also other views
80    private JoystickView joystick;
81
82
83    @Override
84    protected void onCreate(Bundle savedInstanceState) {
85        super.onCreate(savedInstanceState);
86
87        setContentView(R.layout.activity_main);
88        startButton = (Button)
89  findViewById(R.id.buttonStart);
90        sendButton = (Button) findViewById(R.id.buttonSend);
91
92        clearButton = (Button) findViewById(R.id.buttonClear);
93        stopButton
94  = (Button) findViewById(R.id.buttonStop);
95        editText = (EditText) findViewById(R.id.editText);
96
97        textView = (TextView) findViewById(R.id.textView);
98        bluetoothLayout
99  = (RelativeLayout) findViewById(R.id.BluetoothLayout);
100        joystickLayout
101  = (LinearLayout) findViewById(R.id.JoyStickLayout);
102        fab = (FloatingActionButton)
103  findViewById(R.id.hider);
104        setUiEnabled(false);
105
106
107
108        //
109  Set window fullscreen and remove title bar, and force landscape orientation
110
111        setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
112
113
114
115
116
117        angleTextView = (TextView) findViewById(R.id.angleTextView);
118        powerTextView
119  = (TextView) findViewById(R.id.powerTextView);
120        directionTextView = (TextView)
121  findViewById(R.id.directionTextView);
122        //Referencing also other views
123
124        joystick = (JoystickView) findViewById(R.id.joystickView);
125
126        joystick.setOnJoystickMoveListener(new
127  JoystickView.OnJoystickMoveListener() {
128
129            @Override
130            public
131  void onValueChanged(int angle, int power, int direction) {
132                //
133  TODO Auto-generated method stub
134                angleTextView.setText(" " +
135  String.valueOf(angle) + "°");
136                powerTextView.setText(" " +
137  String.valueOf(power) + "%");
138                if(outputStream != null) {
139
140                    try {
141                        outputStream.write((String.valueOf(direction)
142  + "/" + String.valueOf(Math.round(power * 2.5)) + "%").getBytes());
143                    }
144  catch (IOException e) {
145                        e.printStackTrace();
146                    }
147
148                }
149                switch (direction) {
150                    case
151  JoystickView.FRONT:
152                        directionTextView.setText("front_lab"
153  + " " + direction);
154                        break;
155                    case
156  JoystickView.FRONT_RIGHT:
157                        directionTextView.setText("front_right_lab"
158  + " " + direction);
159                        break;
160                    case
161  JoystickView.RIGHT:
162                        directionTextView.setText("right_lab"
163  + " " + direction);
164                        break;
165                    case
166  JoystickView.RIGHT_BOTTOM:
167                        directionTextView.setText("right_bottom_lab"
168  + " " + direction);
169                        break;
170                    case
171  JoystickView.BOTTOM:
172                        directionTextView.setText("bottom_lab"
173  + " " + direction);
174                        break;
175                    case
176  JoystickView.BOTTOM_LEFT:
177                        directionTextView.setText("bottom_left_lab"
178  + " " + direction);
179                        break;
180                    case
181  JoystickView.LEFT:
182                        directionTextView.setText("left_lab"
183  + " " + direction);
184                        break;
185                    case
186  JoystickView.LEFT_FRONT:
187                        directionTextView.setText("left_front_lab"
188  + " " + direction);
189                        break;
190                    default:
191
192                        directionTextView.setText("center_lab" + " " + direction);
193
194                }
195
196                int polaR = 0;
197                int polaL
198  = 0;
199                int thrustR = 0;
200                int thrustL = 0;
201
202
203            }
204        }, JoystickView.DEFAULT_LOOP_INTERVAL);
205
206        fab.setOnClickListener(new
207  View.OnClickListener() {
208            @Override
209            public void onClick(View
210  view) {
211                if(bluetoothLayout.getVisibility()==View.GONE){
212                    bluetoothLayout.setVisibility(View.VISIBLE);
213
214                }
215                else{
216                    bluetoothLayout.setVisibility(View.GONE);
217
218                }
219            }
220        });
221
222        joystickLayout.setVisibility(View.GONE);
223
224
225
226    }
227
228    public void setUiEnabled(boolean bool)
229    {
230        startButton.setEnabled(!bool);
231
232        sendButton.setEnabled(bool);
233        stopButton.setEnabled(bool);
234
235        textView.setEnabled(bool);
236
237    }
238
239    public boolean BTinit()
240
241    {
242        boolean found=false;
243        BluetoothAdapter bluetoothAdapter=BluetoothAdapter.getDefaultAdapter();
244
245        if (bluetoothAdapter == null) {
246            Toast.makeText(getApplicationContext(),"Device
247  doesnt Support Bluetooth",Toast.LENGTH_SHORT).show();
248        }
249        if(!bluetoothAdapter.isEnabled())
250
251        {
252            Intent enableAdapter = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
253
254            startActivityForResult(enableAdapter, 0);
255            try {
256                Thread.sleep(1000);
257
258            } catch (InterruptedException e) {
259                e.printStackTrace();
260
261            }
262        }
263        Set<BluetoothDevice> bondedDevices = bluetoothAdapter.getBondedDevices();
264
265        if(bondedDevices.isEmpty())
266        {
267            Toast.makeText(getApplicationContext(),"Please
268  Pair the Device first",Toast.LENGTH_SHORT).show();
269        }
270        else
271
272        {
273            for (BluetoothDevice iterator : bondedDevices)
274            {
275
276                if(iterator.getAddress().equals(DEVICE_ADDRESS))
277                {
278
279                    device=iterator;
280                    found=true;
281                    break;
282
283                }
284            }
285        }
286        return found;
287    }
288
289
290    public boolean BTconnect()
291    {
292        boolean connected=true;
293        try
294  {
295            socket = device.createRfcommSocketToServiceRecord(PORT_UUID);
296
297            socket.connect();
298        } catch (IOException e) {
299            e.printStackTrace();
300
301            connected=false;
302        }
303        if(connected)
304        {
305
306            try {
307                outputStream=socket.getOutputStream();
308
309            } catch (IOException e) {
310                e.printStackTrace();
311
312            }
313            try {
314                inputStream=socket.getInputStream();
315
316            } catch (IOException e) {
317                e.printStackTrace();
318
319            }
320
321        }
322
323
324        return connected;
325    }
326
327
328    public void onClickStart(View view) {
329        if(BTinit())
330        {
331
332            if(BTconnect())
333            {
334                setUiEnabled(true);
335
336                deviceConnected=true;
337                beginListenForData();
338
339                textView.append("\
340Connection Opened!\
341");
342                if(joystickLayout.getVisibility()==View.GONE){
343
344                    joystickLayout.setVisibility(View.VISIBLE);
345                }
346
347            }
348
349        }
350    }
351
352    void beginListenForData()
353
354    {
355        final Handler handler = new Handler();
356        stopThread =
357  false;
358        buffer = new byte[1024];
359        Thread thread  = new Thread(new
360  Runnable()
361        {
362            public void run()
363            {
364                while(!Thread.currentThread().isInterrupted()
365  && !stopThread)
366                {
367                    try
368                    {
369
370                        int byteCount = inputStream.available();
371                        if(byteCount
372  > 0)
373                        {
374                            byte[] rawBytes
375  = new byte[byteCount];
376                            inputStream.read(rawBytes);
377
378                            final String string=new String(rawBytes,"UTF-8");
379
380                            handler.post(new Runnable() {
381                                public
382  void run()
383                                {
384                                    textView.append(string);
385
386                                    Toast.makeText(getApplicationContext(), "Reçu"
387  + string, Toast.LENGTH_SHORT).show();
388                                }
389                            });
390
391
392                        }
393                    }
394                    catch
395  (IOException ex)
396                    {
397                        stopThread
398  = true;
399                    }
400                }
401            }
402        });
403
404
405        thread.start();
406    }
407
408    public void onClickSend(View view) {
409
410        String string = editText.getText().toString() + "?";
411        try {
412
413            outputStream.write(string.getBytes());
414        } catch (IOException
415  e) {
416            e.printStackTrace();
417        }
418        textView.append("\
419Sent
420  Data:"+string+"\
421");
422
423    }
424
425    public void onClickStop(View view)
426  throws IOException {
427        stopThread = true;
428        outputStream.close();
429
430        inputStream.close();
431        socket.close();
432        setUiEnabled(false);
433
434        deviceConnected=false;
435        textView.append("\
436Connection Closed!\
437");
438
439        if(joystickLayout.getVisibility()==View.VISIBLE){
440            joystickLayout.setVisibility(View.GONE);
441
442        }
443    }
444
445    public void onClickClear(View view) {
446        textView.setText("");
447
448    }
449
450    @Override
451    public boolean onCreateOptionsMenu(Menu menu)
452  {
453        // Inflate the menu; this adds items to the action bar if it is present.
454
455        getMenuInflater().inflate(R.menu.menu_main, menu);
456        return true;
457
458    }
459
460    @Override
461    public boolean onOptionsItemSelected(MenuItem
462  item) {
463        // Handle action bar item clicks here. The action bar will
464
465        // automatically handle clicks on the Home/Up button, so long
466        //
467  as you specify a parent activity in AndroidManifest.xml.
468        int id = item.getItemId();
469
470
471        //noinspection SimplifiableIfStatement
472        if (id == R.id.action_settings)
473  {
474            return true;
475        }
476
477        return super.onOptionsItemSelected(item);
478
479    }
480
481    /**
482     * A native method that is implemented by the 'native-lib'
483  native library,
484     * which is packaged with this application.
485     */
486
487    public native String stringFromJNI();
488
489    // Used to load the 'native-lib'
490  library on application startup.
491    static {
492        System.loadLibrary("native-lib");
493
494    }
495}
496

package com.pj.hiro.hiro_control;

import android.bluetooth.BluetoothAdapter;
import
  android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import
  android.content.Intent;
import android.content.pm.ActivityInfo;
import android.os.Bundle;
import
  android.os.Handler;
import android.widget.Button;
import android.widget.EditText;
import
  android.widget.LinearLayout;
import android.widget.RelativeLayout;
import
  android.widget.TextView;
import android.support.design.widget.FloatingActionButton;
import
  android.support.design.widget.Snackbar;
import android.support.v7.app.AppCompatActivity;
import
  android.support.v7.widget.Toolbar;
import android.view.View;
import android.view.Menu;
import
  android.view.MenuItem;
import android.widget.Toast;

import com.zerokol.views.JoystickView;

import
  java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import
  java.util.Set;
import java.util.UUID;


public class MainActivity extends
  AppCompatActivity {

    //BT
    private final String DEVICE_ADDRESS="Your
  BT module Mac Adress";
    private final UUID PORT_UUID = UUID.fromString("00001101-0000-1000-8000-00805f9b34fb");//Serial
  Port Service ID
    private BluetoothDevice device;
    private BluetoothSocket
  socket;
    private OutputStream outputStream;
    private InputStream inputStream;

    Button startButton, sendButton,clearButton,stopButton;
    TextView textView;

    EditText editText;
    LinearLayout joystickLayout;
    RelativeLayout
  bluetoothLayout;
    boolean deviceConnected=false;
    Thread thread;

    FloatingActionButton fab;
    byte buffer[];
    int bufferPosition;

    boolean stopThread;
    //___

    private TextView angleTextView;

    private TextView powerTextView;
    private TextView directionTextView;

    // Importing also other views
    private JoystickView joystick;


    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);

        setContentView(R.layout.activity_main);
        startButton = (Button)
  findViewById(R.id.buttonStart);
        sendButton = (Button) findViewById(R.id.buttonSend);

        clearButton = (Button) findViewById(R.id.buttonClear);
        stopButton
  = (Button) findViewById(R.id.buttonStop);
        editText = (EditText) findViewById(R.id.editText);

        textView = (TextView) findViewById(R.id.textView);
        bluetoothLayout
  = (RelativeLayout) findViewById(R.id.BluetoothLayout);
        joystickLayout
  = (LinearLayout) findViewById(R.id.JoyStickLayout);
        fab = (FloatingActionButton)
  findViewById(R.id.hider);
        setUiEnabled(false);



        //
  Set window fullscreen and remove title bar, and force landscape orientation

        setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);





        angleTextView = (TextView) findViewById(R.id.angleTextView);
        powerTextView
  = (TextView) findViewById(R.id.powerTextView);
        directionTextView = (TextView)
  findViewById(R.id.directionTextView);
        //Referencing also other views

        joystick = (JoystickView) findViewById(R.id.joystickView);

        joystick.setOnJoystickMoveListener(new
  JoystickView.OnJoystickMoveListener() {

            @Override
            public
  void onValueChanged(int angle, int power, int direction) {
                //
  TODO Auto-generated method stub
                angleTextView.setText(" " +
  String.valueOf(angle) + "°");
                powerTextView.setText(" " +
  String.valueOf(power) + "%");
                if(outputStream != null) {

                    try {
                        outputStream.write((String.valueOf(direction)
  + "/" + String.valueOf(Math.round(power * 2.5)) + "%").getBytes());
                    }
  catch (IOException e) {
                        e.printStackTrace();
                    }

                }
                switch (direction) {
                    case
  JoystickView.FRONT:
                        directionTextView.setText("front_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.FRONT_RIGHT:
                        directionTextView.setText("front_right_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.RIGHT:
                        directionTextView.setText("right_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.RIGHT_BOTTOM:
                        directionTextView.setText("right_bottom_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.BOTTOM:
                        directionTextView.setText("bottom_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.BOTTOM_LEFT:
                        directionTextView.setText("bottom_left_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.LEFT:
                        directionTextView.setText("left_lab"
  + " " + direction);
                        break;
                    case
  JoystickView.LEFT_FRONT:
                        directionTextView.setText("left_front_lab"
  + " " + direction);
                        break;
                    default:

                        directionTextView.setText("center_lab" + " " + direction);

                }

                int polaR = 0;
                int polaL
  = 0;
                int thrustR = 0;
                int thrustL = 0;


            }
        }, JoystickView.DEFAULT_LOOP_INTERVAL);

        fab.setOnClickListener(new
  View.OnClickListener() {
            @Override
            public void onClick(View
  view) {
                if(bluetoothLayout.getVisibility()==View.GONE){
                    bluetoothLayout.setVisibility(View.VISIBLE);

                }
                else{
                    bluetoothLayout.setVisibility(View.GONE);

                }
            }
        });

        joystickLayout.setVisibility(View.GONE);



    }

    public void setUiEnabled(boolean bool)
    {
        startButton.setEnabled(!bool);

        sendButton.setEnabled(bool);
        stopButton.setEnabled(bool);

        textView.setEnabled(bool);

    }

    public boolean BTinit()

    {
        boolean found=false;
        BluetoothAdapter bluetoothAdapter=BluetoothAdapter.getDefaultAdapter();

        if (bluetoothAdapter == null) {
            Toast.makeText(getApplicationContext(),"Device
  doesnt Support Bluetooth",Toast.LENGTH_SHORT).show();
        }
        if(!bluetoothAdapter.isEnabled())

        {
            Intent enableAdapter = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);

            startActivityForResult(enableAdapter, 0);
            try {
                Thread.sleep(1000);

            } catch (InterruptedException e) {
                e.printStackTrace();

            }
        }
        Set<BluetoothDevice> bondedDevices = bluetoothAdapter.getBondedDevices();

        if(bondedDevices.isEmpty())
        {
            Toast.makeText(getApplicationContext(),"Please
  Pair the Device first",Toast.LENGTH_SHORT).show();
        }
        else

        {
            for (BluetoothDevice iterator : bondedDevices)
            {

                if(iterator.getAddress().equals(DEVICE_ADDRESS))
                {

                    device=iterator;
                    found=true;
                    break;

                }
            }
        }
        return found;
    }


    public boolean BTconnect()
    {
        boolean connected=true;
        try
  {
            socket = device.createRfcommSocketToServiceRecord(PORT_UUID);

            socket.connect();
        } catch (IOException e) {
            e.printStackTrace();

            connected=false;
        }
        if(connected)
        {

            try {
                outputStream=socket.getOutputStream();

            } catch (IOException e) {
                e.printStackTrace();

            }
            try {
                inputStream=socket.getInputStream();

            } catch (IOException e) {
                e.printStackTrace();

            }

        }


        return connected;
    }


    public void onClickStart(View view) {
        if(BTinit())
        {

            if(BTconnect())
            {
                setUiEnabled(true);

                deviceConnected=true;
                beginListenForData();

                textView.append("\
Connection Opened!\
");
                if(joystickLayout.getVisibility()==View.GONE){

                    joystickLayout.setVisibility(View.VISIBLE);
                }

            }

        }
    }

    void beginListenForData()

    {
        final Handler handler = new Handler();
        stopThread =
  false;
        buffer = new byte[1024];
        Thread thread  = new Thread(new
  Runnable()
        {
            public void run()
            {
                while(!Thread.currentThread().isInterrupted()
  && !stopThread)
                {
                    try
                    {

                        int byteCount = inputStream.available();
                        if(byteCount
  > 0)
                        {
                            byte[] rawBytes
  = new byte[byteCount];
                            inputStream.read(rawBytes);

                            final String string=new String(rawBytes,"UTF-8");

                            handler.post(new Runnable() {
                                public
  void run()
                                {
                                    textView.append(string);

                                    Toast.makeText(getApplicationContext(), "Reçu"
  + string, Toast.LENGTH_SHORT).show();
                                }
                            });


                        }
                    }
                    catch
  (IOException ex)
                    {
                        stopThread
  = true;
                    }
                }
            }
        });


        thread.start();
    }

    public void onClickSend(View view) {

        String string = editText.getText().toString() + "?";
        try {

            outputStream.write(string.getBytes());
        } catch (IOException
  e) {
            e.printStackTrace();
        }
        textView.append("\
Sent
  Data:"+string+"\
");

    }

    public void onClickStop(View view)
  throws IOException {
        stopThread = true;
        outputStream.close();

        inputStream.close();
        socket.close();
        setUiEnabled(false);

        deviceConnected=false;
        textView.append("\
Connection Closed!\
");

        if(joystickLayout.getVisibility()==View.VISIBLE){
            joystickLayout.setVisibility(View.GONE);

        }
    }

    public void onClickClear(View view) {
        textView.setText("");

    }

    @Override
    public boolean onCreateOptionsMenu(Menu menu)
  {
        // Inflate the menu; this adds items to the action bar if it is present.

        getMenuInflater().inflate(R.menu.menu_main, menu);
        return true;

    }

    @Override
    public boolean onOptionsItemSelected(MenuItem
  item) {
        // Handle action bar item clicks here. The action bar will

        // automatically handle clicks on the Home/Up button, so long
        //
  as you specify a parent activity in AndroidManifest.xml.
        int id = item.getItemId();


        //noinspection SimplifiableIfStatement
        if (id == R.id.action_settings)
  {
            return true;
        }

        return super.onOptionsItemSelected(item);

    }

    /**
     * A native method that is implemented by the 'native-lib'
  native library,
     * which is packaged with this application.
     */

    public native String stringFromJNI();

    // Used to load the 'native-lib'
  library on application startup.
    static {
        System.loadLibrary("native-lib");

    }
}

Nano Code

arduino

Upload it to the Nano, it reads the Android orders incomming by bluetooth.

1//ARDUINO Hiro NANO
2
3//RXD to TXO (white)
4//TXD to RXO (black)  BT adapter
5
6// motor one
7int enA = 11; //gris
8int in1 = 10; // bleu
9int  in2 = 9; //vert
10// motor two
11int enB = 3; // violet
12int in3 = 6; // jaune
13int  in4 = 5; // orange
14
15
16char command;
17String btdata;
18int power;
19int  dir;
20// Variables for the duration and the distance
21long duration;
22int  distance;
23
24void setup() {  
25 
26  pinMode(enA, OUTPUT);
27  pinMode(enB,  OUTPUT);
28  pinMode(in1, OUTPUT);
29  pinMode(in2, OUTPUT);
30  pinMode(in3,  OUTPUT);
31  pinMode(in4, OUTPUT);
32  pinMode(LED_BUILTIN, OUTPUT);
33
34  Serial.begin(57600);  
35  Serial.print("#ihihuuho");
36  //MotorsForward();
37}
38
39
40void  loop()
41{  
42  if (Serial.available() > 0)
43  {
44  }
45  while (Serial.available()  > 0)
46  { command = (Serial.read());
47    //Serial.println(" cmdd ");
48    //Serial.println(command);
49
50    
51    //Serial.println("str: " + btdata);
52    if (command == '?')
53    {
54      //Serial.println();
55      //Serial.println("Command:  " + btdata);
56
57      delay(1);
58
59     if (btdata.indexOf("forw") >=  0){
60        MotorsForward(255);
61        }
62     if (btdata.indexOf("back")  >= 0){
63        MotorsBackward(255);
64        }
65      else{
66        Serial.println("Command  not recognized: " + btdata);
67      }
68      
69
70      btdata = "";
71      }
72    else if (command == '/')
73    {
74      //Serial.println();
75      //Serial.println("Direction: " + btdata);
76      dir = btdata.toInt();
77      btdata = "";
78    }
79    else if (command == '%')
80    {
81      //Serial.println();
82      Serial.println("Power: " + btdata);
83      power = btdata.toInt();
84      btdata = "";
85      if ( dir == 1 && power>0) {
86        MotorsForward(power);
87      }
88      else if ( dir == 5 && power>0) {
89        MotorsBackward(power);
90      }
91      else if ( dir == 7 && power>0) {
92        MotorsSpinR(power);
93      }
94      else if ( dir == 3 && power>0) {
95        MotorsSpinL(power);
96      }
97      else if ( dir == 8 && power>0) {
98        MotorsFR(power);
99      }
100      else if ( dir == 2 && power>0) {
101        MotorsFL(power);
102      }
103      else if ( dir == 4 && power>0) {
104        MotorsBL(power);
105      }
106      else if ( dir == 6 && power>0) {
107        MotorsBR(power);
108      }
109      else{
110        MotorsStop();
111      }
112    }
113    else{
114      btdata = btdata + command;
115    }
116
117    
118   }
119   delay(500);
120  }
121
122void LedBlue()
123{
124  digitalWrite(LED_BUILTIN, HIGH);   // turn the  LED on (HIGH is the voltage level)
125  //delay(1000);                       //  wait for a second
126}
127
128void LedRed()
129{
130  digitalWrite(LED_BUILTIN,  LOW);   // turn the LED on (HIGH is the voltage level)
131}
132
133
134void MotorsBackward(int  powa)
135{
136  digitalWrite(in1, HIGH);
137  digitalWrite(in2, LOW);
138  digitalWrite(in3,  HIGH);
139  digitalWrite(in4, LOW);
140  analogWrite(enA, powa);
141  analogWrite(enB,  powa);
142  
143}
144
145void MotorsForward(int powa)
146{
147  // Serial.println("Forward!");
148
149  digitalWrite(in1, LOW);
150  digitalWrite(in2, HIGH);
151  digitalWrite(in3, LOW);
152  digitalWrite(in4, HIGH);
153  analogWrite(enA, powa);
154  analogWrite(enB, powa);
155  
156}
157
158void MotorsSpinR(int powa)
159{
160  digitalWrite(in1, HIGH);
161  digitalWrite(in2,  LOW);
162  digitalWrite(in3, LOW);
163  digitalWrite(in4, HIGH);
164  analogWrite(enA,  powa);
165  analogWrite(enB, powa);
166  
167}
168void MotorsSpinL(int powa)
169{
170  digitalWrite(in1, LOW);
171  digitalWrite(in2, HIGH);
172  digitalWrite(in3, HIGH);
173  digitalWrite(in4, LOW);
174  analogWrite(enA, powa);
175  analogWrite(enB, powa);
176  
177}
178void MotorsFL(int powa)
179{
180  digitalWrite(in1, LOW);
181  digitalWrite(in2,  HIGH);
182  digitalWrite(in3, LOW);
183  digitalWrite(in4, LOW);
184  analogWrite(enA,  powa);  
185}
186void MotorsFR(int powa)
187{
188  digitalWrite(in1, LOW);
189  digitalWrite(in2,  LOW);
190  digitalWrite(in3, LOW);
191  digitalWrite(in4, HIGH);
192  analogWrite(enB,  powa);  
193}
194void MotorsBR(int powa)
195{
196  digitalWrite(in1, HIGH);
197  digitalWrite(in2, LOW);
198  digitalWrite(in3, LOW);
199  digitalWrite(in4, LOW);
200  analogWrite(enA, powa);  
201}
202void MotorsBL(int powa)
203{
204  digitalWrite(in1,  LOW);
205  digitalWrite(in2, LOW);
206  digitalWrite(in3, HIGH);
207  digitalWrite(in4,  LOW);
208  analogWrite(enB, powa);  
209}
210
211void MotorsStop()
212{
213  //  now turn off motors
214  digitalWrite(in1, LOW);
215  digitalWrite(in2, LOW);
216  digitalWrite(in3, LOW);
217  digitalWrite(in4, LOW);
218}
219
220
221

//ARDUINO Hiro NANO

//RXD to TXO (white)
//TXD to RXO (black)  BT adapter

// motor one
int enA = 11; //gris
int in1 = 10; // bleu
int  in2 = 9; //vert
// motor two
int enB = 3; // violet
int in3 = 6; // jaune
int  in4 = 5; // orange


char command;
String btdata;
int power;
int  dir;
// Variables for the duration and the distance
long duration;
int  distance;

void setup() {  
 
  pinMode(enA, OUTPUT);
  pinMode(enB,  OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3,  OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(LED_BUILTIN, OUTPUT);

  Serial.begin(57600);  
  Serial.print("#ihihuuho");
  //MotorsForward();
}


void  loop()
{  
  if (Serial.available() > 0)
  {
  }
  while (Serial.available()  > 0)
  { command = (Serial.read());
    //Serial.println(" cmdd ");
    //Serial.println(command);

    
    //Serial.println("str: " + btdata);
    if (command == '?')
    {
      //Serial.println();
      //Serial.println("Command:  " + btdata);

      delay(1);

     if (btdata.indexOf("forw") >=  0){
        MotorsForward(255);
        }
     if (btdata.indexOf("back")  >= 0){
        MotorsBackward(255);
        }
      else{
        Serial.println("Command  not recognized: " + btdata);
      }
      

      btdata = "";
      }
    else if (command == '/')
    {
      //Serial.println();
      //Serial.println("Direction: " + btdata);
      dir = btdata.toInt();
      btdata = "";
    }
    else if (command == '%')
    {
      //Serial.println();
      Serial.println("Power: " + btdata);
      power = btdata.toInt();
      btdata = "";
      if ( dir == 1 && power>0) {
        MotorsForward(power);
      }
      else if ( dir == 5 && power>0) {
        MotorsBackward(power);
      }
      else if ( dir == 7 && power>0) {
        MotorsSpinR(power);
      }
      else if ( dir == 3 && power>0) {
        MotorsSpinL(power);
      }
      else if ( dir == 8 && power>0) {
        MotorsFR(power);
      }
      else if ( dir == 2 && power>0) {
        MotorsFL(power);
      }
      else if ( dir == 4 && power>0) {
        MotorsBL(power);
      }
      else if ( dir == 6 && power>0) {
        MotorsBR(power);
      }
      else{
        MotorsStop();
      }
    }
    else{
      btdata = btdata + command;
    }

    
   }
   delay(500);
  }

void LedBlue()
{
  digitalWrite(LED_BUILTIN, HIGH);   // turn the  LED on (HIGH is the voltage level)
  //delay(1000);                       //  wait for a second
}

void LedRed()
{
  digitalWrite(LED_BUILTIN,  LOW);   // turn the LED on (HIGH is the voltage level)
}


void MotorsBackward(int  powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3,  HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB,  powa);
  
}

void MotorsForward(int powa)
{
  // Serial.println("Forward!");

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
  
}

void MotorsSpinR(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2,  LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA,  powa);
  analogWrite(enB, powa);
  
}
void MotorsSpinL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);
  analogWrite(enB, powa);
  
}
void MotorsFL(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2,  HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA,  powa);  
}
void MotorsFR(int powa)
{
  digitalWrite(in1, LOW);
  digitalWrite(in2,  LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB,  powa);  
}
void MotorsBR(int powa)
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA, powa);  
}
void MotorsBL(int powa)
{
  digitalWrite(in1,  LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4,  LOW);
  analogWrite(enB, powa);  
}

void MotorsStop()
{
  //  now turn off motors
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}

Downloadable files

ArduinoSchematic

Connect your Arduino to the Dual Bridge motor controller and to the bluetooth module.

ArduinoSchematic

Inner gears.

The gear in the middle is the one driving the four other gears of the left side (same thing goes on the right side). to connect it to the motor, I had to cut a bit of the piece and glue it to the motor shaft. Then, you connect the legs to the gears, asynchronously (each on a gear hole) and tadam: silly walk.

Inner gears.

How it walks

How to assemble the Lego bricks and gears in order to create that silly walk. Each motor drives 4 legs.

How it walks

ArduinoSchematic

Connect your Arduino to the Dual Bridge motor controller and to the bluetooth module.

ArduinoSchematic

Comments

Only logged in users can leave comments

yamansaedam

a year ago

Hello, the Bluetooth module provided has been discontinued, is it possible to use a different bluetooth hc-05, also is it possible to specify the gears you used and the actual build, are they 3d printed? if so is there a file for them?

Anonymous user

2 years ago

Wow, super! Could you provide more detailed pics on construction?

JulienChateau

2 years ago

Hi, thanks! I didn't take much pictures, the project was done pretty quickly and not really documented. I added a pic (Inner Gears) with its comment that might help.

Anonymous user

2 years ago

Thank you for the extra pic, I would respect this twice if I could!

Anonymous user

2 years ago

Also, I see that there are two different codes. I understand one is downloded onto the nano but what about the other? I don't completely understand their use.

Anonymous user

2 years ago

cool! could you tell me the link to little toy you saw on a Chinese website. thanks.

Anonymous user

2 years ago

Hi was trying to re-create this cool project! I am having trouble with the coding aspect. How do I launch the Java code onto my Android smartphone and access the bluetooth connection. Any guide or steps would be greatly appreciated!

JulienChateau

2 years ago

Hi! Well, if it's your first app, I'd recommend you check this ; https://developer.android.com/training/basics/firstapp/index.html But I know an app already exist that sends bluetooth orders : https://play.google.com/store/apps/details?id=eu.jahnestacado.arduinorc&hl=fr You only would have to edit the arduino code to listen to the right orders.

Anonymous user

2 years ago

How you connect the gear to motors, could you show a pic?

Anonymous user

2 years ago

Apparently, you can't buy the C.H.I.P approved 3.7 V battery anymore (or I'm too stupid to find them). Do you know of any alternatives?

JulienChateau

2 years ago

I use mostly Lipo batteries for their weight/ power ratio. For this setup I'd recommend 2S (7.4v) Lipo battery which wouldn't harm too much the 6v motors , but you'll need a Lipo charger. Any 4x AA case would do too.

Anonymous user

2 years ago

Cool Project !!! I want to build it together with my son. But how can I run the Android code on my Android Smartphone ? Do I need to compile it (if yes, how can I do this ?), or do I need a special App to run it ?

JulienChateau

2 years ago

Oh, yes, you would have to. With Android Studio, it's Google's official and free IDE. If I find the time, I'll add a "list Bluetooth apparels" functionality so the application would not use an hard coded address and I'd share the app to install.

Anonymous user

2 years ago

There is an cool Android App which might be suitable to control the Spideruino... It is called "Arduino bluetooth controller". I allready tried to use this App with my Spideruino, but I can´t figure out, which commands I have to send via bluetooth. Maybe you could give it a try ?

JulienChateau

2 years ago

Well, you can check the Arduino studio code, there are 8 functions launched by the different directions of the joystick.

Anonymous user

2 years ago

cool! could you tell me the link to little toy you saw on a Chinese website. thanks.

Anonymous user

2 years ago

cool! could you tell me the link to little toy you saw on a Chinese website. thanks.

Anonymous user

2 years ago

This is a very cool looking project. I'm going to try to build it with my nephew. Can you recommend a lego kit for the spider frame? I don't own any legos, so I have to start from scratch!. Thanks!

JulienChateau

2 years ago

Hi! Thanks a lot. Really, no Lego Set would feature all the required pieces. You would have to buy several, picking pieces from each which is not optimal. I recommend you check BrickLink or such websites. Basically it's a peer to peer eBay for Lego parts. You should be able to shop all needed parts for less than 30$ , delivery cost included.

Anonymous user

2 years ago

Great work. Could you provide more information about how the motor was interfaced with the gears?

JulienChateau

2 years ago

Hi! Thanks! Well, I needed to cut a bit of plastic at the gear's center, and then I glued the plastic shaft adaptator (not round) of the motor, inside the gear. Said motor: http://www.banggood.com/5Pcs-DC-3V-6V-Dual-Axis-Gear-Reducer-Motor-For-Arduino-Smart-Car-p-949555.html But you can find better ones.

Anonymous user

2 years ago

Could you please upload the apk? I am lost with Android Studio so I can't compile the code. Thank you.

Anonymous user

2 years ago

Hi! This looks really amazing. I want to do this for a school term project. I'm at a very beginner level in programming, will this be doable for me to make in 2 weeks? Also, would the code work on an iphone?

Anonymous user

3 years ago

How you connect the gear to motors, could you show a pic?

Anonymous user

7 years ago

cool! could you tell me the link to little toy you saw on a Chinese website. thanks.

Anonymous user

8 years ago

Could you please upload the apk? I am lost with Android Studio so I can't compile the code. Thank you.

Anonymous user

8 years ago

Hi! I left a comment a couple weeks ago and was hoping you could get back to me! :)

JulienChateau

2 years ago

Hi, sorry for the delay! About making it with few skills in programming, it depends on how fast you learn... The code is here, you "just" have to compile it in Android Studio. Basically, you download the IDE, create a new blank android application, install the virtual joystick library I used, recreate the missing layout with the right IDs (ex: button names, text field names...), copy the android code in your main activity and compile. If you never built an android app, it might be tight to learn all that stuff in 2 weeks WHILE actually building the robot. But I know an app already exist that sends bluetooth orders : https://play.google.com/store/apps/details?id=eu.jahnestacado.arduinorc&hl=fr You only would have to edit the arduino code to listen to the right orders.

Anonymous user

2 years ago

Thank you so much! I really appreciate it. I have a couple other questions and me and my friend are super interested in your project. I was wondering if you could give me ur email so i could contact you there and ask a few other questions? If not, I am just wondering about the actual building of the robot and if a lot of debugging was required to actually get the robot to move.. let me know, thanks :)

Anonymous user

8 years ago

JulienChateau

2 years ago

Anonymous user

8 years ago

Also, I see that there are two different codes. I understand one is downloded onto the nano but what about the other? I don't completely understand their use.

Anonymous user

8 years ago

Anonymous user

8 years ago

JulienChateau

2 years ago

Well, you can check the Arduino studio code, there are 8 functions launched by the different directions of the joystick.

Anonymous user

8 years ago

JulienChateau

2 years ago

Anonymous user

8 years ago

Apparently, you can't buy the C.H.I.P approved 3.7 V battery anymore (or I'm too stupid to find them). Do you know of any alternatives?

JulienChateau

2 years ago

Anonymous user

8 years ago

This is a very cool looking project. I'm going to try to build it with my nephew. Can you recommend a lego kit for the spider frame? I don't own any legos, so I have to start from scratch!. Thanks!

JulienChateau

2 years ago

Anonymous user

8 years ago

Great work. Could you provide more information about how the motor was interfaced with the gears?

JulienChateau

2 years ago

Anonymous user

8 years ago

Wow, super! Could you provide more detailed pics on construction?

Anonymous user

2 years ago

Thank you for the extra pic, I would respect this twice if I could!

JulienChateau

2 years ago

Hi, thanks! I didn't take much pictures, the project was done pretty quickly and not really documented. I added a pic (Inner Gears) with its comment that might help.

JulienChateau

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1 Projects

Intro

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