iPhone Arduino Extension

iRobbie is the revolutionary app that brings smartphone power to your Arduino project.

Sep 14, 2019

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12 respects

computer vision

object recognition

object tracking

Devices & Components

Arduino Uno Rev3

Arduino Sensor Shield v5

4WD Robot Chassis Kit

Two-sided Mounting Tape

HM-10 Bluetooth Module

Buzzer

Arduino Smart Robot Car Kit (Optional)

Arduino Power Jack connector

Arduino Cable kit

2x18650 Battery Holder

Smartphone Stand

L298N Dual H-Bridge DC Motor Speed Controller Board

Software & Tools

Arduino IDE

iRobbie-A

Project description

Code

Robbie_A1.ino

arduino

Arduino code. You can also download it from https://www.robbie-app.com

1#include <Servo.h>
2
3Servo servo;
4int angle = 0;
5boolean forward1  = false ;
6String bluetoothRead, Str_x, Str_y, Str_p, Str_s;
7int x ;
8int  y ;
9int points;
10int length;
11const int buzzer = 10; 
12int s;
13unsigned  long previousMillis = millis();        // will store last time LED was updated
14
15const  long interval = 1000;           // interval at which to blink (milliseconds)
16
17#define  ENA 11
18#define ENB 6
19#define IN1 5
20#define IN2 7
21#define IN3 8
22#define  IN4 9
23#define DELAY 20
24
25int carSpeed = (y*3);
26int speed_Coeff = (1 +  (x/50));
27
28void setup() { 
29  Serial.begin(9600);
30  Serial.flush();
31  pinMode(IN1,OUTPUT);
32  pinMode(IN2,OUTPUT);
33  pinMode(IN3,OUTPUT);
34  pinMode(IN4,OUTPUT);
35  pinMode(ENA,OUTPUT);
36  pinMode(ENB,OUTPUT);
37  pinMode(buzzer, OUTPUT);
38  stop();
39  servo.attach(13);
40  servo.write(angle);
41}
42
43void loop()  {
44 int i=0;
45  char commandbuffer[200];
46unsigned long currentMillis = millis();
47
48  if(Serial.available()){
49    
50     delay(10);
51
52     while( Serial.available()  && i< 199) {
53        commandbuffer[i++] = Serial.read();
54  
55      
56     }
57     commandbuffer[i++]='\\0';
58     bluetoothRead = (char*)commandbuffer;
59     length = bluetoothRead.length();
60     Serial.println(bluetoothRead);
61  
62     
63     if(bluetoothRead.substring(0, 1).equals("x")){
64       
65       int i=1;
66       while(bluetoothRead.substring(i, i+1) != ("y")){
67       i++;
68       }
69       
70       Str_x = bluetoothRead.substring(1,  i);
71       x = Str_x.toInt();
72            
73       Str_y = bluetoothRead.substring(i+1,  length - 2);
74       y = Str_y.toInt();
75
76       Str_p = bluetoothRead.substring(length  - 2, length - 1);
77       points = Str_p.toInt();
78
79       Str_s = bluetoothRead.substring(length  - 1, length);
80       s = Str_s.toInt(); 
81
82       i = 1;
83 
84       Serial.println(x);
85       Serial.println(y);
86       Serial.println(points);
87       Serial.println(s);
88       Serial.println(length );        
89      
90       stop();
91       carSpeed  = (y*2.5);
92       speed_Coeff = (1 + (x/50));
93
94  
95    if(points == 1){
96    forward();
97    }
98    if(points == 0){
99    stop();
100    }
101    if(points  == 2){
102    back(); 
103    }
104  
105    if(points == 3){
106    fleft(); 
107    }
108
109    if(points == 4){
110    fright(); 
111    }
112
113    if(points  == 5){
114     left(); 
115    }
116
117    if(points == 6){
118    right(); 
119    }
120
121    if(points == 7){
122     bleft(); 
123    }
124
125    if(points  == 8){
126    bright(); 
127    }
128
129    if(points == 9){
130    findo(); 
131    }
132     
133  
134    
135    if (s == 7){
136    play_do();
137    }
138
139    if (s == 6){
140    play_re();
141    }
142
143    if (s == 5){
144    play_mi();
145    }
146
147    if (s == 4){
148    play_fa();
149    }
150
151    if (s == 3){
152    play_sol();
153    }
154
155    if (s == 2){
156    play_la();
157    }
158
159    if (s == 1){
160    play_ci();
161    }
162//When an object is detected the  iRobbie App will start sending s = 8 to the Arduino. 
163//You can use it in your  own Arduino code. The commented lines is an example. 
164
165    if (s == 8){
166  //    if (millis() - previousMillis >= DELAY)
167  //    {previousMillis += DELAY;
168  //     if (forward1)
169 //     {
170 //       servo.write(-- angle);
171 //       if(angle  == 0)
172 //       forward1 = false;
173//      }
174 //     else
175//      {
176  //      servo.write(++ angle);
177 //       if (angle == 30)
178 //       forward1  = true;
179 //     }
180 //     }
181 
182      // scan from 0 to 180 degrees
183  // for(angle = 10; angle < 90; angle++)  
184 // {                                  
185//    servo.write(0);               
186//    delay(15);                   
187//  } 
188//      servo.write(90);
189
190 //    }
191 // servo.write(-90);
192
193//    }
194     
195  // now scan back from 180 to 0 degrees
196//  for(angle = 90;  angle > 10; angle--)    
197 // {                                
198 //   servo.write(angle);           
199 //   delay(15);       
200//  } 
201//     servomove(); 
202    }
203
204}
205}
206}
207
208void  servomove(){
209    unsigned long currentMillis = millis();
210 if (currentMillis  - previousMillis >= interval) {
211    previousMillis = currentMillis;
212  
213   for(angle = 0; angle < 60; angle++)  
214  {                                  
215    servo.write(angle); 
216      previousMillis = currentMillis;              
217    delay(10);                   
218  } 
219  // now scan back from 180 to 0 degrees
220  for(angle = 60; angle > 0; angle--)    
221  {                                
222    servo.write(angle); 
223  }
224      previousMillis = currentMillis;          
225    delay(10);  
226}
227}
228
229
230void forward(){ 
231  analogWrite(ENA,carSpeed);
232  analogWrite(ENB,carSpeed);
233  digitalWrite(IN1,LOW);
234  digitalWrite(IN2,HIGH);
235  digitalWrite(IN3,LOW);
236  digitalWrite(IN4,HIGH);
237  delay(25);
238//  Serial.println("Forward");
239}
240
241void  forwards(){ 
242  analogWrite(ENA,carSpeed);
243  analogWrite(ENB,carSpeed);
244  digitalWrite(IN1,LOW);
245  digitalWrite(IN2,HIGH);
246  digitalWrite(IN3,LOW);
247  digitalWrite(IN4,HIGH);
248  delay(25);
249 // Serial.println("Forward_slow");
250}
251
252void  back(){
253  analogWrite(ENA,(carSpeed - 20));
254  analogWrite(ENB,(carSpeed -  20));
255  digitalWrite(IN1,HIGH);
256  digitalWrite(IN2,LOW);
257  digitalWrite(IN3,HIGH);
258  digitalWrite(IN4,LOW);
259  delay(25);
260 // Serial.println("Back");
261}
262
263void  backs(){
264  analogWrite(ENA,(carSpeed - 20));
265  analogWrite(ENB,(carSpeed -  20));
266  digitalWrite(IN1,HIGH);
267  digitalWrite(IN2,LOW);
268  digitalWrite(IN3,HIGH);
269  digitalWrite(IN4,LOW);
270  delay(25);
271//  Serial.println("Back_slow");
272}
273void  left(){
274  analogWrite(ENA,x);
275  analogWrite(ENB,x);
276  digitalWrite(IN1,LOW);
277  digitalWrite(IN2,HIGH);
278  digitalWrite(IN3,HIGH);
279  digitalWrite(IN4,LOW);
280  delay(25); 
281//  Serial.println("Left");
282}
283
284void right(){
285  analogWrite(ENA,x);
286  analogWrite(ENB,x);
287  digitalWrite(IN1,HIGH);
288  digitalWrite(IN2,LOW);
289  digitalWrite(IN3,LOW);
290  digitalWrite(IN4,HIGH);
291  delay(25);
292 // Serial.println("Right");
293}
294
295
296void  fright(){
297  analogWrite(ENA,carSpeed);
298  analogWrite(ENB,carSpeed/speed_Coeff);
299  digitalWrite(IN1,LOW);
300  digitalWrite(IN2,HIGH);
301  digitalWrite(IN3,LOW);
302  digitalWrite(IN4,HIGH);
303  delay(25);
304//  Serial.println("Forward_right");
305}
306
307
308
309void  fleft(){
310  analogWrite(ENA,carSpeed/speed_Coeff);
311  analogWrite(ENB,carSpeed);
312  digitalWrite(IN1,LOW);
313  digitalWrite(IN2,HIGH);
314  digitalWrite(IN3,LOW);
315  digitalWrite(IN4,HIGH);
316  delay(25);
317//  Serial.println("Forward_left");
318}
319
320void  bright(){
321  analogWrite(ENB,carSpeed);
322  analogWrite(ENA,carSpeed/speed_Coeff);
323  digitalWrite(IN1,HIGH);
324  digitalWrite(IN2,LOW);
325  digitalWrite(IN3,HIGH);
326  digitalWrite(IN4,LOW);
327  delay(25);
328//  Serial.println("Back_right");
329}
330
331
332
333void  bleft(){
334  analogWrite(ENB,carSpeed/speed_Coeff);
335  analogWrite(ENA,carSpeed);
336  digitalWrite(IN1,HIGH);
337  digitalWrite(IN2,LOW);
338  digitalWrite(IN3,HIGH);
339  digitalWrite(IN4,LOW);
340  delay(25);
341 // Serial.println("Back_left");
342}
343
344void  findo(){
345  analogWrite(ENA,90);
346  analogWrite(ENB,90);
347  digitalWrite(IN1,HIGH);
348  digitalWrite(IN2,LOW);
349  digitalWrite(IN3,LOW);
350  digitalWrite(IN4,HIGH);
351
352
353  delay(25) ;    
354
355
356 }
357
358
359void stop(){
360  digitalWrite(ENA,LOW);
361  digitalWrite(ENB,LOW);
362 // Serial.println("Stop!");
363}
364
365
366void  play_do(){
367  tone(buzzer, 533);
368  delay(500);        
369  noTone(buzzer);     
370}
371
372void play_re(){
373  tone(buzzer, 587);
374  delay(500);        
375  noTone(buzzer); 
376}
377
378void play_mi(){
379  tone(buzzer, 659);
380  delay(500);        
381  noTone(buzzer); 
382}
383
384void play_fa(){
385  tone(buzzer, 698);
386  delay(500);        
387  noTone(buzzer); 
388}
389
390void play_sol(){
391  tone(buzzer,  784);
392  delay(500);        
393  noTone(buzzer); 
394}
395
396void play_la(){
397  tone(buzzer, 880);
398  delay(500);        
399  noTone(buzzer); 
400}
401
402void  play_ci(){
403  tone(buzzer, 987);
404  delay(500);        
405  noTone(buzzer);  
406}
407

#include <Servo.h>

Servo servo;
int angle = 0;
boolean forward1  = false ;
String bluetoothRead, Str_x, Str_y, Str_p, Str_s;
int x ;
int  y ;
int points;
int length;
const int buzzer = 10; 
int s;
unsigned  long previousMillis = millis();        // will store last time LED was updated

const  long interval = 1000;           // interval at which to blink (milliseconds)

#define  ENA 11
#define ENB 6
#define IN1 5
#define IN2 7
#define IN3 8
#define  IN4 9
#define DELAY 20

int carSpeed = (y*3);
int speed_Coeff = (1 +  (x/50));

void setup() { 
  Serial.begin(9600);
  Serial.flush();
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);
  pinMode(buzzer, OUTPUT);
  stop();
  servo.attach(13);
  servo.write(angle);
}

void loop()  {
 int i=0;
  char commandbuffer[200];
unsigned long currentMillis = millis();

  if(Serial.available()){
    
     delay(10);

     while( Serial.available()  && i< 199) {
        commandbuffer[i++] = Serial.read();
  
      
     }
     commandbuffer[i++]='\\0';
     bluetoothRead = (char*)commandbuffer;
     length = bluetoothRead.length();
     Serial.println(bluetoothRead);
  
     
     if(bluetoothRead.substring(0, 1).equals("x")){
       
       int i=1;
       while(bluetoothRead.substring(i, i+1) != ("y")){
       i++;
       }
       
       Str_x = bluetoothRead.substring(1,  i);
       x = Str_x.toInt();
            
       Str_y = bluetoothRead.substring(i+1,  length - 2);
       y = Str_y.toInt();

       Str_p = bluetoothRead.substring(length  - 2, length - 1);
       points = Str_p.toInt();

       Str_s = bluetoothRead.substring(length  - 1, length);
       s = Str_s.toInt(); 

       i = 1;
 
       Serial.println(x);
       Serial.println(y);
       Serial.println(points);
       Serial.println(s);
       Serial.println(length );        
      
       stop();
       carSpeed  = (y*2.5);
       speed_Coeff = (1 + (x/50));

  
    if(points == 1){
    forward();
    }
    if(points == 0){
    stop();
    }
    if(points  == 2){
    back(); 
    }
  
    if(points == 3){
    fleft(); 
    }

    if(points == 4){
    fright(); 
    }

    if(points  == 5){
     left(); 
    }

    if(points == 6){
    right(); 
    }

    if(points == 7){
     bleft(); 
    }

    if(points  == 8){
    bright(); 
    }

    if(points == 9){
    findo(); 
    }
     
  
    
    if (s == 7){
    play_do();
    }

    if (s == 6){
    play_re();
    }

    if (s == 5){
    play_mi();
    }

    if (s == 4){
    play_fa();
    }

    if (s == 3){
    play_sol();
    }

    if (s == 2){
    play_la();
    }

    if (s == 1){
    play_ci();
    }
//When an object is detected the  iRobbie App will start sending s = 8 to the Arduino. 
//You can use it in your  own Arduino code. The commented lines is an example. 

    if (s == 8){
  //    if (millis() - previousMillis >= DELAY)
  //    {previousMillis += DELAY;
  //     if (forward1)
 //     {
 //       servo.write(-- angle);
 //       if(angle  == 0)
 //       forward1 = false;
//      }
 //     else
//      {
  //      servo.write(++ angle);
 //       if (angle == 30)
 //       forward1  = true;
 //     }
 //     }
 
      // scan from 0 to 180 degrees
  // for(angle = 10; angle < 90; angle++)  
 // {                                  
//    servo.write(0);               
//    delay(15);                   
//  } 
//      servo.write(90);

 //    }
 // servo.write(-90);

//    }
     
  // now scan back from 180 to 0 degrees
//  for(angle = 90;  angle > 10; angle--)    
 // {                                
 //   servo.write(angle);           
 //   delay(15);       
//  } 
//     servomove(); 
    }

}
}
}

void  servomove(){
    unsigned long currentMillis = millis();
 if (currentMillis  - previousMillis >= interval) {
    previousMillis = currentMillis;
  
   for(angle = 0; angle < 60; angle++)  
  {                                  
    servo.write(angle); 
      previousMillis = currentMillis;              
    delay(10);                   
  } 
  // now scan back from 180 to 0 degrees
  for(angle = 60; angle > 0; angle--)    
  {                                
    servo.write(angle); 
  }
      previousMillis = currentMillis;          
    delay(10);  
}
}


void forward(){ 
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(25);
//  Serial.println("Forward");
}

void  forwards(){ 
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(25);
 // Serial.println("Forward_slow");
}

void  back(){
  analogWrite(ENA,(carSpeed - 20));
  analogWrite(ENB,(carSpeed -  20));
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  delay(25);
 // Serial.println("Back");
}

void  backs(){
  analogWrite(ENA,(carSpeed - 20));
  analogWrite(ENB,(carSpeed -  20));
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  delay(25);
//  Serial.println("Back_slow");
}
void  left(){
  analogWrite(ENA,x);
  analogWrite(ENB,x);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  delay(25); 
//  Serial.println("Left");
}

void right(){
  analogWrite(ENA,x);
  analogWrite(ENB,x);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(25);
 // Serial.println("Right");
}


void  fright(){
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed/speed_Coeff);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(25);
//  Serial.println("Forward_right");
}



void  fleft(){
  analogWrite(ENA,carSpeed/speed_Coeff);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(25);
//  Serial.println("Forward_left");
}

void  bright(){
  analogWrite(ENB,carSpeed);
  analogWrite(ENA,carSpeed/speed_Coeff);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  delay(25);
//  Serial.println("Back_right");
}



void  bleft(){
  analogWrite(ENB,carSpeed/speed_Coeff);
  analogWrite(ENA,carSpeed);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  delay(25);
 // Serial.println("Back_left");
}

void  findo(){
  analogWrite(ENA,90);
  analogWrite(ENB,90);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);


  delay(25) ;    


 }


void stop(){
  digitalWrite(ENA,LOW);
  digitalWrite(ENB,LOW);
 // Serial.println("Stop!");
}


void  play_do(){
  tone(buzzer, 533);
  delay(500);        
  noTone(buzzer);     
}

void play_re(){
  tone(buzzer, 587);
  delay(500);        
  noTone(buzzer); 
}

void play_mi(){
  tone(buzzer, 659);
  delay(500);        
  noTone(buzzer); 
}

void play_fa(){
  tone(buzzer, 698);
  delay(500);        
  noTone(buzzer); 
}

void play_sol(){
  tone(buzzer,  784);
  delay(500);        
  noTone(buzzer); 
}

void play_la(){
  tone(buzzer, 880);
  delay(500);        
  noTone(buzzer); 
}

void  play_ci(){
  tone(buzzer, 987);
  delay(500);        
  noTone(buzzer);  
}

Downloadable files

Assembled car

Function of each part: 1. Battery holder with a switch: provide power supply for the vehicle 2. Electric motors + wheels: drive the vehicle to move 3. Acrylic plates: the frame of the car 4. L298N motor driving board: drive the motors to rotate 5. UNO controller board: the brain of the car 6. V5 sensor expansion board: combined with the UNO, make the connection become more easier 7. Bluetooth module HM-10: provide the Bluetooth connection with iPhone and iRobbie App 8. Smartphone stand: hold the smartphone on the car You can find an example of detailed instructions and diagrams here: https://www.elegoo.com/tutorial/Elegoo%20Smart%20Robot%20Car%20Kit%20V2.0.2019.03.19.zip

Assembled car

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