Phone Bluetooth-Controlled RC Car

1#include <SoftwareSerial.h>
2
3#define TxD 12 // bluetooth connection
4  pins
5#define RxD 2
6
7#define MOTOR_FORWARD 9 // motor pins
8#define MOTOR_BACKWARD
9  10
10#define MOTOR_LEFT 5
11#define MOTOR_RIGHT 6
12
13#define LED_PIN 13
14#define
15  BUZZER 33
16#define BATTERY_VOLTAGE A0
17
18SoftwareSerial bluetoothSerial(TxD,
19  RxD); // software serial object
20
21int c;
22int speedIntensity = 192; // start
23  at 3/4 max speed (where app slider begins)
24double batteryVoltageIn;
25double
26  batteryVoltage;
27boolean ledOn = false;
28boolean inMotion = false;
29boolean
30  goingForward = true;
31
32void setup() {
33  bluetoothSerial.begin(9600);
34
35  Serial.begin(9600);
36  
37  pinMode(LED_PIN, OUTPUT);
38  pinMode(BUZZER,
39  OUTPUT);
40  pinMode(BATTERY_VOLTAGE, INPUT);
41  
42  pinMode(MOTOR_FORWARD,
43  OUTPUT);
44  pinMode(MOTOR_BACKWARD, OUTPUT);
45  pinMode(MOTOR_LEFT, OUTPUT);
46
47  pinMode(MOTOR_RIGHT, OUTPUT);   
48}
49
50void loop() {
51  // Accelerometer:
52  99 up, 98 down, 100 right, 101 left, 102 stop
53  if (bluetoothSerial.available()){
54  // if bluetooth signal available, it is stored in int c; all numbers recieved pre-coded
55  in app
56    c = bluetoothSerial.read();
57    Serial.println(c);
58    if (c
59  == 1 || c == 99){ // value from btn. mode and acc. mode
60      forwardSpeed(speedIntensity);
61
62      inMotion = true;
63      goingForward = true;
64    }
65    else if (c
66  == 2 || c == 98){
67      inMotion = true;
68      backwardSpeed(speedIntensity);
69
70      goingForward = false;
71    }
72    else if (c == 3 || c == 101){
73      leftTurn();
74
75    }
76    else if (c == 4 || c == 100){
77      rightTurn();
78    }
79    else
80  if (c == 0 || c == 102){
81      inMotion = false;
82      halt();
83    }
84
85    else if (c == 5){ // changes LED's state
86      ledOn = !ledOn;
87      if
88  (ledOn){
89        digitalWrite(LED_PIN, HIGH);
90      }
91      else if (!ledOn){
92
93        digitalWrite(LED_PIN, LOW);
94      }
95    }
96    else if (c >= 10
97  && c <= 50){ // changes speed based on slider position
98      speedIntensity =
99  map(c, 10, 50, 0, 255);
100      if (inMotion){
101        if (goingForward){
102
103          forwardSpeed(speedIntensity);
104        }
105        else if (!goingForward){
106
107          backwardSpeed(speedIntensity);
108        }
109      }
110    }
111    else
112  if (c == 6){
113      digitalWrite(BUZZER, HIGH);
114    }
115    else if (c ==
116  7){
117      digitalWrite(BUZZER, LOW);
118    }
119    else if (c == 51){
120      digitalWrite(LED_PIN,
121  HIGH);
122    }
123    else if (c == 52){
124      digitalWrite(LED_PIN, LOW);
125
126    }
127    else if (c == 8){
128      batteryVoltageIn = (double)analogRead(BATTERY_VOLTAGE)
129  / 204.6;
130      batteryVoltage = (8.0/5.0) * batteryVoltageIn; // converts reading
131  to voltage of 8V battery
132      if (batteryVoltage >= 7.40){ // sends code to
133  specify which of 4 battery levels car is at
134        bluetoothSerial.write(60);
135            
136      }
137      else if (batteryVoltage >= 6.90){
138        bluetoothSerial.write(61);
139
140      }
141      else if (batteryVoltage >= 6.40){
142        bluetoothSerial.write(62);
143
144      }
145      else{
146        bluetoothSerial.write(63);
147      }
148    }
149
150  }
151}
152
153void rightTurn(){
154  digitalWrite(MOTOR_LEFT, LOW);
155  digitalWrite(MOTOR_RIGHT,
156  HIGH);
157}
158
159void leftTurn(){
160  digitalWrite(MOTOR_LEFT, HIGH);
161  digitalWrite(MOTOR_RIGHT,
162  LOW);
163}
164
165void forwardSpeed(int speedInput){
166  analogWrite(MOTOR_FORWARD,
167  speedInput);
168  digitalWrite(MOTOR_BACKWARD, LOW);
169  digitalWrite(MOTOR_LEFT,
170  LOW);
171  digitalWrite(MOTOR_RIGHT, LOW);
172}
173
174void backwardSpeed(int speedInput){
175
176  digitalWrite(MOTOR_FORWARD, LOW);
177  analogWrite(MOTOR_BACKWARD, speedInput);
178
179  digitalWrite(MOTOR_LEFT, LOW);
180  digitalWrite(MOTOR_RIGHT, LOW);
181}
182
183void
184  halt(){
185  digitalWrite(MOTOR_FORWARD, LOW);
186  digitalWrite(MOTOR_BACKWARD,
187  LOW);
188  digitalWrite(MOTOR_LEFT, LOW);
189  digitalWrite(MOTOR_RIGHT, LOW);  
190}

1#include <SoftwareSerial.h>
2
3#define TxD 12 // bluetooth connection  pins
4#define RxD 2
5
6#define MOTOR_FORWARD 9 // motor pins
7#define MOTOR_BACKWARD  10
8#define MOTOR_LEFT 5
9#define MOTOR_RIGHT 6
10
11#define LED_PIN 13
12#define  BUZZER 33
13#define BATTERY_VOLTAGE A0
14
15SoftwareSerial bluetoothSerial(TxD,  RxD); // software serial object
16
17int c;
18int speedIntensity = 192; // start  at 3/4 max speed (where app slider begins)
19double batteryVoltageIn;
20double  batteryVoltage;
21boolean ledOn = false;
22boolean inMotion = false;
23boolean  goingForward = true;
24
25void setup() {
26  bluetoothSerial.begin(9600);
27  Serial.begin(9600);
28  
29  pinMode(LED_PIN, OUTPUT);
30  pinMode(BUZZER,  OUTPUT);
31  pinMode(BATTERY_VOLTAGE, INPUT);
32  
33  pinMode(MOTOR_FORWARD,  OUTPUT);
34  pinMode(MOTOR_BACKWARD, OUTPUT);
35  pinMode(MOTOR_LEFT, OUTPUT);
36  pinMode(MOTOR_RIGHT, OUTPUT);   
37}
38
39void loop() {
40  // Accelerometer:  99 up, 98 down, 100 right, 101 left, 102 stop
41  if (bluetoothSerial.available()){  // if bluetooth signal available, it is stored in int c; all numbers recieved pre-coded  in app
42    c = bluetoothSerial.read();
43    Serial.println(c);
44    if (c  == 1 || c == 99){ // value from btn. mode and acc. mode
45      forwardSpeed(speedIntensity);
46      inMotion = true;
47      goingForward = true;
48    }
49    else if (c  == 2 || c == 98){
50      inMotion = true;
51      backwardSpeed(speedIntensity);
52      goingForward = false;
53    }
54    else if (c == 3 || c == 101){
55      leftTurn();
56    }
57    else if (c == 4 || c == 100){
58      rightTurn();
59    }
60    else  if (c == 0 || c == 102){
61      inMotion = false;
62      halt();
63    }
64    else if (c == 5){ // changes LED's state
65      ledOn = !ledOn;
66      if  (ledOn){
67        digitalWrite(LED_PIN, HIGH);
68      }
69      else if (!ledOn){
70        digitalWrite(LED_PIN, LOW);
71      }
72    }
73    else if (c >= 10  && c <= 50){ // changes speed based on slider position
74      speedIntensity =  map(c, 10, 50, 0, 255);
75      if (inMotion){
76        if (goingForward){
77          forwardSpeed(speedIntensity);
78        }
79        else if (!goingForward){
80          backwardSpeed(speedIntensity);
81        }
82      }
83    }
84    else  if (c == 6){
85      digitalWrite(BUZZER, HIGH);
86    }
87    else if (c ==  7){
88      digitalWrite(BUZZER, LOW);
89    }
90    else if (c == 51){
91      digitalWrite(LED_PIN,  HIGH);
92    }
93    else if (c == 52){
94      digitalWrite(LED_PIN, LOW);
95    }
96    else if (c == 8){
97      batteryVoltageIn = (double)analogRead(BATTERY_VOLTAGE)  / 204.6;
98      batteryVoltage = (8.0/5.0) * batteryVoltageIn; // converts reading  to voltage of 8V battery
99      if (batteryVoltage >= 7.40){ // sends code to  specify which of 4 battery levels car is at
100        bluetoothSerial.write(60);            
101      }
102      else if (batteryVoltage >= 6.90){
103        bluetoothSerial.write(61);
104      }
105      else if (batteryVoltage >= 6.40){
106        bluetoothSerial.write(62);
107      }
108      else{
109        bluetoothSerial.write(63);
110      }
111    }
112  }
113}
114
115void rightTurn(){
116  digitalWrite(MOTOR_LEFT, LOW);
117  digitalWrite(MOTOR_RIGHT,  HIGH);
118}
119
120void leftTurn(){
121  digitalWrite(MOTOR_LEFT, HIGH);
122  digitalWrite(MOTOR_RIGHT,  LOW);
123}
124
125void forwardSpeed(int speedInput){
126  analogWrite(MOTOR_FORWARD,  speedInput);
127  digitalWrite(MOTOR_BACKWARD, LOW);
128  digitalWrite(MOTOR_LEFT,  LOW);
129  digitalWrite(MOTOR_RIGHT, LOW);
130}
131
132void backwardSpeed(int speedInput){
133  digitalWrite(MOTOR_FORWARD, LOW);
134  analogWrite(MOTOR_BACKWARD, speedInput);
135  digitalWrite(MOTOR_LEFT, LOW);
136  digitalWrite(MOTOR_RIGHT, LOW);
137}
138
139void  halt(){
140  digitalWrite(MOTOR_FORWARD, LOW);
141  digitalWrite(MOTOR_BACKWARD,  LOW);
142  digitalWrite(MOTOR_LEFT, LOW);
143  digitalWrite(MOTOR_RIGHT, LOW);  
144}