Nano 33 BLE Propeller Car

Propeller driven car with accelerometer and Bluetooth wireless connection.

Oct 10, 2019

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cars

remote control

robots

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LEGO Parts

Arduino Nano 33 BLE

DC motor (generic)

Tools and machines

3D Printer (generic)

Project description

Code

CAR

arduino

1// ============================================
2//  Arduino nano 33
3//
4  propeller CAR (peripheral)
5// ============================================
6//
7  PORT ASSIGNMENT
8// ============================================
9// D7:EX
10  POWER
11// A4:EX IO
12// D13:LED
13// ============================================
14//
15  FILE INCLUDE 
16// ============================================  
17#include
18  <ArduinoBLE.h>
19BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214");
20  // BLE LED Service
21BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214",
22  BLERead | BLEWrite);
23// ============================================
24//  CONTROL
25  VALUABLES
26// ============================================  
27   long itime,
28  itime2;         // event timer  
29   int tgll;
30// ============================================
31//
32  SETUP
33// ============================================
34void setup() {
35
36  Serial.begin(9600);
37  //while (!Serial);
38  
39  pinMode( 7, OUTPUT); //
40  DC motor
41  pinMode(13, OUTPUT); // on board LED
42  digitalWrite(7, 0);  //
43  motor power off  
44
45  pinMode(22, OUTPUT); // RGB LED R
46  pinMode(23, OUTPUT);
47  // RGB LED G
48  pinMode(24, OUTPUT); // RGB LED B
49  RGB(1,1,0);          //
50  Blue
51  
52  BLE.begin();                                        // begin initialization
53
54  BLE.setLocalName("LED");                            // define local name
55
56  BLE.setAdvertisedService(ledService);               // set advertised local name
57  and service UUID:
58  ledService.addCharacteristic(switchCharacteristic); // add
59  the characteristic to the service
60  BLE.addService(ledService);                         //
61  add service
62  switchCharacteristic.writeValue(0);                 // set the
63  initial value for the characeristic:
64  BLE.advertise(); Serial.println("BLE
65  LED Peripheral");
66}
67// ============================================
68//
69  LOOP
70// ============================================
71void RGB(int R, int
72  G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24, B); }
73void
74  loop() {
75  BLEDevice central = BLE.central();
76  if (central) {  // if a central
77  is connected to peripheral:
78 
79    RGB(0,1,0); Serial.print("Connected to
80  central: "); // Red/Blue
81    Serial.println(central.address());                  //
82  print the central's MAC address:
83
84    while (central.connected()) {      //
85  while the central is still connected to peripheral:
86      if (switchCharacteristic.written())
87  {
88        if (switchCharacteristic.value()) {             // any value other
89  than 0
90            digitalWrite(13, 1); digitalWrite(7, 1); Serial.println("ON");
91  // will turn the ON
92        } else {                                        //
93  a 0 value
94            digitalWrite(13, 0); digitalWrite(7, 0); Serial.println("OFF");
95  // will turn the OFF
96        }
97      }
98    }
99
100    Serial.print(F("Disconnected
101  from central: ")); // when the central disconnects, print it out:
102    RGB(1,1,0);
103  Serial.println(central.address());  // disconected Blue
104  }
105  //if(millis()
106  - itime > 200) { itime = millis(); digitalWrite(13,  tgll); tgll = !tgll; }   
107}

// ============================================
//  Arduino nano 33
//
  propeller CAR (peripheral)
// ============================================
//
  PORT ASSIGNMENT
// ============================================
// D7:EX
  POWER
// A4:EX IO
// D13:LED
// ============================================
//
  FILE INCLUDE 
// ============================================  
#include
  <ArduinoBLE.h>
BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214");
  // BLE LED Service
BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214",
  BLERead | BLEWrite);
// ============================================
//  CONTROL
  VALUABLES
// ============================================  
   long itime,
  itime2;         // event timer  
   int tgll;
// ============================================
//
  SETUP
// ============================================
void setup() {

  Serial.begin(9600);
  //while (!Serial);
  
  pinMode( 7, OUTPUT); //
  DC motor
  pinMode(13, OUTPUT); // on board LED
  digitalWrite(7, 0);  //
  motor power off  

  pinMode(22, OUTPUT); // RGB LED R
  pinMode(23, OUTPUT);
  // RGB LED G
  pinMode(24, OUTPUT); // RGB LED B
  RGB(1,1,0);          //
  Blue
  
  BLE.begin();                                        // begin initialization

  BLE.setLocalName("LED");                            // define local name

  BLE.setAdvertisedService(ledService);               // set advertised local name
  and service UUID:
  ledService.addCharacteristic(switchCharacteristic); // add
  the characteristic to the service
  BLE.addService(ledService);                         //
  add service
  switchCharacteristic.writeValue(0);                 // set the
  initial value for the characeristic:
  BLE.advertise(); Serial.println("BLE
  LED Peripheral");
}
// ============================================
//
  LOOP
// ============================================
void RGB(int R, int
  G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24, B); }
void
  loop() {
  BLEDevice central = BLE.central();
  if (central) {  // if a central
  is connected to peripheral:
 
    RGB(0,1,0); Serial.print("Connected to
  central: "); // Red/Blue
    Serial.println(central.address());                  //
  print the central's MAC address:

    while (central.connected()) {      //
  while the central is still connected to peripheral:
      if (switchCharacteristic.written())
  {
        if (switchCharacteristic.value()) {             // any value other
  than 0
            digitalWrite(13, 1); digitalWrite(7, 1); Serial.println("ON");
  // will turn the ON
        } else {                                        //
  a 0 value
            digitalWrite(13, 0); digitalWrite(7, 0); Serial.println("OFF");
  // will turn the OFF
        }
      }
    }

    Serial.print(F("Disconnected
  from central: ")); // when the central disconnects, print it out:
    RGB(1,1,0);
  Serial.println(central.address());  // disconected Blue
  }
  //if(millis()
  - itime > 200) { itime = millis(); digitalWrite(13,  tgll); tgll = !tgll; }   
}

CONTROLLER

arduino

1// ============================================
2//  Arduino nano 33
3//  propeller CAR Controller (central)
4// ============================================
5//  PORT ASSIGNMENT
6// ============================================
7// D7:EX  POWER
8// A4:EX IO
9// D13:LED
10// ============================================
11//  FILE INCLUDE 
12// ============================================  
13#include  <Arduino_LSM9DS1.h>
14#include <ArduinoBLE.h>
15// ============================================
16//  CONTROL VALUABLES
17// ============================================  
18   long  itime, itime2;         // event timer  
19   int tgll;
20   int oldButtonState  = LOW;   
21// ============================================
22//  SETUP
23//  ============================================
24void setup() {
25  Serial.begin(9600);
26  //while (!Serial);
27  pinMode(13, OUTPUT); // on board LED
28
29  pinMode(22,  OUTPUT); // RGB LED R
30  pinMode(23, OUTPUT); // RGB LED G
31  pinMode(24, OUTPUT);  // RGB LED B
32  RGB(1,0,1);          // Green  
33  
34  IMU.begin();                                              //  begin gyro
35  Serial.print("Accelerometer sample rate = "); Serial.println(IMU.accelerationSampleRate());
36  
37  BLE.begin(); Serial.println("BLE Central - LED");         // begin initialization       
38  BLE.scanForUuid("19b10000-e8f2-537e-4f6c-d104768a1214");  // start  scanning for peripherals
39  
40}
41// ============================================
42//  LOOP
43  float x, y, z;
44  int ONOFF;
45// ============================================
46void  RGB(int R, int G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24,  B); }
47void loop() {  
48  gyro();
49  BLEDevice peripheral = BLE.available();
50  if (peripheral) {  // discovered a peripheral, print out address, local name,  and advertised service
51    Serial.print("Found "); Serial.print(peripheral.address());   Serial.print(" '");
52                            Serial.print(peripheral.localName());  Serial.print("' ");
53                            Serial.println(peripheral.advertisedServiceUuid());
54    if (peripheral.localName() != "LED") { return; }
55    BLE.stopScan();                                          //  stop scanning
56    controlLed(peripheral);    
57    BLE.scanForUuid("19b10000-e8f2-537e-4f6c-d104768a1214");  // disconnect, start scanning again
58  }   
59}
60void gyro() {
61  if (IMU.accelerationAvailable())  { IMU.readAcceleration(x, y, z); } //Serial.println(-100*x);
62  if(-100*x > 30)  { ONOFF = 1; } else { ONOFF = 0; } digitalWrite(13, ONOFF);  
63}
64
65void controlLed(BLEDevice  peripheral) {
66  Serial.println("Connecting ...");  // connect to the peripheral
67  if (peripheral.connect()) { Serial.println("Connected"); } else { Serial.println("Fail");  return; }
68
69  Serial.println("Discovering attributes ..."); // discover peripheral  attributes
70  if (peripheral.discoverAttributes()) { Serial.println("Attributes  discovered");
71  } else { Serial.println("Fail"); peripheral.disconnect();  return; }
72
73  Serial.println("Discovering retrieve the LED characteristic  ..."); // retrieve the LED characteristic
74  BLECharacteristic ledCharacteristic  = peripheral.characteristic("19b10001-e8f2-537e-4f6c-d104768a1214");
75  if (!ledCharacteristic)  { Serial.println("no LED char"); peripheral.disconnect(); return; } 
76  else  if (!ledCharacteristic.canWrite()) { Serial.println("no wLED char"); peripheral.disconnect();  return; }
77
78  RGB(0,0,1); // red selected! Red/Green
79  while (peripheral.connected())  {   // while the peripheral is connected
80    gyro(); 
81    int buttonState  = ONOFF; // read the button pin    
82    if (oldButtonState != buttonState) {  oldButtonState = buttonState; // status changed  
83      if (buttonState) { ledCharacteristic.writeValue((byte)0x01);  Serial.println("ON");  }
84      else {             ledCharacteristic.writeValue((byte)0x00);  Serial.println("OFF"); }
85    }
86  }
87  RGB(1,0,1); Serial.println("Peripheral  disconnected"); // blue
88}

// ============================================
//  Arduino nano 33
//  propeller CAR Controller (central)
// ============================================
//  PORT ASSIGNMENT
// ============================================
// D7:EX  POWER
// A4:EX IO
// D13:LED
// ============================================
//  FILE INCLUDE 
// ============================================  
#include  <Arduino_LSM9DS1.h>
#include <ArduinoBLE.h>
// ============================================
//  CONTROL VALUABLES
// ============================================  
   long  itime, itime2;         // event timer  
   int tgll;
   int oldButtonState  = LOW;   
// ============================================
//  SETUP
//  ============================================
void setup() {
  Serial.begin(9600);
  //while (!Serial);
  pinMode(13, OUTPUT); // on board LED

  pinMode(22,  OUTPUT); // RGB LED R
  pinMode(23, OUTPUT); // RGB LED G
  pinMode(24, OUTPUT);  // RGB LED B
  RGB(1,0,1);          // Green  
  
  IMU.begin();                                              //  begin gyro
  Serial.print("Accelerometer sample rate = "); Serial.println(IMU.accelerationSampleRate());
  
  BLE.begin(); Serial.println("BLE Central - LED");         // begin initialization       
  BLE.scanForUuid("19b10000-e8f2-537e-4f6c-d104768a1214");  // start  scanning for peripherals
  
}
// ============================================
//  LOOP
  float x, y, z;
  int ONOFF;
// ============================================
void  RGB(int R, int G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24,  B); }
void loop() {  
  gyro();
  BLEDevice peripheral = BLE.available();
  if (peripheral) {  // discovered a peripheral, print out address, local name,  and advertised service
    Serial.print("Found "); Serial.print(peripheral.address());   Serial.print(" '");
                            Serial.print(peripheral.localName());  Serial.print("' ");
                            Serial.println(peripheral.advertisedServiceUuid());
    if (peripheral.localName() != "LED") { return; }
    BLE.stopScan();                                          //  stop scanning
    controlLed(peripheral);    
    BLE.scanForUuid("19b10000-e8f2-537e-4f6c-d104768a1214");  // disconnect, start scanning again
  }   
}
void gyro() {
  if (IMU.accelerationAvailable())  { IMU.readAcceleration(x, y, z); } //Serial.println(-100*x);
  if(-100*x > 30)  { ONOFF = 1; } else { ONOFF = 0; } digitalWrite(13, ONOFF);  
}

void controlLed(BLEDevice  peripheral) {
  Serial.println("Connecting ...");  // connect to the peripheral
  if (peripheral.connect()) { Serial.println("Connected"); } else { Serial.println("Fail");  return; }

  Serial.println("Discovering attributes ..."); // discover peripheral  attributes
  if (peripheral.discoverAttributes()) { Serial.println("Attributes  discovered");
  } else { Serial.println("Fail"); peripheral.disconnect();  return; }

  Serial.println("Discovering retrieve the LED characteristic  ..."); // retrieve the LED characteristic
  BLECharacteristic ledCharacteristic  = peripheral.characteristic("19b10001-e8f2-537e-4f6c-d104768a1214");
  if (!ledCharacteristic)  { Serial.println("no LED char"); peripheral.disconnect(); return; } 
  else  if (!ledCharacteristic.canWrite()) { Serial.println("no wLED char"); peripheral.disconnect();  return; }

  RGB(0,0,1); // red selected! Red/Green
  while (peripheral.connected())  {   // while the peripheral is connected
    gyro(); 
    int buttonState  = ONOFF; // read the button pin    
    if (oldButtonState != buttonState) {  oldButtonState = buttonState; // status changed  
      if (buttonState) { ledCharacteristic.writeValue((byte)0x01);  Serial.println("ON");  }
      else {             ledCharacteristic.writeValue((byte)0x00);  Serial.println("OFF"); }
    }
  }
  RGB(1,0,1); Serial.println("Peripheral  disconnected"); // blue
}

CAR

arduino

1// ============================================
2//  Arduino nano 33
3//  propeller CAR (peripheral)
4// ============================================
5//  PORT ASSIGNMENT
6// ============================================
7// D7:EX  POWER
8// A4:EX IO
9// D13:LED
10// ============================================
11//  FILE INCLUDE 
12// ============================================  
13#include  <ArduinoBLE.h>
14BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214");  // BLE LED Service
15BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214",  BLERead | BLEWrite);
16// ============================================
17//  CONTROL  VALUABLES
18// ============================================  
19   long itime,  itime2;         // event timer  
20   int tgll;
21// ============================================
22//  SETUP
23// ============================================
24void setup() {
25  Serial.begin(9600);
26  //while (!Serial);
27  
28  pinMode( 7, OUTPUT); //  DC motor
29  pinMode(13, OUTPUT); // on board LED
30  digitalWrite(7, 0);  //  motor power off  
31
32  pinMode(22, OUTPUT); // RGB LED R
33  pinMode(23, OUTPUT);  // RGB LED G
34  pinMode(24, OUTPUT); // RGB LED B
35  RGB(1,1,0);          //  Blue
36  
37  BLE.begin();                                        // begin initialization
38  BLE.setLocalName("LED");                            // define local name
39  BLE.setAdvertisedService(ledService);               // set advertised local name  and service UUID:
40  ledService.addCharacteristic(switchCharacteristic); // add  the characteristic to the service
41  BLE.addService(ledService);                         //  add service
42  switchCharacteristic.writeValue(0);                 // set the  initial value for the characeristic:
43  BLE.advertise(); Serial.println("BLE  LED Peripheral");
44}
45// ============================================
46//  LOOP
47// ============================================
48void RGB(int R, int  G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24, B); }
49void  loop() {
50  BLEDevice central = BLE.central();
51  if (central) {  // if a central  is connected to peripheral:
52 
53    RGB(0,1,0); Serial.print("Connected to  central: "); // Red/Blue
54    Serial.println(central.address());                  //  print the central's MAC address:
55
56    while (central.connected()) {      //  while the central is still connected to peripheral:
57      if (switchCharacteristic.written())  {
58        if (switchCharacteristic.value()) {             // any value other  than 0
59            digitalWrite(13, 1); digitalWrite(7, 1); Serial.println("ON");  // will turn the ON
60        } else {                                        //  a 0 value
61            digitalWrite(13, 0); digitalWrite(7, 0); Serial.println("OFF");  // will turn the OFF
62        }
63      }
64    }
65
66    Serial.print(F("Disconnected  from central: ")); // when the central disconnects, print it out:
67    RGB(1,1,0);  Serial.println(central.address());  // disconected Blue
68  }
69  //if(millis()  - itime > 200) { itime = millis(); digitalWrite(13,  tgll); tgll = !tgll; }   
70}

// ============================================
//  Arduino nano 33
//  propeller CAR (peripheral)
// ============================================
//  PORT ASSIGNMENT
// ============================================
// D7:EX  POWER
// A4:EX IO
// D13:LED
// ============================================
//  FILE INCLUDE 
// ============================================  
#include  <ArduinoBLE.h>
BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214");  // BLE LED Service
BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214",  BLERead | BLEWrite);
// ============================================
//  CONTROL  VALUABLES
// ============================================  
   long itime,  itime2;         // event timer  
   int tgll;
// ============================================
//  SETUP
// ============================================
void setup() {
  Serial.begin(9600);
  //while (!Serial);
  
  pinMode( 7, OUTPUT); //  DC motor
  pinMode(13, OUTPUT); // on board LED
  digitalWrite(7, 0);  //  motor power off  

  pinMode(22, OUTPUT); // RGB LED R
  pinMode(23, OUTPUT);  // RGB LED G
  pinMode(24, OUTPUT); // RGB LED B
  RGB(1,1,0);          //  Blue
  
  BLE.begin();                                        // begin initialization
  BLE.setLocalName("LED");                            // define local name
  BLE.setAdvertisedService(ledService);               // set advertised local name  and service UUID:
  ledService.addCharacteristic(switchCharacteristic); // add  the characteristic to the service
  BLE.addService(ledService);                         //  add service
  switchCharacteristic.writeValue(0);                 // set the  initial value for the characeristic:
  BLE.advertise(); Serial.println("BLE  LED Peripheral");
}
// ============================================
//  LOOP
// ============================================
void RGB(int R, int  G, int B) { digitalWrite(22, R); digitalWrite(23, G); digitalWrite(24, B); }
void  loop() {
  BLEDevice central = BLE.central();
  if (central) {  // if a central  is connected to peripheral:
 
    RGB(0,1,0); Serial.print("Connected to  central: "); // Red/Blue
    Serial.println(central.address());                  //  print the central's MAC address:

    while (central.connected()) {      //  while the central is still connected to peripheral:
      if (switchCharacteristic.written())  {
        if (switchCharacteristic.value()) {             // any value other  than 0
            digitalWrite(13, 1); digitalWrite(7, 1); Serial.println("ON");  // will turn the ON
        } else {                                        //  a 0 value
            digitalWrite(13, 0); digitalWrite(7, 0); Serial.println("OFF");  // will turn the OFF
        }
      }
    }

    Serial.print(F("Disconnected  from central: ")); // when the central disconnects, print it out:
    RGB(1,1,0);  Serial.println(central.address());  // disconected Blue
  }
  //if(millis()  - itime > 200) { itime = millis(); digitalWrite(13,  tgll); tgll = !tgll; }   
}

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