Bluetooth Boat in doubleA

1#include <SoftwareSerial.h> 
2#include <Wire.h>  //SoftwareSerialWire  SoftwareSerial 
3#include <Servo.h>
4SoftwareSerial I2CBT(A0,A1); //PIN10PIN11RXTX  
5Servo myservo;  // create servo object to control a servo
6
7
8int pos  = 0;    // variable to store the servo position
9int INA = 9; 
10int INB = 10;
11//int  LED = 13;
12
13void setup() {
14  Serial.begin(9600); //Arduino9600 
15  I2CBT.begin(9600);  //57600
16  myservo.attach(3);  // attaches the servo on pin 3 to the servo object
17  pinMode(INA,OUTPUT); 
18  pinMode(INB,OUTPUT); 
19}
20
21void loop() { 
22  byte cmmd[20]; 
23  int insize; 
24  servo(90);
25  while(1){ 
26    if ((insize=(I2CBT.available()))>0){
27       Serial.print("input size = "); 
28       Serial.println(insize);  // 
29       for (int i=0; i<insize; i++) {
30           Serial.print(cmmd[i]=char(I2CBT.read()));//
31           //Serial.print("\
32");
33       }  //for
34     switch (cmmd[0])  {
35        case 97: //'a'     
36          //digitalWrite(LED,HIGH);
37          motorforward();
38          Serial.print("  go");
39        break;  
40
41        case 98: //'b'
42          //digitalWrite(LED,LOW);
43          motorstop();
44          Serial.print("  stop");
45        break;
46
47        case 102: //'f'
48          //digitalWrite(LED,LOW);
49          motorback();
50          Serial.print("  back");
51        break;
52
53
54
55
56
57
58        case 99: //'c'
59          servo(150);
60          Serial.print("  Left");
61        break;
62
63         case 100: //'d'
64          servo(90);
65          Serial.print("  Ctr");
66        break;
67       
68        case 101: //'e'
69          servo(30);
70          Serial.print("  Right");
71        break;
72               
73     }  //Switch     
74     Serial.print("\
75");
76     
77     
78     } //if 
79          
80 
81  
82  
83  } //while
84}
85
86
87
88
89//**************************
90void  servo(int servopos) {
91  myservo.write(servopos);              // tell servo to  go to position in variable 'pos'
92  delay(15);                       // waits  15ms for the servo to reach the position
93}
94
95void motorforward() { 
96  digitalWrite(INA,LOW);
97  digitalWrite(INB,HIGH); 
98  //delay(1000); 
99}
100
101void  motorstop() { 
102  digitalWrite(INA,LOW);
103  digitalWrite(INB,LOW); 
104  //delay(1000);  
105}
106
107void motorback() { 
108  digitalWrite(INA,HIGH);
109  digitalWrite(INB,LOW);  
110  //delay(1000); 
111}
112

1#include <SoftwareSerial.h> 
2#include <Wire.h>  //SoftwareSerialWire
3  SoftwareSerial 
4#include <Servo.h>
5SoftwareSerial I2CBT(A0,A1); //PIN10PIN11RXTX
6  
7Servo myservo;  // create servo object to control a servo
8
9
10int pos
11  = 0;    // variable to store the servo position
12int INA = 9; 
13int INB = 10;
14//int
15  LED = 13;
16
17void setup() {
18  Serial.begin(9600); //Arduino9600 
19  I2CBT.begin(9600);
20  //57600
21  myservo.attach(3);  // attaches the servo on pin 3 to the servo object
22
23  pinMode(INA,OUTPUT); 
24  pinMode(INB,OUTPUT); 
25}
26
27void loop() { 
28
29  byte cmmd[20]; 
30  int insize; 
31  servo(90);
32  while(1){ 
33    if ((insize=(I2CBT.available()))>0){
34
35       Serial.print("input size = "); 
36       Serial.println(insize);  // 
37
38       for (int i=0; i<insize; i++) {
39           Serial.print(cmmd[i]=char(I2CBT.read()));//
40
41           //Serial.print("\
42");
43       }  //for
44     switch (cmmd[0])
45  {
46        case 97: //'a'     
47          //digitalWrite(LED,HIGH);
48          motorforward();
49
50          Serial.print("  go");
51        break;  
52
53        case 98: //'b'
54
55          //digitalWrite(LED,LOW);
56          motorstop();
57          Serial.print("
58  stop");
59        break;
60
61        case 102: //'f'
62          //digitalWrite(LED,LOW);
63
64          motorback();
65          Serial.print("  back");
66        break;
67
68
69
70
71
72
73
74        case 99: //'c'
75          servo(150);
76          Serial.print("  Left");
77
78        break;
79
80         case 100: //'d'
81          servo(90);
82          Serial.print("
83  Ctr");
84        break;
85       
86        case 101: //'e'
87          servo(30);
88
89          Serial.print("  Right");
90        break;
91               
92     }
93  //Switch     
94     Serial.print("\
95");
96     
97     
98     } //if 
99
100          
101 
102  
103  
104  } //while
105}
106
107
108
109
110//**************************
111void
112  servo(int servopos) {
113  myservo.write(servopos);              // tell servo to
114  go to position in variable 'pos'
115  delay(15);                       // waits
116  15ms for the servo to reach the position
117}
118
119void motorforward() { 
120
121  digitalWrite(INA,LOW);
122  digitalWrite(INB,HIGH); 
123  //delay(1000); 
124}
125
126void
127  motorstop() { 
128  digitalWrite(INA,LOW);
129  digitalWrite(INB,LOW); 
130  //delay(1000);
131  
132}
133
134void motorback() { 
135  digitalWrite(INA,HIGH);
136  digitalWrite(INB,LOW);
137  
138  //delay(1000); 
139}
140