NAMLA

Autonomous omni-mobile robot.

Mar 24, 2017

•

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6 respects

robot

robotics

omni

Components and supplies

Arduino UNO

IR Sensor

Arduino Proto Shield

Arduino USB Host Shield

Arduino MotorShield Rev3

Tools and machines

MECANUM WHEELS

IMU 6 DOF

DC Motor

Project description

Code

Slave 1

arduino

1// Start the I2C Bus as Slave 1
2
3#include <Wire.h>
4void setup()   
5{
6  Wire.begin(1); // Adress 1
7  Wire.onReceive(reciveEvent);
8
9     //Setup Channel A
10  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
11   pinMode(9, OUTPUT); //Initiates Brake Channel A pin
12
13  //Setup Channel B
14   pinMode(13, OUTPUT); //Initiates Motor Channel A pin
15  pinMode(8, OUTPUT);   //Initiates Brake Channel A pin
16}
17
18void loop() 
19{
20}
21
22void   reciveEvent ( int howMany)
23{
24  char c = Wire.read();
25  if ( c == 'A')
26   {
27     
28  //Motor A forward @ full speed
29  digitalWrite(12, HIGH); //Establishes   forward direction of Channel A
30  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
31  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
32
33  //Motor B forward @ full speed
34  digitalWrite(13, HIGH); //Establishes   forward direction of Channel B
35  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
36  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
37
38  }
39  else if ( c == 'B')
40  {
41  //Motor A backword @ full   speed
42  digitalWrite(12, LOW); //Establishes backword direction of Channel A
43   digitalWrite(9, LOW);   //Disengage the Brake for Channel A
44  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
45
46  //Motor B backword   @ full speed
47  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
48  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
49  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
50  }
51
52   else if (   c == 'D')
53  {
54  //Motor A backword @ full speed
55  digitalWrite(12, LOW);   //Establishes backword direction of Channel A
56  digitalWrite(9, LOW);   //Disengage   the Brake for Channel A
57  analogWrite(3, 200);   //Spins the motor on Channel   A at full speed
58
59  //Motor B backword @ full speed
60  digitalWrite(13, HIGH);   //Establishes backword direction of Channel B
61  digitalWrite(8, LOW);   //Disengage   the Brake for Channel B
62  analogWrite(11, 200);   //Spins the motor on Channel   B at full speed
63  }
64
65  else if ( c == 'E')
66  {
67  //Motor A backword   @ full speed
68  digitalWrite(12, HIGH); //Establishes backword direction of Channel   A
69  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
70  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
71
72  //Motor B backword   @ full speed
73  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
74  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
75  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
76  }
77    else if ( c ==   'F')
78  {
79  //Motor A backword @ full speed
80  digitalWrite(12, LOW); //Establishes   backword direction of Channel A
81  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
82  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
83
84  //Motor B backword @ full speed
85  digitalWrite(13, HIGH); //Establishes   backword direction of Channel B
86  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
87  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
88  }
89  else if ( c == 'G')
90  {
91  //Motor A backword @ full speed
92   digitalWrite(12, HIGH); //Establishes backword direction of Channel A
93  digitalWrite(9,   LOW);   //Disengage the Brake for Channel A
94  analogWrite(3, 200);   //Spins   the motor on Channel A at full speed
95
96  //Motor B backword @ full speed
97   digitalWrite(13, LOW); //Establishes backword direction of Channel B
98  digitalWrite(8,   LOW);   //Disengage the Brake for Channel B
99  analogWrite(11, 200);   //Spins   the motor on Channel B at full speed
100  }
101 else if ( c == 'C')
102  {
103     
104       digitalWrite(8, HIGH);  //Engage the Brake for Channel B
105      digitalWrite(9,   HIGH);  //Engage the Brake for Channel A
106
107  }
108
109}
110

// Start the I2C Bus as Slave 1

#include <Wire.h>
void setup()   
{
  Wire.begin(1); // Adress 1
  Wire.onReceive(reciveEvent);

     //Setup Channel A
  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
   pinMode(9, OUTPUT); //Initiates Brake Channel A pin

  //Setup Channel B
   pinMode(13, OUTPUT); //Initiates Motor Channel A pin
  pinMode(8, OUTPUT);   //Initiates Brake Channel A pin
}

void loop() 
{
}

void   reciveEvent ( int howMany)
{
  char c = Wire.read();
  if ( c == 'A')
   {
     
  //Motor A forward @ full speed
  digitalWrite(12, HIGH); //Establishes   forward direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed

  //Motor B forward @ full speed
  digitalWrite(13, HIGH); //Establishes   forward direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed

  }
  else if ( c == 'B')
  {
  //Motor A backword @ full   speed
  digitalWrite(12, LOW); //Establishes backword direction of Channel A
   digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,   200);   //Spins the motor on Channel A at full speed

  //Motor B backword   @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
  }

   else if (   c == 'D')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW);   //Establishes backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage   the Brake for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel   A at full speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH);   //Establishes backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage   the Brake for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel   B at full speed
  }

  else if ( c == 'E')
  {
  //Motor A backword   @ full speed
  digitalWrite(12, HIGH); //Establishes backword direction of Channel   A
  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,   200);   //Spins the motor on Channel A at full speed

  //Motor B backword   @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
  }
    else if ( c ==   'F')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW); //Establishes   backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH); //Establishes   backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
  }
  else if ( c == 'G')
  {
  //Motor A backword @ full speed
   digitalWrite(12, HIGH); //Establishes backword direction of Channel A
  digitalWrite(9,   LOW);   //Disengage the Brake for Channel A
  analogWrite(3, 200);   //Spins   the motor on Channel A at full speed

  //Motor B backword @ full speed
   digitalWrite(13, LOW); //Establishes backword direction of Channel B
  digitalWrite(8,   LOW);   //Disengage the Brake for Channel B
  analogWrite(11, 200);   //Spins   the motor on Channel B at full speed
  }
 else if ( c == 'C')
  {
     
       digitalWrite(8, HIGH);  //Engage the Brake for Channel B
      digitalWrite(9,   HIGH);  //Engage the Brake for Channel A

  }

}

Master

arduino

1//This sketch created by Dimitris Kagioulis.You can modify it at your   need.
2//Library belongs to Kristian Sloth Lauszus
3
4#include <PS3BT.h>
5#include   <Wire.h>
6
7
8USB Usb;
9BTD Btd(&Usb);
10PS3BT PS3(&Btd);
11
12int sensor1   = A0;
13int sensor2 = A1;
14int sensor3 = A2;
15
16void setup() {
17
18  Serial.begin(9600);
19   Wire.begin();  // 0 adress of Master
20  
21  if (Usb.Init() == -1) {
22    Serial.print(F("\
\
23OSC   did not start"));
24    while (1); //halt
25  }
26
27 pinMode(sensor1, INPUT);
28   pinMode(sensor2, INPUT);
29 pinMode(sensor3, INPUT);
30 
31}
32
33void loop()   
34{
35
36  long safety1 = digitalRead(sensor1);
37  long safety2 = digitalRead(sensor2);
38   long safety3 = digitalRead(sensor3);
39  
40  Usb.Task();
41
42    char c   = Serial.read();
43  
44  
45
46
47  if (PS3.PS3Connected || PS3.PS3NavigationConnected)   {
48
49    if (PS3.getButtonPress(UP)) {
50      if(safety1 == LOW){
51    Wire.beginTransmission(1);   // transmit to device #1
52    Wire.write( 'A' );            
53    Wire.endTransmission();     // stop transmitting
54
55    Wire.beginTransmission(2); // transmit to device   #2
56    Wire.write( 'A' );            
57    Wire.endTransmission();    // stop   transmitting  
58      }
59        else if (safety1 == HIGH){
60    Wire.beginTransmission(1);   // transmit to device #1
61    Wire.write( 'C' );            
62    Wire.endTransmission();     // stop transmitting
63
64    Wire.beginTransmission(2); // transmit to device   #2
65    Wire.write( 'C' );            
66    Wire.endTransmission();    // stop   transmitting
67  }
68    }
69    else  if  (PS3.getButtonPress(DOWN)) {
70    Wire.beginTransmission(1);   // transmit to device #1
71    Wire.write( 'B' );            
72    Wire.endTransmission();     // stop transmitting
73
74    Wire.beginTransmission(2); // transmit to device   #2
75    Wire.write( 'B' );            
76    Wire.endTransmission();    // stop   transmitting    
77 
78    }
79
80       else  if  (PS3.getButtonPress(RIGHT))   {
81        if(safety2 == LOW){
82    Wire.beginTransmission(1); // transmit to   device #1
83    Wire.write( 'D' );            
84    Wire.endTransmission();    //   stop transmitting
85
86    Wire.beginTransmission(2); // transmit to device #2
87     Wire.write( 'D' );            
88    Wire.endTransmission();    // stop transmitting     
89        }
90        else if (safety2 == HIGH){
91    Wire.beginTransmission(1);   // transmit to device #1
92    Wire.write( 'C' );            
93    Wire.endTransmission();     // stop transmitting
94
95    Wire.beginTransmission(2); // transmit to device   #2
96    Wire.write( 'C' );            
97    Wire.endTransmission();    // stop   transmitting
98        }
99    }
100        else  if  (PS3.getButtonPress(LEFT))   {
101          if(safety3 == LOW){
102    Wire.beginTransmission(1); // transmit   to device #1
103    Wire.write( 'E' );            
104    Wire.endTransmission();     // stop transmitting
105
106    Wire.beginTransmission(2); // transmit to device   #2
107    Wire.write( 'E' );            
108    Wire.endTransmission();    // stop   transmitting    
109          }
110        else if (safety3 == HIGH){
111    Wire.beginTransmission(1);   // transmit to device #1
112    Wire.write( 'C' );            
113    Wire.endTransmission();     // stop transmitting
114
115    Wire.beginTransmission(2); // transmit to device   #2
116    Wire.write( 'C' );            
117    Wire.endTransmission();    // stop   transmitting   
118        }
119    }
120     else  if  (PS3.getButtonPress(CIRCLE))   {
121      
122    Wire.beginTransmission(1); // transmit to device #1
123    Wire.write(   'F' );            
124    Wire.endTransmission();    // stop transmitting
125
126     Wire.beginTransmission(2); // transmit to device #2
127    Wire.write( 'F' );             
128    Wire.endTransmission();    // stop transmitting 
129      
130      }
131        else  if  (PS3.getButtonPress(SQUARE)) {
132          
133    Wire.beginTransmission(1);   // transmit to device #1
134    Wire.write( 'G' );            
135    Wire.endTransmission();     // stop transmitting
136
137    Wire.beginTransmission(2); // transmit to device   #2
138    Wire.write( 'G' );            
139    Wire.endTransmission();    // stop   transmitting 
140     }
141  else
142  {
143    Wire.beginTransmission(1); // transmit   to device #1
144    Wire.write( 'C' );            
145    Wire.endTransmission();     // stop transmitting
146
147    Wire.beginTransmission(2); // transmit to device   #2
148    Wire.write( 'C' );            
149    Wire.endTransmission();    // stop   transmitting
150  }
151 
152
153   if (PS3.PS3Connected) {
154
155      if (PS3.getButtonClick(PS))   {
156        PS3.disconnect();
157      }
158    }
159  
160  }
161  
162  }
163
164   
165
166

//This sketch created by Dimitris Kagioulis.You can modify it at your   need.
//Library belongs to Kristian Sloth Lauszus

#include <PS3BT.h>
#include   <Wire.h>


USB Usb;
BTD Btd(&Usb);
PS3BT PS3(&Btd);

int sensor1   = A0;
int sensor2 = A1;
int sensor3 = A2;

void setup() {

  Serial.begin(9600);
   Wire.begin();  // 0 adress of Master
  
  if (Usb.Init() == -1) {
    Serial.print(F("\
\
OSC   did not start"));
    while (1); //halt
  }

 pinMode(sensor1, INPUT);
   pinMode(sensor2, INPUT);
 pinMode(sensor3, INPUT);
 
}

void loop()   
{

  long safety1 = digitalRead(sensor1);
  long safety2 = digitalRead(sensor2);
   long safety3 = digitalRead(sensor3);
  
  Usb.Task();

    char c   = Serial.read();
  
  


  if (PS3.PS3Connected || PS3.PS3NavigationConnected)   {

    if (PS3.getButtonPress(UP)) {
      if(safety1 == LOW){
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'A' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'A' );            
    Wire.endTransmission();    // stop   transmitting  
      }
        else if (safety1 == HIGH){
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop   transmitting
  }
    }
    else  if  (PS3.getButtonPress(DOWN)) {
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'B' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'B' );            
    Wire.endTransmission();    // stop   transmitting    
 
    }

       else  if  (PS3.getButtonPress(RIGHT))   {
        if(safety2 == LOW){
    Wire.beginTransmission(1); // transmit to   device #1
    Wire.write( 'D' );            
    Wire.endTransmission();    //   stop transmitting

    Wire.beginTransmission(2); // transmit to device #2
     Wire.write( 'D' );            
    Wire.endTransmission();    // stop transmitting     
        }
        else if (safety2 == HIGH){
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop   transmitting
        }
    }
        else  if  (PS3.getButtonPress(LEFT))   {
          if(safety3 == LOW){
    Wire.beginTransmission(1); // transmit   to device #1
    Wire.write( 'E' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'E' );            
    Wire.endTransmission();    // stop   transmitting    
          }
        else if (safety3 == HIGH){
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop   transmitting   
        }
    }
     else  if  (PS3.getButtonPress(CIRCLE))   {
      
    Wire.beginTransmission(1); // transmit to device #1
    Wire.write(   'F' );            
    Wire.endTransmission();    // stop transmitting

     Wire.beginTransmission(2); // transmit to device #2
    Wire.write( 'F' );             
    Wire.endTransmission();    // stop transmitting 
      
      }
        else  if  (PS3.getButtonPress(SQUARE)) {
          
    Wire.beginTransmission(1);   // transmit to device #1
    Wire.write( 'G' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'G' );            
    Wire.endTransmission();    // stop   transmitting 
     }
  else
  {
    Wire.beginTransmission(1); // transmit   to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();     // stop transmitting

    Wire.beginTransmission(2); // transmit to device   #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop   transmitting
  }
 

   if (PS3.PS3Connected) {

      if (PS3.getButtonClick(PS))   {
        PS3.disconnect();
      }
    }
  
  }
  
  }

Slave 1

arduino

1// Start the I2C Bus as Slave 1
2
3#include <Wire.h>
4void setup()  
5{
6  Wire.begin(1); // Adress 1
7  Wire.onReceive(reciveEvent);
8
9    //Setup Channel A
10  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
11  pinMode(9, OUTPUT); //Initiates Brake Channel A pin
12
13  //Setup Channel B
14  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
15  pinMode(8, OUTPUT);  //Initiates Brake Channel A pin
16}
17
18void loop() 
19{
20}
21
22void  reciveEvent ( int howMany)
23{
24  char c = Wire.read();
25  if ( c == 'A')
26  {
27     
28  //Motor A forward @ full speed
29  digitalWrite(12, HIGH); //Establishes  forward direction of Channel A
30  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
31  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed
32
33  //Motor B forward @ full speed
34  digitalWrite(13, HIGH); //Establishes  forward direction of Channel B
35  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
36  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
37
38  }
39  else if ( c == 'B')
40  {
41  //Motor A backword @ full  speed
42  digitalWrite(12, LOW); //Establishes backword direction of Channel A
43  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
44  analogWrite(3,  200);   //Spins the motor on Channel A at full speed
45
46  //Motor B backword  @ full speed
47  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
48  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
49  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
50  }
51
52   else if (  c == 'D')
53  {
54  //Motor A backword @ full speed
55  digitalWrite(12, LOW);  //Establishes backword direction of Channel A
56  digitalWrite(9, LOW);   //Disengage  the Brake for Channel A
57  analogWrite(3, 200);   //Spins the motor on Channel  A at full speed
58
59  //Motor B backword @ full speed
60  digitalWrite(13, HIGH);  //Establishes backword direction of Channel B
61  digitalWrite(8, LOW);   //Disengage  the Brake for Channel B
62  analogWrite(11, 200);   //Spins the motor on Channel  B at full speed
63  }
64
65  else if ( c == 'E')
66  {
67  //Motor A backword  @ full speed
68  digitalWrite(12, HIGH); //Establishes backword direction of Channel  A
69  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
70  analogWrite(3,  200);   //Spins the motor on Channel A at full speed
71
72  //Motor B backword  @ full speed
73  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
74  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
75  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
76  }
77    else if ( c ==  'F')
78  {
79  //Motor A backword @ full speed
80  digitalWrite(12, LOW); //Establishes  backword direction of Channel A
81  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
82  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed
83
84  //Motor B backword @ full speed
85  digitalWrite(13, HIGH); //Establishes  backword direction of Channel B
86  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
87  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
88  }
89  else if ( c == 'G')
90  {
91  //Motor A backword @ full speed
92  digitalWrite(12, HIGH); //Establishes backword direction of Channel A
93  digitalWrite(9,  LOW);   //Disengage the Brake for Channel A
94  analogWrite(3, 200);   //Spins  the motor on Channel A at full speed
95
96  //Motor B backword @ full speed
97  digitalWrite(13, LOW); //Establishes backword direction of Channel B
98  digitalWrite(8,  LOW);   //Disengage the Brake for Channel B
99  analogWrite(11, 200);   //Spins  the motor on Channel B at full speed
100  }
101 else if ( c == 'C')
102  {
103     
104      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
105      digitalWrite(9,  HIGH);  //Engage the Brake for Channel A
106
107  }
108
109}
110

// Start the I2C Bus as Slave 1

#include <Wire.h>
void setup()  
{
  Wire.begin(1); // Adress 1
  Wire.onReceive(reciveEvent);

    //Setup Channel A
  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
  pinMode(9, OUTPUT); //Initiates Brake Channel A pin

  //Setup Channel B
  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
  pinMode(8, OUTPUT);  //Initiates Brake Channel A pin
}

void loop() 
{
}

void  reciveEvent ( int howMany)
{
  char c = Wire.read();
  if ( c == 'A')
  {
     
  //Motor A forward @ full speed
  digitalWrite(12, HIGH); //Establishes  forward direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed

  //Motor B forward @ full speed
  digitalWrite(13, HIGH); //Establishes  forward direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed

  }
  else if ( c == 'B')
  {
  //Motor A backword @ full  speed
  digitalWrite(12, LOW); //Establishes backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,  200);   //Spins the motor on Channel A at full speed

  //Motor B backword  @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
  }

   else if (  c == 'D')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW);  //Establishes backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage  the Brake for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel  A at full speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH);  //Establishes backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage  the Brake for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel  B at full speed
  }

  else if ( c == 'E')
  {
  //Motor A backword  @ full speed
  digitalWrite(12, HIGH); //Establishes backword direction of Channel  A
  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,  200);   //Spins the motor on Channel A at full speed

  //Motor B backword  @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
  }
    else if ( c ==  'F')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW); //Establishes  backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH); //Establishes  backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
  }
  else if ( c == 'G')
  {
  //Motor A backword @ full speed
  digitalWrite(12, HIGH); //Establishes backword direction of Channel A
  digitalWrite(9,  LOW);   //Disengage the Brake for Channel A
  analogWrite(3, 200);   //Spins  the motor on Channel A at full speed

  //Motor B backword @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel B
  digitalWrite(8,  LOW);   //Disengage the Brake for Channel B
  analogWrite(11, 200);   //Spins  the motor on Channel B at full speed
  }
 else if ( c == 'C')
  {
     
      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
      digitalWrite(9,  HIGH);  //Engage the Brake for Channel A

  }

}

Master

arduino

1//This sketch created by Dimitris Kagioulis.You can modify it at your  need.
2//Library belongs to Kristian Sloth Lauszus
3
4#include <PS3BT.h>
5#include  <Wire.h>
6
7
8USB Usb;
9BTD Btd(&Usb);
10PS3BT PS3(&Btd);
11
12int sensor1  = A0;
13int sensor2 = A1;
14int sensor3 = A2;
15
16void setup() {
17
18  Serial.begin(9600);
19  Wire.begin();  // 0 adress of Master
20  
21  if (Usb.Init() == -1) {
22    Serial.print(F("\
\
23OSC  did not start"));
24    while (1); //halt
25  }
26
27 pinMode(sensor1, INPUT);
28  pinMode(sensor2, INPUT);
29 pinMode(sensor3, INPUT);
30 
31}
32
33void loop()  
34{
35
36  long safety1 = digitalRead(sensor1);
37  long safety2 = digitalRead(sensor2);
38  long safety3 = digitalRead(sensor3);
39  
40  Usb.Task();
41
42    char c  = Serial.read();
43  
44  
45
46
47  if (PS3.PS3Connected || PS3.PS3NavigationConnected)  {
48
49    if (PS3.getButtonPress(UP)) {
50      if(safety1 == LOW){
51    Wire.beginTransmission(1);  // transmit to device #1
52    Wire.write( 'A' );            
53    Wire.endTransmission();    // stop transmitting
54
55    Wire.beginTransmission(2); // transmit to device  #2
56    Wire.write( 'A' );            
57    Wire.endTransmission();    // stop  transmitting  
58      }
59        else if (safety1 == HIGH){
60    Wire.beginTransmission(1);  // transmit to device #1
61    Wire.write( 'C' );            
62    Wire.endTransmission();    // stop transmitting
63
64    Wire.beginTransmission(2); // transmit to device  #2
65    Wire.write( 'C' );            
66    Wire.endTransmission();    // stop  transmitting
67  }
68    }
69    else  if  (PS3.getButtonPress(DOWN)) {
70    Wire.beginTransmission(1);  // transmit to device #1
71    Wire.write( 'B' );            
72    Wire.endTransmission();    // stop transmitting
73
74    Wire.beginTransmission(2); // transmit to device  #2
75    Wire.write( 'B' );            
76    Wire.endTransmission();    // stop  transmitting    
77 
78    }
79
80       else  if  (PS3.getButtonPress(RIGHT))  {
81        if(safety2 == LOW){
82    Wire.beginTransmission(1); // transmit to  device #1
83    Wire.write( 'D' );            
84    Wire.endTransmission();    //  stop transmitting
85
86    Wire.beginTransmission(2); // transmit to device #2
87    Wire.write( 'D' );            
88    Wire.endTransmission();    // stop transmitting    
89        }
90        else if (safety2 == HIGH){
91    Wire.beginTransmission(1);  // transmit to device #1
92    Wire.write( 'C' );            
93    Wire.endTransmission();    // stop transmitting
94
95    Wire.beginTransmission(2); // transmit to device  #2
96    Wire.write( 'C' );            
97    Wire.endTransmission();    // stop  transmitting
98        }
99    }
100        else  if  (PS3.getButtonPress(LEFT))  {
101          if(safety3 == LOW){
102    Wire.beginTransmission(1); // transmit  to device #1
103    Wire.write( 'E' );            
104    Wire.endTransmission();    // stop transmitting
105
106    Wire.beginTransmission(2); // transmit to device  #2
107    Wire.write( 'E' );            
108    Wire.endTransmission();    // stop  transmitting    
109          }
110        else if (safety3 == HIGH){
111    Wire.beginTransmission(1);  // transmit to device #1
112    Wire.write( 'C' );            
113    Wire.endTransmission();    // stop transmitting
114
115    Wire.beginTransmission(2); // transmit to device  #2
116    Wire.write( 'C' );            
117    Wire.endTransmission();    // stop  transmitting   
118        }
119    }
120     else  if  (PS3.getButtonPress(CIRCLE))  {
121      
122    Wire.beginTransmission(1); // transmit to device #1
123    Wire.write(  'F' );            
124    Wire.endTransmission();    // stop transmitting
125
126    Wire.beginTransmission(2); // transmit to device #2
127    Wire.write( 'F' );            
128    Wire.endTransmission();    // stop transmitting 
129      
130     }
131        else  if  (PS3.getButtonPress(SQUARE)) {
132          
133    Wire.beginTransmission(1);  // transmit to device #1
134    Wire.write( 'G' );            
135    Wire.endTransmission();    // stop transmitting
136
137    Wire.beginTransmission(2); // transmit to device  #2
138    Wire.write( 'G' );            
139    Wire.endTransmission();    // stop  transmitting 
140     }
141  else
142  {
143    Wire.beginTransmission(1); // transmit  to device #1
144    Wire.write( 'C' );            
145    Wire.endTransmission();    // stop transmitting
146
147    Wire.beginTransmission(2); // transmit to device  #2
148    Wire.write( 'C' );            
149    Wire.endTransmission();    // stop  transmitting
150  }
151 
152
153   if (PS3.PS3Connected) {
154
155      if (PS3.getButtonClick(PS))  {
156        PS3.disconnect();
157      }
158    }
159  
160  }
161  
162  }
163
164  
165
166

//This sketch created by Dimitris Kagioulis.You can modify it at your  need.
//Library belongs to Kristian Sloth Lauszus

#include <PS3BT.h>
#include  <Wire.h>


USB Usb;
BTD Btd(&Usb);
PS3BT PS3(&Btd);

int sensor1  = A0;
int sensor2 = A1;
int sensor3 = A2;

void setup() {

  Serial.begin(9600);
  Wire.begin();  // 0 adress of Master
  
  if (Usb.Init() == -1) {
    Serial.print(F("\
\
OSC  did not start"));
    while (1); //halt
  }

 pinMode(sensor1, INPUT);
  pinMode(sensor2, INPUT);
 pinMode(sensor3, INPUT);
 
}

void loop()  
{

  long safety1 = digitalRead(sensor1);
  long safety2 = digitalRead(sensor2);
  long safety3 = digitalRead(sensor3);
  
  Usb.Task();

    char c  = Serial.read();
  
  


  if (PS3.PS3Connected || PS3.PS3NavigationConnected)  {

    if (PS3.getButtonPress(UP)) {
      if(safety1 == LOW){
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'A' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'A' );            
    Wire.endTransmission();    // stop  transmitting  
      }
        else if (safety1 == HIGH){
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop  transmitting
  }
    }
    else  if  (PS3.getButtonPress(DOWN)) {
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'B' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'B' );            
    Wire.endTransmission();    // stop  transmitting    
 
    }

       else  if  (PS3.getButtonPress(RIGHT))  {
        if(safety2 == LOW){
    Wire.beginTransmission(1); // transmit to  device #1
    Wire.write( 'D' );            
    Wire.endTransmission();    //  stop transmitting

    Wire.beginTransmission(2); // transmit to device #2
    Wire.write( 'D' );            
    Wire.endTransmission();    // stop transmitting    
        }
        else if (safety2 == HIGH){
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop  transmitting
        }
    }
        else  if  (PS3.getButtonPress(LEFT))  {
          if(safety3 == LOW){
    Wire.beginTransmission(1); // transmit  to device #1
    Wire.write( 'E' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'E' );            
    Wire.endTransmission();    // stop  transmitting    
          }
        else if (safety3 == HIGH){
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop  transmitting   
        }
    }
     else  if  (PS3.getButtonPress(CIRCLE))  {
      
    Wire.beginTransmission(1); // transmit to device #1
    Wire.write(  'F' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device #2
    Wire.write( 'F' );            
    Wire.endTransmission();    // stop transmitting 
      
     }
        else  if  (PS3.getButtonPress(SQUARE)) {
          
    Wire.beginTransmission(1);  // transmit to device #1
    Wire.write( 'G' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'G' );            
    Wire.endTransmission();    // stop  transmitting 
     }
  else
  {
    Wire.beginTransmission(1); // transmit  to device #1
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop transmitting

    Wire.beginTransmission(2); // transmit to device  #2
    Wire.write( 'C' );            
    Wire.endTransmission();    // stop  transmitting
  }
 

   if (PS3.PS3Connected) {

      if (PS3.getButtonClick(PS))  {
        PS3.disconnect();
      }
    }
  
  }
  
  }

Slave 2

arduino

1// Start the I2C Bus as Slave 2
2
3#include <Wire.h>
4void setup()  
5{
6  Wire.begin(2); // Adress 2
7  Wire.onReceive(reciveEvent);
8
9    //Setup Channel A
10  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
11  pinMode(9, OUTPUT); //Initiates Brake Channel A pin
12
13  //Setup Channel B
14  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
15  pinMode(8, OUTPUT);  //Initiates Brake Channel A pin
16}
17
18void loop() 
19{
20}
21
22void  reciveEvent ( int howMany)
23{
24  char c = Wire.read();
25  if ( c == 'A')
26  {
27     
28  //Motor A forward @ full speed
29  digitalWrite(12, HIGH); //Establishes  forward direction of Channel A
30  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
31  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed
32
33  //Motor B forward @ full speed
34  digitalWrite(13, HIGH); //Establishes  forward direction of Channel B
35  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
36  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
37
38  }
39  else if ( c == 'B')
40  {
41  //Motor A backword @ full  speed
42  digitalWrite(12, LOW); //Establishes backword direction of Channel A
43  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
44  analogWrite(3,  200);   //Spins the motor on Channel A at full speed
45
46  //Motor B backword  @ full speed
47  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
48  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
49  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
50  }
51
52   else if (  c == 'D')
53  {
54  //Motor A backword @ full speed
55  digitalWrite(12, LOW);  //Establishes backword direction of Channel A
56  digitalWrite(9, LOW);   //Disengage  the Brake for Channel A
57  analogWrite(3, 200);   //Spins the motor on Channel  A at full speed
58
59  //Motor B backword @ full speed
60  digitalWrite(13, HIGH);  //Establishes backword direction of Channel B
61  digitalWrite(8, LOW);   //Disengage  the Brake for Channel B
62  analogWrite(11, 200);   //Spins the motor on Channel  B at full speed
63  }
64    else if ( c == 'E')
65  {
66  //Motor A backword  @ full speed
67  digitalWrite(12, HIGH); //Establishes backword direction of Channel  A
68  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
69  analogWrite(3,  200);   //Spins the motor on Channel A at full speed
70
71  //Motor B backword  @ full speed
72  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
73  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
74  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
75  }
76    else if ( c ==  'F')
77  {
78  //Motor A backword @ full speed
79  digitalWrite(12, HIGH); //Establishes  backword direction of Channel A
80  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
81  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed
82
83  //Motor B backword @ full speed
84  digitalWrite(13, LOW); //Establishes  backword direction of Channel B
85  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
86  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
87  }
88    else if ( c == 'G')
89  {
90  //Motor A backword @ full speed
91  digitalWrite(12, LOW); //Establishes backword direction of Channel A
92  digitalWrite(9,  LOW);   //Disengage the Brake for Channel A
93  analogWrite(3, 200);   //Spins  the motor on Channel A at full speed
94
95  //Motor B backword @ full speed
96  digitalWrite(13, HIGH); //Establishes backword direction of Channel B
97  digitalWrite(8,  LOW);   //Disengage the Brake for Channel B
98  analogWrite(11, 200);   //Spins  the motor on Channel B at full speed
99  }
100 else if ( c == 'C')
101  {
102     
103      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
104      digitalWrite(9,  HIGH);  //Engage the Brake for Channel A
105
106  }
107
108}
109

// Start the I2C Bus as Slave 2

#include <Wire.h>
void setup()  
{
  Wire.begin(2); // Adress 2
  Wire.onReceive(reciveEvent);

    //Setup Channel A
  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
  pinMode(9, OUTPUT); //Initiates Brake Channel A pin

  //Setup Channel B
  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
  pinMode(8, OUTPUT);  //Initiates Brake Channel A pin
}

void loop() 
{
}

void  reciveEvent ( int howMany)
{
  char c = Wire.read();
  if ( c == 'A')
  {
     
  //Motor A forward @ full speed
  digitalWrite(12, HIGH); //Establishes  forward direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed

  //Motor B forward @ full speed
  digitalWrite(13, HIGH); //Establishes  forward direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed

  }
  else if ( c == 'B')
  {
  //Motor A backword @ full  speed
  digitalWrite(12, LOW); //Establishes backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,  200);   //Spins the motor on Channel A at full speed

  //Motor B backword  @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
  }

   else if (  c == 'D')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW);  //Establishes backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage  the Brake for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel  A at full speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH);  //Establishes backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage  the Brake for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel  B at full speed
  }
    else if ( c == 'E')
  {
  //Motor A backword  @ full speed
  digitalWrite(12, HIGH); //Establishes backword direction of Channel  A
  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
  analogWrite(3,  200);   //Spins the motor on Channel A at full speed

  //Motor B backword  @ full speed
  digitalWrite(13, LOW); //Establishes backword direction of Channel  B
  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
  analogWrite(11,  200);   //Spins the motor on Channel B at full speed
  }
    else if ( c ==  'F')
  {
  //Motor A backword @ full speed
  digitalWrite(12, HIGH); //Establishes  backword direction of Channel A
  digitalWrite(9, LOW);   //Disengage the Brake  for Channel A
  analogWrite(3, 200);   //Spins the motor on Channel A at full  speed

  //Motor B backword @ full speed
  digitalWrite(13, LOW); //Establishes  backword direction of Channel B
  digitalWrite(8, LOW);   //Disengage the Brake  for Channel B
  analogWrite(11, 200);   //Spins the motor on Channel B at full  speed
  }
    else if ( c == 'G')
  {
  //Motor A backword @ full speed
  digitalWrite(12, LOW); //Establishes backword direction of Channel A
  digitalWrite(9,  LOW);   //Disengage the Brake for Channel A
  analogWrite(3, 200);   //Spins  the motor on Channel A at full speed

  //Motor B backword @ full speed
  digitalWrite(13, HIGH); //Establishes backword direction of Channel B
  digitalWrite(8,  LOW);   //Disengage the Brake for Channel B
  analogWrite(11, 200);   //Spins  the motor on Channel B at full speed
  }
 else if ( c == 'C')
  {
     
      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
      digitalWrite(9,  HIGH);  //Engage the Brake for Channel A

  }

}

Downloadable files

I2C INTERFERANCE

Master and Slave

I2C INTERFERANCE

Master and Slave

I2C INTERFERANCE

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