The Motion Mobile: Gesture-Controlled Car

1#include <VirtualWire.h> //VirtualWire library declaration
2#include   <AFMotor.h>
3byte msg[VW_MAX_MESSAGE_LEN];//Data flow is received
4byte msgLen   = VW_MAX_MESSAGE_LEN;
5char forward[1] = {1};
6
7AF_DCMotor motor1(1, MOTOR12_1KHZ);
8AF_DCMotor   motor2(2, MOTOR12_1KHZ);
9AF_DCMotor motor3(3, MOTOR34_1KHZ);
10AF_DCMotor motor4(4,   MOTOR34_1KHZ);
11
12void setup()
13{
14  Serial.begin(9600);
15  Serial.println("READY..........");
16   vw_setup(2048); // set the baud rate
17  vw_set_rx_pin(2);// Set up digital pins   to receive signals
18  vw_rx_start();// started receiving the signal
19}
20
21
22void   loop()
23{
24  if (vw_get_message(msg, &msgLen)) // if the signal is transmitted
25   {
26    Serial.print("got transmition");
27    motor1.setSpeed(255);
28    motor2.setSpeed(255);
29     motor3.setSpeed(255);
30    motor4.setSpeed(255);
31    switch (msg[0])
32     {
33      case '0':
34        {
35          motor1.run(RELEASE);
36          motor2.run(RELEASE);
37           motor3.run(RELEASE);
38          motor4.run(RELEASE);
39          break;
40         }
41
42      case '1':
43        {
44          motor1.run(FORWARD);
45           motor2.run(FORWARD);
46          motor3.run(FORWARD);
47          motor4.run(FORWARD);
48           break;
49        }
50
51      case '2':
52        {
53          motor1.setSpeed(150);
54           motor2.setSpeed(150);
55          motor3.setSpeed(150);
56          motor4.setSpeed(150);
57           motor1.run(FORWARD);
58          motor2.run(FORWARD);
59          motor3.run(BACKWARD);
60           motor4.run(BACKWARD);
61          break;
62        }
63
64      case   '3':
65        {
66          motor1.setSpeed(150);
67          motor2.setSpeed(150);
68           motor3.setSpeed(150);
69          motor4.setSpeed(150);
70          motor1.run(BACKWARD);
71           motor2.run(BACKWARD);
72          motor3.run(FORWARD);
73          motor4.run(FORWARD);
74           break;
75        }
76
77      case '4':
78        {
79          motor1.run(BACKWARD);
80           motor2.run(BACKWARD);
81          motor3.run(BACKWARD);
82          motor4.run(BACKWARD);
83           break;
84        }
85
86      case '5':
87        {
88          motor3.setSpeed(70);
89           motor4.setSpeed(70);
90          motor1.run(FORWARD);
91          motor2.run(FORWARD);
92           motor3.run(FORWARD);
93          motor4.run(FORWARD);
94          break;
95         }
96
97      case '6':
98        {
99          motor1.setSpeed(70);
100           motor2.setSpeed(70);
101          motor1.run(FORWARD);
102          motor2.run(FORWARD);
103           motor3.run(FORWARD);
104          motor4.run(FORWARD);
105          break;
106         }
107    }
108
109
110
111}

1#include <VirtualWire.h> // VirtualWire library declaration
2#include   "I2Cdev.h"
3#include "MPU6050.h"
4
5#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
6#include   "Wire.h"
7#endif
8MPU6050 accelgyro;
9int16_t ax, ay, az;//used for making   programs cross platform
10int16_t gx, gy, gz;//used for making programs cross platform
11//#define   OUTPUT_READABLE_ACCELGYRO
12#define OUTPUT_BINARY_ACCELGYRO
13#define LED_PIN   13
14bool blinkState = false;
15char text[5] = "";// array array declaration
16byte   i = 0;
17
18void setup()
19{
20#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE//communicacate   between devices
21  Wire.begin();
22#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
23   Fastwire::setup(400, true);
24#endif
25  Serial.begin(9600);// Serial communication   with baudrate 9600
26  accelgyro.initialize();
27  Serial.println(accelgyro.testConnection()   ? "MPU6050 connection successful" : "MPU6050 connection failed");
28  Serial.println("Ready.........");
29   vw_set_ptt_inverted(true);// Requirements for RF link modules
30  vw_setup(2048);//   set the baud rate
31  vw_set_tx_pin(8);// Set up digital pins to signal
32  pinMode(LED_PIN,   OUTPUT);
33
34}
35
36void loop()
37{
38  accelgyro.getMotion6(&ax, &ay, &az,   &gx, &gy, &gz);
39#ifdef OUTPUT_READABLE_ACCELGYRO
40  // display tab-separated   accel/gyro x/y/z values
41  Serial.print("a/g:\	");
42  Serial.print(ax); Serial.print("\	");
43   Serial.print(ay); Serial.print("\	");
44  Serial.print(az); Serial.print("\	");
45   Serial.print(gx); Serial.print("\	");
46  Serial.print(gy); Serial.print("\	");    //-32000
47  Serial.println(gz);
48  //delay(250);
49#endif
50
51#ifdef   OUTPUT_BINARY_ACCELGYRO
52  /*  Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax   & 0xFF));
53    Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
54     Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
55    Serial.write((uint8_t)(gx   >> 8)); Serial.write((uint8_t)(gx & 0xFF));
56    Serial.write((uint8_t)(gy >>   8)); Serial.write((uint8_t)(gy & 0xFF));
57    Serial.write((uint8_t)(gz >> 8));   Serial.write((uint8_t)(gz & 0xFF)); */
58#endif
59
60
61  if ((ay < 9000) and   (ay > -9000) and (ax < 12000) and (ax > -3000))
62  {
63    Serial.println("Ready.........");
64     text[i] = '0';
65    vw_send((byte *)text, sizeof(text));// send the signal   away
66    vw_wait_tx();
67
68  }
69
70  if (ax < -3800)
71  {
72    if (ay   < -13000)
73    {
74      Serial.println("to the right");
75      text[i] =   '5'; // to the right
76      vw_send((byte *)text, sizeof(text));// send the signal   away
77      vw_wait_tx();
78    }
79    else if (ay > 8000)
80    {
81      Serial.println("to   the left");
82      text[i] = '6'; // to the left
83      vw_send((byte *)text,   sizeof(text));// send the signal away
84      vw_wait_tx();
85    }
86    else
87     {
88      Serial.println("to the left"); 
89      text[i] = '1'; //tới
90       vw_send((byte *)text, sizeof(text));// send the signal away
91      vw_wait_tx();
92     }
93  }
94
95  if (ay < -13000)
96  {
97    if (ax < -3800)
98    {
99       Serial.println("to the right");
100      text[i] = '5'; // to the right
101       vw_send((byte *)text, sizeof(text));// send the signal away
102      vw_wait_tx();
103     }
104    else
105    {
106      Serial.println("to the right");
107      text[i]   = '2'; // right
108      vw_send((byte *)text, sizeof(text));// send the signal   away
109      vw_wait_tx();
110    }
111  }
112
113  if (ay > 7000)
114  {
115    if   (ax < -3800)
116    {
117      Serial.println("to the left");
118      text[i]   = '6'; // to the left
119      vw_send((byte *)text, sizeof(text));// send the signal   away
120      vw_wait_tx();
121    }
122    else
123    {
124      Serial.println("to   the left");
125      text[i] = '3'; //  to the left
126      vw_send((byte *)text,   sizeof(text));// send the signal away
127      vw_wait_tx();
128    }
129  }
130
131   if (ax > 14000)
132  {
133    text[i] = '4'; //backward
134    vw_send((byte *)text,   sizeof(text));// send the signal away
135    vw_wait_tx();
136  }
137
138
139
140   blinkState = !blinkState;
141  digitalWrite(LED_PIN, blinkState);
142
143}

1#include <VirtualWire.h> // VirtualWire library declaration
2#include  "I2Cdev.h"
3#include "MPU6050.h"
4
5#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
6#include  "Wire.h"
7#endif
8MPU6050 accelgyro;
9int16_t ax, ay, az;//used for making  programs cross platform
10int16_t gx, gy, gz;//used for making programs cross platform
11//#define  OUTPUT_READABLE_ACCELGYRO
12#define OUTPUT_BINARY_ACCELGYRO
13#define LED_PIN  13
14bool blinkState = false;
15char text[5] = "";// array array declaration
16byte  i = 0;
17
18void setup()
19{
20#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE//communicacate  between devices
21  Wire.begin();
22#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
23  Fastwire::setup(400, true);
24#endif
25  Serial.begin(9600);// Serial communication  with baudrate 9600
26  accelgyro.initialize();
27  Serial.println(accelgyro.testConnection()  ? "MPU6050 connection successful" : "MPU6050 connection failed");
28  Serial.println("Ready.........");
29  vw_set_ptt_inverted(true);// Requirements for RF link modules
30  vw_setup(2048);//  set the baud rate
31  vw_set_tx_pin(8);// Set up digital pins to signal
32  pinMode(LED_PIN,  OUTPUT);
33
34}
35
36void loop()
37{
38  accelgyro.getMotion6(&ax, &ay, &az,  &gx, &gy, &gz);
39#ifdef OUTPUT_READABLE_ACCELGYRO
40  // display tab-separated  accel/gyro x/y/z values
41  Serial.print("a/g:\	");
42  Serial.print(ax); Serial.print("\	");
43  Serial.print(ay); Serial.print("\	");
44  Serial.print(az); Serial.print("\	");
45  Serial.print(gx); Serial.print("\	");
46  Serial.print(gy); Serial.print("\	");   //-32000
47  Serial.println(gz);
48  //delay(250);
49#endif
50
51#ifdef  OUTPUT_BINARY_ACCELGYRO
52  /*  Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax  & 0xFF));
53    Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
54    Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
55    Serial.write((uint8_t)(gx  >> 8)); Serial.write((uint8_t)(gx & 0xFF));
56    Serial.write((uint8_t)(gy >>  8)); Serial.write((uint8_t)(gy & 0xFF));
57    Serial.write((uint8_t)(gz >> 8));  Serial.write((uint8_t)(gz & 0xFF)); */
58#endif
59
60
61  if ((ay < 9000) and  (ay > -9000) and (ax < 12000) and (ax > -3000))
62  {
63    Serial.println("Ready.........");
64    text[i] = '0';
65    vw_send((byte *)text, sizeof(text));// send the signal  away
66    vw_wait_tx();
67
68  }
69
70  if (ax < -3800)
71  {
72    if (ay  < -13000)
73    {
74      Serial.println("to the right");
75      text[i] =  '5'; // to the right
76      vw_send((byte *)text, sizeof(text));// send the signal  away
77      vw_wait_tx();
78    }
79    else if (ay > 8000)
80    {
81      Serial.println("to  the left");
82      text[i] = '6'; // to the left
83      vw_send((byte *)text,  sizeof(text));// send the signal away
84      vw_wait_tx();
85    }
86    else
87    {
88      Serial.println("to the left"); 
89      text[i] = '1'; //tới
90      vw_send((byte *)text, sizeof(text));// send the signal away
91      vw_wait_tx();
92    }
93  }
94
95  if (ay < -13000)
96  {
97    if (ax < -3800)
98    {
99      Serial.println("to the right");
100      text[i] = '5'; // to the right
101      vw_send((byte *)text, sizeof(text));// send the signal away
102      vw_wait_tx();
103    }
104    else
105    {
106      Serial.println("to the right");
107      text[i]  = '2'; // right
108      vw_send((byte *)text, sizeof(text));// send the signal  away
109      vw_wait_tx();
110    }
111  }
112
113  if (ay > 7000)
114  {
115    if  (ax < -3800)
116    {
117      Serial.println("to the left");
118      text[i]  = '6'; // to the left
119      vw_send((byte *)text, sizeof(text));// send the signal  away
120      vw_wait_tx();
121    }
122    else
123    {
124      Serial.println("to  the left");
125      text[i] = '3'; //  to the left
126      vw_send((byte *)text,  sizeof(text));// send the signal away
127      vw_wait_tx();
128    }
129  }
130
131  if (ax > 14000)
132  {
133    text[i] = '4'; //backward
134    vw_send((byte *)text,  sizeof(text));// send the signal away
135    vw_wait_tx();
136  }
137
138
139
140  blinkState = !blinkState;
141  digitalWrite(LED_PIN, blinkState);
142
143}