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New way to send and read commands to avoid lags. Only 2 speed level for every motor

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This commit is contained in:
estevez
2017-12-25 21:27:27 +02:00
parent 67c6a84399
commit ac8866ff73
2 changed files with 68 additions and 45 deletions
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66
Sketches/bluetooth_motor/bluetooth_motor.ino
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@ -15,40 +15,60 @@ const int offsetB = -1;
SoftwareSerial BTSerial(3, 2); // RX | TX
String reader;
int d = 600;
Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
void setup()
{
Serial.begin(9600);
Serial.println("Ready:");
//Serial.begin(9600);
//Serial.println("Ready:");
BTSerial.begin(9600); // HC-05 default speed in AT command more
brake(motor1, motor2);
}
void loop()
{
reader="";
while (BTSerial.available()) {
delay(3);
if (BTSerial.available()>0) {
char c = BTSerial.read();
reader += c;
}
}
if (reader.length() > 0) {
Serial.println("Receved: "+reader+"");
d = reader.toInt();
char m1 = '9';
char m2 = '9';
//Serial.println("There is "+String(BTSerial.available())+" available");
if (BTSerial.available()==2) {
m1 = BTSerial.read();
m2 = BTSerial.read();
//Serial.println("Receved: "+String(m1)+";"+String(m2));
switch (m1) {
case '0':
motor1.drive(-255);
break;
case '1':
motor1.drive(-170);
break;
case '2':
motor1.drive(0);
break;
case '3':
motor1.drive(170);
break;
case '4':
motor1.drive(255);
break;
}
switch (m2) {
case '0':
motor2.drive(-255);
break;
case '1':
motor2.drive(-170);
break;
case '2':
motor2.drive(0);
break;
case '3':
motor2.drive(170);
break;
case '4':
motor2.drive(255);
break;
}
}
if (d <= 500) { //0 - full back, 255 - stop, 500 - full forward
int v1 = d - 255;
motor1.drive(v1);
} else if (d >= 1000) { // 1000 - full back, 1255 - stop, 1500 - full forward
int v2 = d - 1255;
motor2.drive(v2);
}
}