Bluetooth Car Control Project

# Bluetooth Car Control Project

Arduino와 Bluetooth를 이용한 자동제 제어 프로젝트

1. 기능소개

  w. go forward
  s. go backward
  a. turn left
  d. turn right
  x. stop
  q. Exit

2. 시연영상

https://www.youtube.com/watch?v=SZcSKnI0724

3. source

void initSystem();
void showMenu();
void getUserCmd();
void processCmd();
 
void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  while(!Serial) {
    ;
  }
  Serial.println(__FUNCTION__);
  initSystem();
  showMenu();
}
 
void loop() {
  // put your main code here, to run repeatedly:
  getUserCmd();    
  processCmd();
}
------------------
funcs
------------------
const int dirPin1=2;    //moter_1
const int dirPin2=3;    //moter_1
const int dirPin3=4;    //moter_2
const int dirPin4=5;    //moter_2
const int speedPin1=9;  //moter_1 speed control pin
const int speedPin2=10; //moter_2 speed control pin 
int motorSpeed=175;
int motorDir=1;
char inChar;
 
struct MenuFunc {
  bool enable;
  char * pMenu;
  void (* pFunc)();
};
 
//프로토타입만 정렬 - - 가독성  - overview효과
void controlCar();
void func2();
void func3();
void func4();
void getDir();
 
MenuFunc menu_funcs[] = {
  {false, "Arduino Controlled Blutooth Car", controlCar},
  {false, "menu item 2", func2},
  {false, "menu item 3", func3},
  {false, "menu item 4", func4},
};
 
void controlCar()
{
  Serial.println("==Arduino Blutooth Car Contril==");
  Serial.println("w. go forward");
  Serial.println("s. go backward");
  Serial.println("a. turn left");
  Serial.println("d. turn right");
  Serial.println("x. stop");
  Serial.println("q. Exit");
  Serial.println("\nINPUT>  ");
  
  while(1){
    getDir();
    switch(inChar){
    case 'w': go_forward(); break;
    case 's': go_backward(); break;
    case 'a': turn_left(); break;
    case 'd': turn_right(); break;
    case 'x': stop_car(); break;
    case 'q': showMenu(); 
    inChar = 0; return;//continue; break;
    default : break;
   }
  }
}
void getDir(){
  while (Serial.available()) {
  inChar = (char)Serial.read();
  }
}
void go_forward() {
  pinMode(dirPin1,OUTPUT);
  pinMode(dirPin2,OUTPUT);
  pinMode(dirPin3,OUTPUT);
  pinMode(dirPin4,OUTPUT);
  motorDir = 1;
  setMotorDir(motorDir);
  setMotorSpeed1(motorSpeed);
  setMotorSpeed2(motorSpeed);
}
void go_backward() {
  pinMode(dirPin1,OUTPUT);
  pinMode(dirPin2,OUTPUT);
  pinMode(dirPin3,OUTPUT);
  pinMode(dirPin4,OUTPUT);
  motorDir = 0;
  setMotorDir(motorDir);
  setMotorSpeed1(motorSpeed);
  setMotorSpeed2(motorSpeed);
}
void turn_left() {
  pinMode(dirPin1,OUTPUT);
  pinMode(dirPin2,OUTPUT);
  pinMode(dirPin3,INPUT);
  pinMode(dirPin4,INPUT);
  motorDir = 0;
  setMotorDir(motorDir);
  setMotorSpeed1(motorSpeed);
}
void turn_right() {
  pinMode(dirPin1,INPUT);
  pinMode(dirPin2,INPUT);
  pinMode(dirPin3,OUTPUT);
  pinMode(dirPin4,OUTPUT);
  motorDir = 0;
  setMotorDir(motorDir);
  setMotorSpeed2(motorSpeed);
}
void stop_car() {
  setMotorSpeed1(0);
  setMotorSpeed2(0);
}
void func2(){Serial.println(__FUNCTION__);}
void func3(){Serial.println(__FUNCTION__);}
void func4(){Serial.println(__FUNCTION__);}
 
void setMotorDir(int motorDir) {
  if(motorDir==1) {
    digitalWrite(dirPin1,HIGH);
    digitalWrite(dirPin3,HIGH);
    digitalWrite(dirPin2,LOW);
    digitalWrite(dirPin4,LOW);
  } else {
    digitalWrite(dirPin1,LOW);
    digitalWrite(dirPin3,LOW);
    digitalWrite(dirPin2,HIGH);
    digitalWrite(dirPin4,HIGH);
  }
}
void setMotorSpeed1(int motorSpeed) {
  analogWrite(speedPin1,motorSpeed);
}
void setMotorSpeed2(int motorSpeed) {
  analogWrite(speedPin2,motorSpeed);
}
------------------
work
------------------
static char cmd = '?';
static String inputString = "";
static boolean stringComplete = false;
 
struct MenuFunc;
extern MenuFunc menu_funcs[];
 
void initSystem() {}
void showMenu()
{ 
  int i;
 // Serial.println(__FUNCTION__);  
  for(i=0;i<sizeof(menu_funcs)/sizeof(menu_funcs[0]);i++) {
    Serial.print(i+1);
    Serial.print(". ");
    Serial.println(menu_funcs[i].pMenu);
  }
  Serial.println("\nINPUT> ");  
}
 
void getUserCmd()
{  
  if (stringComplete) {
    cmd = inputString[0];
    inputString = "";
    if(cmd != '\r' && cmd != '\n') {
      int cmdIndex = cmd - '0' - 1;
      int howManyCmds = sizeof(menu_funcs)/sizeof(menu_funcs[0]);
      if(cmdIndex>=0 && cmdIndex<howManyCmds) {
          bool * pFuncEn = &menu_funcs[cmdIndex].enable;
          *pFuncEn = !*pFuncEn;
      }
    }
    stringComplete = false;
  }
}
void processCmd() {
    int cmdIndex;
    int howManyCmds = sizeof(menu_funcs)/sizeof(menu_funcs[0]);
 
    for(cmdIndex=0;cmdIndex<howManyCmds;cmdIndex++) 
      if(menu_funcs[cmdIndex].enable) {
        menu_funcs[cmdIndex].pFunc();
        bool * pFuncEn = &menu_funcs[cmdIndex].enable;
        *pFuncEn = !*pFuncEn;
      } 
}
void serialEvent() {
  while (Serial.available()) {
    char inChar = (char)Serial.read();
    inputString += inChar;
    //if (inChar == '\n')  
        stringComplete = true;
  }
}
 

# Link
1. Github

https://github.com/SungHanLIM/PINCOM/blob/master/%EC%82%B0%EC%B6%9C%EB%AC%BC/IT%EC%9D%B8%EC%9E%AC%EC%96%91%EC%84%B1_%EC%95%84%EB%91%90%EC%9D%B4%EB%85%B8%ED%94%84%EB%A1%9C%EA%B7%B8%EB%9E%98%EB%B0%8D/%EB%B8%94%EB%A3%A8%ED%88%AC%EC%8A%A4%EC%9E%90%EB%8F%99%EC%B0%A8%EC%A0%9C%EC%96%B4/BluetoothCarControl.txt