update

BluetoothControlTank.ino

@@ -1,13 +1,15 @@
 /*
-   L=Left, R=Right, F=Forward, B=Back
+   0=spot,
+   2=Left, 3=Right, 1=Forward, 4=Back
+   5=move forward left, 6=move forward right
+   7=move backward left, 8=move backward right
 */
+#include <Servo.h> 
+enum { pinLB = 12, pinLF = 3, pinRB = 13, pinRF = 11 };
+int delay_time = 300;
+int direct = 0;
 
-int pinLB = 12; // define pin 12
-int pinLF = 3; // define pin 3
-int pinRB = 13; // define pin 13
-int pinRF = 11; // define pin 11
-int val;
-
+Servo myservo;
 
 void setup()
 {
@@ -16,65 +18,107 @@ void setup()
   pinMode(pinLF, OUTPUT); // pin 3 (PWM)
   pinMode(pinRB, OUTPUT); // pin 13
   pinMode(pinRF, OUTPUT); // pin 11 (PWM)
+  myservo.attach(9);    // Define servo motor output pin to D9 (PWM)
+  handshake();
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    char val = Serial.read();
+
+    switch (val)
+    {
+      case '0': stopp(); break;
+      case '1': forward(); break;
+      case '4': backward(); break;
+      case '3': turn_right(); break;
+      case '2': turn_left(); break;
+      case '5': forward_left(); break;
+      case '6': forward_right(); break;
+      case '7': backward_left(); break;
+      case '8': backward_right(); break;
+    }
+  }
 }
 
-void advance() // move forward
+void set(bool LB, bool RB, int LF, int RF)
 {
-  digitalWrite(pinLB, LOW); // right wheel moves forward
-  digitalWrite(pinRB, LOW); // left wheel moves forward
-  analogWrite(pinLF, 255);
-  analogWrite(pinRF, 255);
+  digitalWrite(pinLB, LB);
+  digitalWrite(pinRB, RB);
+  analogWrite(pinLF, LF);
+  analogWrite(pinRF, RF);
 }
 
 void stopp() // stop
 {
-  digitalWrite(pinLB, HIGH);
-  digitalWrite(pinRB, HIGH);
-  analogWrite(pinLF, 0);
-  analogWrite(pinRF, 0);
+  direct = 0;
+  set(HIGH, HIGH, 0, 0);
 }
-void right() // turn right (single wheel)
+void forward()
 {
-  digitalWrite(pinLB, LOW); // left wheel moves forward
-  digitalWrite(pinRB, HIGH); // right wheel moves backward
-  analogWrite(pinLF, 255);
-  analogWrite(pinRF, 255);
+  direct = 1;
+  set(LOW, LOW, 255, 255);
 }
-void left() // turn left (single wheel)
+void backward()
 {
-  digitalWrite(pinLB, HIGH); // left wheel moves forward
-  digitalWrite(pinRB, LOW); // right wheel moves backward
-  analogWrite(pinLF, 255);
-  analogWrite(pinRF, 255);
+  direct = -1;
+  set(HIGH, HIGH, 255, 255);
 }
-void back() // move backward
+void turn_right()
 {
-  digitalWrite(pinLB, HIGH); // motor moves to left rear
-  digitalWrite(pinRB, HIGH); // motor moves to right rear
-  analogWrite(pinLF, 255);
-  analogWrite(pinRF, 255);
+  set(LOW, HIGH, 255, 255);
+  delay(delay_time);
+  stopp();
 }
 
-void loop()
+void turn_left()
 {
-  val = Serial.read();
-  if (val == 'f') {
-    advance();
-  }
-  if (val == 'b') {
-    back();
-  }
-  if (val == 'l') {
-    left();
-    delay(600);
-    stopp();
-  }
-  if (val == 'r') {
-    right();
-    delay(600);
+  set(HIGH, LOW, 255, 255);
+  delay(delay_time);
+  stopp();
+}
+void backward_left()
+{
+  set(HIGH, LOW, 255, 0);
+  delay(delay_time);
+  stopp();
+}
+void backward_right()
+{
+  set(LOW, HIGH, 0, 255);
+  delay(delay_time);
+  stopp();
+}
+void forward_left()
+{
+  set(LOW, HIGH, 255, 0);
+  myservo.write(45);
+  delay(delay_time);
+  if (direct == 1)
+    forward();
+  else
     stopp();
-  }
-  if ( val == 's') {
+  myservo.write(90);
+}
+void forward_right()
+{
+  set(HIGH, LOW, 0, 255);
+  myservo.write(180-45);
+  delay(delay_time);
+  if (direct == 1)
+    forward();
+  else
     stopp();
-  }
+  myservo.write(90);
 }
+void handshake()
+{
+  myservo.write(45);
+  delay(delay_time);
+  myservo.write(135);
+  delay(delay_time);
+  myservo.write(90);
+}
+

BluetoothControlTank2.ino

@@ -0,0 +1,145 @@
+/*
+   0=spot,
+   2=Left, 3=Right, 1=Forward, 4=Back
+   5=move forward left, 6=move forward right
+   7=move backward left, 8=move backward right
+*/
+#include <Servo.h>
+enum { pinLB = 12, pinLF = 3, pinRB = 13, pinRF = 11 };
+int inputPin = 4;    // define pin for sensor echo
+int outputPin = 5;   // define pin for sensor trig
+int delay_time_ = 300;
+int direct_ = 0; // forward=1 backward=-1 stop=0
+int distance_ = 0;      // forward speed
+
+Servo myservo;
+
+void setup()
+{
+  Serial.begin(9600); // define pin for motor output
+  pinMode(pinLB, OUTPUT); // pin 12
+  pinMode(pinLF, OUTPUT); // pin 3 (PWM)
+  pinMode(pinRB, OUTPUT); // pin 13
+  pinMode(pinRF, OUTPUT); // pin 11 (PWM)
+  pinMode(inputPin, INPUT);    // define input pin for sensor
+  pinMode(outputPin, OUTPUT);  // define output pin for sensor
+  myservo.attach(9);    // Define servo motor output pin to D9 (PWM)
+  handshake();
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    char val = Serial.read();
+
+    switch (val)
+    {
+      case '0': stopp(); break;
+      case '1': forward(); break;
+      case '4': backward(); break;
+      case '3': turn_right(); break;
+      case '2': turn_left(); break;
+      case '5': forward_left(); break;
+      case '6': forward_right(); break;
+      case '7': backward_left(); break;
+      case '8': backward_right(); break;
+    }
+  }
+  ask_pin_F();            // read the distance ahead
+  if (distance_ < 15 && direct_ == 1)        // if distance ahead is <10cm and moving forvard
+  {
+    stopp();               // stop
+  }
+}
+
+void set(bool LB, bool RB, int LF, int RF)
+{
+  digitalWrite(pinLB, LB);
+  digitalWrite(pinRB, RB);
+  analogWrite(pinLF, LF);
+  analogWrite(pinRF, RF);
+}
+
+void stopp() // stop
+{
+  direct_ = 0;
+  set(HIGH, HIGH, 0, 0);
+}
+void forward()
+{
+  direct_ = 1;
+  set(LOW, LOW, 255, 255);
+}
+void backward()
+{
+  direct_ = -1;
+  set(HIGH, HIGH, 255, 255);
+}
+void turn_right()
+{
+  set(LOW, HIGH, 255, 255);
+  delay(delay_time_);
+  stopp();
+}
+
+void turn_left()
+{
+  set(HIGH, LOW, 255, 255);
+  delay(delay_time_);
+  stopp();
+}
+void backward_left()
+{
+  set(HIGH, LOW, 255, 0);
+  delay(delay_time_);
+  stopp();
+}
+void backward_right()
+{
+  set(LOW, HIGH, 0, 255);
+  delay(delay_time_);
+  stopp();
+}
+void forward_left()
+{
+  set(LOW, HIGH, 255, 0);
+  myservo.write(45);
+  delay(delay_time_);
+  if (direct_ == 1)
+    forward();
+  else
+    stopp();
+  myservo.write(90);
+}
+void forward_right()
+{
+  set(HIGH, LOW, 0, 255);
+  myservo.write(180 - 45);
+  delay(delay_time_);
+  if (direct_ == 1)
+    forward();
+  else
+    stopp();
+  myservo.write(90);
+}
+void handshake()
+{
+  myservo.write(45);
+  delay(delay_time_);
+  myservo.write(180 - 45);
+  delay(delay_time_);
+  myservo.write(90);
+}
+void ask_pin_F()   // measure the distance ahead
+{
+  myservo.write(90);
+  digitalWrite(outputPin, LOW);   // ultrasonic sensor transmit low level signal 2μs
+  delayMicroseconds(2);
+  digitalWrite(outputPin, HIGH);  // ultrasonic sensor transmit high level signal10μs, at least 10μs
+  delayMicroseconds(10);
+  digitalWrite(outputPin, LOW);    // keep transmitting low level signal
+  float f_distance = pulseIn(inputPin, HIGH);  // read the time in between
+  distance_ = f_distance / 5.8 / 10;  // convert time into distance (unit: cm)
+}
+

README.md

@@ -1,2 +1,13 @@
 # BluetoothControlTank
-Arduino Mini Tank Bluetooth Control
+
+The scatch has been adopted for Android application named Bluetooth Arduino Tank
+
+Keyestudio mini tank | Android application
+------------ | -------------
+![Keyestudio mini tank](mini_tank.jpg) | ![Android app](Bluetooth_Arduino_Tank.png)
+
+The android application UI provides 9 buttons for control
+
+![](http://cdn.instructables.com/FWS/XCDZ/INS19WM6/FWSXCDZINS19WM6.MEDIUM.jpg)
+![](http://cdn.instructables.com/FHL/SD21/INS1A4OE/FHLSD21INS1A4OE.MEDIUM.jpg)
+