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1. /*
2. === Arduino Mecanum Wheels Robot ===
3. Radio control with NRF24L01
4. by Dejan, www.HowToMechatronics.com
5. Libraries:
6. RF24, https://github.com/tmrh20/RF24/
7. AccelStepper by Mike McCauley: http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
8.
9. */
10.
11. #include <SPI.h>
12. #include <nRF24L01.h>
13. #include <RF24.h>
14.
15. #include <AccelStepper.h>
16.
17. RF24 radio(48, 49); // nRF24L01 (CE, CSN)
18.
19. const byte address[6] = "00001";
20. unsigned long lastReceiveTime = 0;
21. unsigned long currentTime = 0;
22.
23. // Define the stepper motors and the pins the will use
24. AccelStepper LeftBackWheel(1, 42, 43); // (Type:driver, STEP, DIR) - Stepper1
25. AccelStepper LeftFrontWheel(1, 40, 41); // Stepper2
26. AccelStepper RightBackWheel(1, 44, 45); // Stepper3
27. AccelStepper RightFrontWheel(1, 46, 47); // Stepper4
28.
29. Ok
int wheelSpeed = 1500; Read more (https://howtomechatronics.com/privacy-policy-page/)

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30.
31. // Max size of this struct is 32 bytes - NRF24L01 buffer limit
32. struct Data_Package {
33. byte j1PotX;
34. byte j1PotY;
35. byte j1Button;
36. byte j2PotX;
37. byte j2PotY;
38. byte j2Button;
39. byte pot1;
40. byte pot2;
41. byte tSwitch1;
42. byte tSwitch2;
43. byte button1;
44. byte button2;
45. byte button3;
46. byte button4;
47. };
48. Data_Package data; //Create a variable with the above structure
49.
50. void setup() {
51. // Set initial seed values for the steppers
52. LeftFrontWheel.setMaxSpeed(3000);
53. LeftBackWheel.setMaxSpeed(3000);
54. RightFrontWheel.setMaxSpeed(3000);
55. RightBackWheel.setMaxSpeed(3000);
56.
57. radio.begin();
58. radio.openReadingPipe(0, address);
59. radio.setAutoAck(false);
60. radio.setDataRate(RF24_250KBPS);
61. radio.setPALevel(RF24_PA_LOW);
62. radio.startListening(); // Set the module as receiver
63.
64. Serial.begin(115200);
65. }
66.
67. void loop() {
68. // Check whether we keep receving data, or we have a connection between the two modules
69. currentTime = millis();
70. if ( currentTime - lastReceiveTime > 1000 ) { // If current time is more then 1 second since we
have recived the last data, that means we have lost connection
71. resetData(); // If connection is lost, reset the data. It prevents unwanted behavior, for
example if a drone jas a throttle up, if we lose connection it can keep flying away if we dont
reset the function
72. }
73. // Check whether there is data to be received
74. if (radio.available()) {
75. radio.read(&data, sizeof(Data_Package)); // Read the whole data and store it into the 'data'
structure
76. lastReceiveTime = millis(); // At this moment we have received the data
77. }
78. // Set speed - left potentiometer
79. wheelSpeed = map(data.pot1, 0, 255, 100, 3000);
80.
81. if (data.j1PotX > 150) {
82. moveSidewaysLeft();
83. }
84. else if (data.j1PotX < 100) {
85. moveSidewaysRight();
86. }
87. else if (data.j1PotY > 160) {
88. moveForward(); Ok Read more (https://howtomechatronics.com/privacy-policy-page/)

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89. }
90. else if (data.j1PotY < 100) {
91. moveBackward();
92. }
93. else if (data.j2PotX < 100 & data.j2PotY > 160) {
94. moveRightForward();
95. }
96. else if (data.j2PotX > 160 & data.j2PotY > 160) {
97. moveLeftForward();
98. }
99. else if (data.j2PotX < 100 & data.j2PotY < 100) {
100. moveRightBackward();
101. }
102. else if (data.j2PotX > 160 & data.j2PotY < 100) {
103. moveLeftBackward();
104. }
105. else if (data.j2PotX < 100) {
106. rotateRight();
107. }
108. else if (data.j2PotX > 150) {
109. rotateLeft();
110. }
111. else {
112. stopMoving();
113. }
114. // Execute the steps
115. LeftFrontWheel.runSpeed();
116. LeftBackWheel.runSpeed();
117. RightFrontWheel.runSpeed();
118. RightBackWheel.runSpeed();
119.
120. // Monitor the battery voltage
121. int sensorValue = analogRead(A0);
122. float voltage = sensorValue * (5.0 / 1023.00) * 3; // Convert the reading values from 5v to
suitable 12V i
123. // If voltage is below 11V turn on the LED
124. if (voltage < 11) {
125. digitalWrite(led, HIGH);
126. }
127. else {
128. digitalWrite(led, LOW);
129. }
130. }
131.
132. void moveForward() {
133. LeftFrontWheel.setSpeed(wheelSpeed);
134. LeftBackWheel.setSpeed(wheelSpeed);
135. RightFrontWheel.setSpeed(wheelSpeed);
136. RightBackWheel.setSpeed(wheelSpeed);
137. }
138. void moveBackward() {
139. LeftFrontWheel.setSpeed(-wheelSpeed);
140. LeftBackWheel.setSpeed(-wheelSpeed);
141. RightFrontWheel.setSpeed(-wheelSpeed);
142. RightBackWheel.setSpeed(-wheelSpeed);
143. }
144. void moveSidewaysRight() {
145. LeftFrontWheel.setSpeed(wheelSpeed);
146. LeftBackWheel.setSpeed(-wheelSpeed);
147. RightFrontWheel.setSpeed(-wheelSpeed);
148. RightBackWheel.setSpeed(wheelSpeed);
149. }
150. Ok
void moveSidewaysLeft() { Read more (https://howtomechatronics.com/privacy-policy-page/)

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151. LeftFrontWheel.setSpeed(-wheelSpeed);
152. LeftBackWheel.setSpeed(wheelSpeed);
153. RightFrontWheel.setSpeed(wheelSpeed);
154. RightBackWheel.setSpeed(-wheelSpeed);
155. }
156. void rotateLeft() {
157. LeftFrontWheel.setSpeed(-wheelSpeed);
158. LeftBackWheel.setSpeed(-wheelSpeed);
159. RightFrontWheel.setSpeed(wheelSpeed);
160. RightBackWheel.setSpeed(wheelSpeed);
161. }
162. void rotateRight() {
163. LeftFrontWheel.setSpeed(wheelSpeed);
164. LeftBackWheel.setSpeed(wheelSpeed);
165. RightFrontWheel.setSpeed(-wheelSpeed);
166. RightBackWheel.setSpeed(-wheelSpeed);
167. }
168. void moveRightForward() {
169. LeftFrontWheel.setSpeed(wheelSpeed);
170. LeftBackWheel.setSpeed(0);
171. RightFrontWheel.setSpeed(0);
172. RightBackWheel.setSpeed(wheelSpeed);
173. }
174. void moveRightBackward() {
175. LeftFrontWheel.setSpeed(0);
176. LeftBackWheel.setSpeed(-wheelSpeed);
177. RightFrontWheel.setSpeed(-wheelSpeed);
178. RightBackWheel.setSpeed(0);
179. }
180. void moveLeftForward() {
181. LeftFrontWheel.setSpeed(0);
182. LeftBackWheel.setSpeed(wheelSpeed);
183. RightFrontWheel.setSpeed(wheelSpeed);
184. RightBackWheel.setSpeed(0);
185. }
186. void moveLeftBackward() {
187. LeftFrontWheel.setSpeed(-wheelSpeed);
188. LeftBackWheel.setSpeed(0);
189. RightFrontWheel.setSpeed(0);
190. RightBackWheel.setSpeed(-wheelSpeed);
191. }
192. void stopMoving() {
193. LeftFrontWheel.setSpeed(0);
194. LeftBackWheel.setSpeed(0);
195. RightFrontWheel.setSpeed(0);
196. RightBackWheel.setSpeed(0);
197. }
198.
199.
200. void resetData() {
201. // Reset the values when there is no radio connection - Set initial default values
202. data.j1PotX = 127;
203. data.j1PotY = 127;
204. data.j2PotX = 127;
205. data.j2PotY = 127;
206. data.j1Button = 1;
207. data.j2Button = 1;
208. data.pot1 = 1;
209. data.pot2 = 1;
210. data.tSwitch1 = 1;
211. data.tSwitch2 = 1;
212. data.button1 = 1;
213. data.button2 = 1;Ok Read more (https://howtomechatronics.com/privacy-policy-page/)

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214. data.button3 = 1;
215. data.button4 = 1;
216. }

1. /*
2. === Arduino Mecanum Wheels Robot ===
3. Smartphone control via Bluetooth
4. by Dejan, www.HowToMechatronics.com
5. Libraries:
6. RF24, https://github.com/tmrh20/RF24/
7. AccelStepper by Mike McCauley: http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
8.
9. */
10.
11. #include <SoftwareSerial.h>
12. #include <AccelStepper.h>
13.
14. SoftwareSerial Bluetooth(A8, 38); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)
15.
16. // Define the stepper motors and the pins the will use
17. AccelStepper LeftBackWheel(1, 42, 43); // (Type:driver, STEP, DIR) - Stepper1
18. AccelStepper LeftFrontWheel(1, 40, 41); // Stepper2
19. AccelStepper RightBackWheel(1, 44, 45); // Stepper3
20. AccelStepper RightFrontWheel(1, 46, 47); // Stepper4
21.
22. #define led 14
23.
24. int wheelSpeed = 1500;
25.
26. int dataIn, m;
27.
28. Ok rbw[50],
int lbw[50], lfw[50], Read more (https://howtomechatronics.com/privacy-policy-page/)
rfw[50]; // for storing positions/steps

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29. int index = 0;

30.
31. void setup() {
32. // Set initial seed values for the steppers
33. LeftFrontWheel.setMaxSpeed(3000);
34. LeftBackWheel.setMaxSpeed(3000);
35. RightFrontWheel.setMaxSpeed(3000);
36. RightBackWheel.setMaxSpeed(3000);
37.
38. Serial.begin(38400);
39. Bluetooth.begin(38400); // Default baud rate of the Bluetooth module
40. Bluetooth.setTimeout(1);
41. delay(20);
42.
43. pinMode(led, OUTPUT);
44.
45. }
46.
47. void loop() {
48. // Check for incoming data
49.
50. if (Bluetooth.available() > 0) {
51. dataIn = Bluetooth.read(); // Read the data
52.
53. if (dataIn == 0) {
54. m = 0;
55. }
56. if (dataIn == 1) {
57. m = 1;
58. }
59. if (dataIn == 2) {
60. m = 2;
61. }
62. if (dataIn == 3) {
63. m = 3;
64. }
65. if (dataIn == 4) {
66. m = 4;
67. }
68. if (dataIn == 5) {
69. m = 5;
70. }
71. if (dataIn == 6) {
72. m = 6;
73. }
74. if (dataIn == 7) {
75. m = 7;
76. }
77. if (dataIn == 8) {
78. m = 8;
79.
80. }
81. if (dataIn == 9) {
82. m = 9;
83. }
84. if (dataIn == 10) {
85. m = 10;
86. }
87. if (dataIn == 11) {
88. m = 11;
89. }
90.
91.
Ok {
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92. m = 12;
93. }
94. if (dataIn == 14) {
95. m = 14;
96. }
97. // Set speed
98. if (dataIn >= 16) {
99. wheelSpeed = dataIn * 10;
100. Serial.println(wheelSpeed);
101. }
102. }
103. if (m == 4) {
104. moveSidewaysLeft();
105. }
106. if (m == 5) {
107. moveSidewaysRight();
108. }
109. if (m == 2) {
110. moveForward();
111. }
112. if (m == 7) {
113. moveBackward();
114. }
115. if (m == 3) {
116. moveRightForward();
117. }
118. if (m == 1) {
119. moveLeftForward();
120. }
121. if (m == 8) {
122. moveRightBackward();
123. }
124. if (m == 6) {
125. moveLeftBackward();
126. }
127. if (m == 9) {
128. rotateLeft();
129. }
130. if (m == 10) {
131. rotateRight();
132. }
133.
134. if (m == 0) {
135. stopMoving();
136. }
137. //Serial.println(dataIn);
138. // If button "SAVE" is pressed
139. if (m == 12) {
140. if (index == 0) {
141. LeftBackWheel.setCurrentPosition(0);
142. LeftFrontWheel.setCurrentPosition(0);
143. RightBackWheel.setCurrentPosition(0);
144. RightFrontWheel.setCurrentPosition(0);
145. }
146. lbw[index] = LeftBackWheel.currentPosition(); // save position into the array
147. lfw[index] = LeftFrontWheel.currentPosition();
148. rbw[index] = RightBackWheel.currentPosition();
149. rfw[index] = RightFrontWheel.currentPosition();
150. index++; // Increase the array index
151. m = 0;
152. }
153.
154. if (m == 14) { Ok Read more (https://howtomechatronics.com/privacy-policy-page/)

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155. runSteps();
156. if (dataIn != 14) {
157. stopMoving();
158. memset(lbw, 0, sizeof(lbw)); // Clear the array data to 0
159. memset(lfw, 0, sizeof(lfw));
160. memset(rbw, 0, sizeof(rbw));
161. memset(rfw, 0, sizeof(rfw));
162. index = 0; // Index to 0
163. }
164. }
165.
166. LeftFrontWheel.runSpeed();
167. LeftBackWheel.runSpeed();
168. RightFrontWheel.runSpeed();
169. RightBackWheel.runSpeed();
170.
171. // Monitor the battery voltage
172. int sensorValue = analogRead(A0);
173. float voltage = sensorValue * (5.0 / 1023.00) * 3; // Convert the reading values from 5v to
suitable 12V i
174. //Serial.println(voltage);
175. // If voltage is below 11V turn on the LED
176. if (voltage < 11) {
177. digitalWrite(led, HIGH);
178. }
179. else {
180. digitalWrite(led, LOW);
181. }
182.
183. }
184.
185. void runSteps() {
186. for (int i = index - 1; i >= 0; i--) { // Run through all steps(index)
187. LeftFrontWheel.moveTo(lfw[i]);
188. LeftFrontWheel.setSpeed(wheelSpeed);
189. LeftBackWheel.moveTo(lbw[i]);
190. LeftBackWheel.setSpeed(wheelSpeed);
191. RightFrontWheel.moveTo(rfw[i]);
192. RightFrontWheel.setSpeed(wheelSpeed);
193. RightBackWheel.moveTo(rbw[i]);
194. RightBackWheel.setSpeed(wheelSpeed);
195.
196. while (LeftBackWheel.currentPosition() != lbw[i] & LeftFrontWheel.currentPosition() != lfw[i]
& RightFrontWheel.currentPosition() != rfw[i] & RightBackWheel.currentPosition() != rbw[i]) {
197. LeftFrontWheel.runSpeedToPosition();
198. LeftBackWheel.runSpeedToPosition();
199. RightFrontWheel.runSpeedToPosition();
200. RightBackWheel.runSpeedToPosition();
201.
202. if (Bluetooth.available() > 0) { // Check for incomding data
203. dataIn = Bluetooth.read();
204. if ( dataIn == 15) { // If button "PAUSE" is pressed
205. while (dataIn != 14) { // Wait until "RUN" is pressed again
206. if (Bluetooth.available() > 0) {
207. dataIn = Bluetooth.read();
208. if ( dataIn == 13) {
209. stopMoving();
210. break;
211. }
212. }
213. }
214. }
215. if (dataIn Ok
>= 16) Read
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216. wheelSpeed = dataIn * 10;

217. dataIn = 14;
218. }
219. if ( dataIn == 13) {
220. break;
221. }
222. }
223. }
224. }
225. // Go back through steps
226. for (int i = 1; i <= index - 1; i++) { // Run through all steps(index)
227.
228. LeftFrontWheel.moveTo(lfw[i]);
229. LeftFrontWheel.setSpeed(wheelSpeed);
230. LeftBackWheel.moveTo(lbw[i]);
231. LeftBackWheel.setSpeed(wheelSpeed);
232. RightFrontWheel.moveTo(rfw[i]);
233. RightFrontWheel.setSpeed(wheelSpeed);
234. RightBackWheel.moveTo(rbw[i]);
235. RightBackWheel.setSpeed(wheelSpeed);
236.
237. while (LeftBackWheel.currentPosition() != lbw[i]& LeftFrontWheel.currentPosition() != lfw[i] &
RightFrontWheel.currentPosition() != rfw[i] & RightBackWheel.currentPosition() != rbw[i]) {
238.
239. LeftFrontWheel.runSpeedToPosition();
240. LeftBackWheel.runSpeedToPosition();
241. RightFrontWheel.runSpeedToPosition();
242. RightBackWheel.runSpeedToPosition();
243. //Serial.print(" current: ");
244. //Serial.println(LeftBackWheel.currentPosition());
245.
246. if (Bluetooth.available() > 0) { // Check for incomding data
247. dataIn = Bluetooth.read();
248. if ( dataIn == 15) { // If button "PAUSE" is pressed
249. while (dataIn != 14) { // Wait until "RUN" is pressed again
250. if (Bluetooth.available() > 0) {
251. dataIn = Bluetooth.read();
252. if ( dataIn == 13) {
253. stopMoving();
254. break;
255. }
256. }
257. }
258. }
259. if (dataIn >= 16) {
260. wheelSpeed = dataIn * 10;
261. dataIn = 14;
262. }
263. if ( dataIn == 13) {
264. //Serial.println("DEKI");
265. break;
266. }
267. }
268. }
269. }
270. }
271.
272. void moveForward() {
273. LeftFrontWheel.setSpeed(wheelSpeed);
274. LeftBackWheel.setSpeed(wheelSpeed);
275. RightFrontWheel.setSpeed(wheelSpeed);
276. RightBackWheel.setSpeed(wheelSpeed);
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278. void moveBackward() {

279. LeftFrontWheel.setSpeed(-wheelSpeed);
280. LeftBackWheel.setSpeed(-wheelSpeed);
281. RightFrontWheel.setSpeed(-wheelSpeed);
282. RightBackWheel.setSpeed(-wheelSpeed);
283. }
284. void moveSidewaysRight() {
285. LeftFrontWheel.setSpeed(wheelSpeed);
286. LeftBackWheel.setSpeed(-wheelSpeed);
287. RightFrontWheel.setSpeed(-wheelSpeed);
288. RightBackWheel.setSpeed(wheelSpeed);
289. }
290. void moveSidewaysLeft() {
291. LeftFrontWheel.setSpeed(-wheelSpeed);
292. LeftBackWheel.setSpeed(wheelSpeed);
293. RightFrontWheel.setSpeed(wheelSpeed);
294. RightBackWheel.setSpeed(-wheelSpeed);
295. }
296. void rotateLeft() {
297. LeftFrontWheel.setSpeed(-wheelSpeed);
298. LeftBackWheel.setSpeed(-wheelSpeed);
299. RightFrontWheel.setSpeed(wheelSpeed);
300. RightBackWheel.setSpeed(wheelSpeed);
301. }
302. void rotateRight() {
303. LeftFrontWheel.setSpeed(wheelSpeed);
304. LeftBackWheel.setSpeed(wheelSpeed);
305. RightFrontWheel.setSpeed(-wheelSpeed);
306. RightBackWheel.setSpeed(-wheelSpeed);
307. }
308. void moveRightForward() {
309. LeftFrontWheel.setSpeed(wheelSpeed);
310. LeftBackWheel.setSpeed(0);
311. RightFrontWheel.setSpeed(0);
312. RightBackWheel.setSpeed(wheelSpeed);
313. }
314. void moveRightBackward() {
315. LeftFrontWheel.setSpeed(0);
316. LeftBackWheel.setSpeed(-wheelSpeed);
317. RightFrontWheel.setSpeed(-wheelSpeed);
318. RightBackWheel.setSpeed(0);
319. }
320. void moveLeftForward() {
321. LeftFrontWheel.setSpeed(0);
322. LeftBackWheel.setSpeed(wheelSpeed);
323. RightFrontWheel.setSpeed(wheelSpeed);
324. RightBackWheel.setSpeed(0);
325. }
326. void moveLeftBackward() {
327. LeftFrontWheel.setSpeed(-wheelSpeed);
328. LeftBackWheel.setSpeed(0);
329. RightFrontWheel.setSpeed(0);
330. RightBackWheel.setSpeed(-wheelSpeed);
331. }
332. void stopMoving() {
333. LeftFrontWheel.setSpeed(0);
334. LeftBackWheel.setSpeed(0);
335. RightFrontWheel.setSpeed(0);
336. RightBackWheel.setSpeed(0);
337. }

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