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Robot Car - Ino

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modernhomestead17
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102 views3 pages

Robot Car - Ino

Uploaded by

modernhomestead17
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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// //

// Program : Mindwave with Arduino_Robo Car //


//nterfacing : HC-05 Bluetooth Module //
// Output : Robo Control using Attention //

#define BAUDRATE 57600


#define LED 13
#define ATT_TH 40

int Mot_L_Plus = 5;
int Mot_L_Minus = 3;
int Mot_R_Plus = 9;
int Mot_R_Minus = 6;

byte payloadData[32] = {0};


byte checksum=0,generatedchecksum=0,Poorquality,Attention;
int Att_Avg=0,Plength,Temp;
int k=0,j=0;

void setup()
{
Serial.begin(BAUDRATE); // USB
pinMode(LED, OUTPUT);
pinMode(Mot_L_Plus, OUTPUT);
pinMode(Mot_L_Minus, OUTPUT);
pinMode(Mot_R_Plus, OUTPUT);
pinMode(Mot_R_Minus, OUTPUT);
}

byte ReadOneByte() // One Byte Read Function


{
int ByteRead;
while(!Serial.available());
ByteRead = Serial.read();
return ByteRead;
}

void loop() // Main Function


{
Serial.print("Signal Poor Quality");
while (1)
{
if(ReadOneByte() == 170) // AA 1 st Sync data
{
if(ReadOneByte() == 170) // AA 2 st Sync data
{
Plength = ReadOneByte();
if(Plength == 32) // Big Packet
{
generatedchecksum = 0;
for(int i = 0; i < Plength; i++)
{
payloadData[i] = ReadOneByte(); //Read payload into memory
generatedchecksum += payloadData[i] ;
}
generatedchecksum = 255 - generatedchecksum;
checksum = ReadOneByte();

if(checksum == generatedchecksum) // Varify Checksum


{
Poorquality = payloadData[1];
Attention = payloadData[29];
Serial.print(Attention);
Serial.print("\n");
Attention_Fun(Attention);
}
}
}
}
}
}

void Robot_Forword()
{
digitalWrite(Mot_L_Plus, LOW);
digitalWrite(Mot_L_Minus, HIGH);
digitalWrite(Mot_R_Plus, LOW);
digitalWrite(Mot_R_Minus, HIGH);
}

void Robot_Stop()
{
digitalWrite(Mot_L_Plus, LOW);
digitalWrite(Mot_L_Minus, LOW);
digitalWrite(Mot_R_Plus, LOW);
digitalWrite(Mot_R_Minus, LOW);
}

void Attention_Fun(byte data1)


{
if (Poorquality == 0)
{
if (j<3)
{
Temp += data1;
j++;
}
else
{
Temp += data1;
Att_Avg = Temp/4;
Serial.print("Att_Avg");
Serial.print(Att_Avg);
Serial.print("\n");
if (Att_Avg >= ATT_TH)
{
digitalWrite(LED, HIGH);
Serial.print("Car Moving Forward");
Robot_Forword();
}
else
{
digitalWrite(LED, LOW);
Serial.print("Car Stop");
Robot_Stop();
}
j=0;
Temp=0;
}
}
else
{
Robot_Stop();
Serial.print("Signal Poor Quality");
Serial.print("\n");
}
}

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