/* BLUETOOTH RC CONTROLLER ANDROID
MUHILHAM.COM .. 2017*/
// For Motor Driver L298N
#include <SoftwareSerial.h>
SoftwareSerial mySerial(0, 1); // TX,RX
#define MR1 3 // IN1
#define MR2 4 // IN2
#define ML1 6 // IN4
#define ML2 5 // IN3
#define MR1_1 7 // IN1
#define MR2_2 8 // IN2
#define ML1_1 10 // IN4
#define ML2_2 9 // IN3
/*
int MR1 = 3; // IN1
int MR2 = 5; // IN2
int ML1 = 9; // IN4
int ML2 = 10; // IN3
*/
int data=0;
int Speed=0;
boolean maju=true;
int kec[11]={0,80,100,120,140,160,180,200,220,240,255}; //array kecepatan
void setup(){
mySerial.begin(9600);
pinMode(MR1,OUTPUT);
pinMode(MR2,OUTPUT);
pinMode(ML1,OUTPUT);
pinMode(ML2,OUTPUT);
pinMode(MR1_1,OUTPUT);
pinMode(MR2_2,OUTPUT);
pinMode(ML1_1,OUTPUT);
pinMode(ML2_2,OUTPUT);
void motorOut(unsigned char lpwm, unsigned char rpwm, boolean arrow){
if(arrow==false){
digitalWrite(ML1,HIGH);
digitalWrite(MR1,LOW);
analogWrite(ML2,255-lpwm);
analogWrite(MR2,rpwm);
digitalWrite(ML1_1,HIGH);
digitalWrite(MR1_1,LOW);
analogWrite(ML2_2,255-lpwm);
analogWrite(MR2_2,rpwm);
else{
digitalWrite(ML1,LOW);
digitalWrite(MR1,HIGH);
analogWrite(ML2,lpwm);
analogWrite(MR2,255-rpwm);
digitalWrite(ML1_1,LOW);
digitalWrite(MR1_1,HIGH);
analogWrite(ML2_2,lpwm);
analogWrite(MR2_2,255-rpwm);
void loop(){
/* Commands/Characters sent from APP Bluetooth RC Controller (ANDROID)
Forward ->F
Back -> B
Left -> L
Right -> R
Forward Left -> G
Forward Righ -> I
Back Left -> H
Back Right -> J
Stop -> S
Speed 10 -> 1
Speed 20 -> 2
Speed 30 -> 3
Speed 40 -> 4
Speed 50 -> 5
Speed 60 -> 6
Speed 70 -> 7
Speed 80 -> 8
Speed 90 -> 9
Speed 100 -> q
Stop All -> D */
if(mySerial.available()>0){
data=mySerial.read();
//penyimpan data kecepatan
if (data =='0') { Speed=0; }
else if (data =='1') { Speed=1;}
else if (data =='2') { Speed=2;}
else if (data =='3') { Speed=3;}
else if (data =='4') { Speed=4;}
else if (data =='5') { Speed=5;}
else if (data =='6') { Speed=6;}
else if (data =='7') { Speed=7;}
else if (data =='8') { Speed=8;}
else if (data =='9') { Speed=9;}
else if (data =='q') { Speed=10;}
if (data=='S')
motorOut(0,0,false);
} // S=Stop
if (data=='F')
motorOut(kec[Speed],kec[Speed],true);
} // F=Maju
if (data=='I')
motorOut(kec[Speed],((kec[Speed])/2),true);
} // I=Maju sambil belok kanan
if (data=='G')
motorOut(((kec[Speed])/2),kec[Speed],true);
} // G=Maju sambil belok kiri
if (data=='R')
motorOut(kec[Speed],0,true);
} // R=Belok kanan
if (data=='L')
motorOut(0,kec[Speed],true);
} // L=Belok kiri
if (data=='B')
motorOut(kec[Speed],kec[Speed],false);
} // B=Mundur
if (data=='H')
motorOut(((kec[Speed])/2),kec[Speed],false);
} // H=Mundur sambil belok kiri
if (data=='J')
motorOut(kec[Speed],((kec[Speed])/2),false);
} // J=Mundur sambil belok kanan
}
}
