App 為 android 版 : Arduino Bluetooth Controller
// Author : Mason, masonchen1003@gmail.com
// FB : https://www.facebook.com/mason.chen.1420
// Using ESP32CAM + Gyro shield + L9110 to control two N20 motors
// https://sites.google.com/view/esp-gyro/
// Android App: 尤老師提供的 Arduino Bluetooth Controller
#include "soc/soc.h" //disable brownout problems
#include "soc/rtc_cntl_reg.h" //disable brownout problems
#include "BluetoothSerial.h"
BluetoothSerial SerialBT;
// Gyro 擴充板左下方插上 L9110 ，並定義使用的腳位如下
int motor_A1 = 12;
int motor_B1 = 13;
int motor_A2 = 14;
int motor_B2 = 15;
void backward() {
digitalWrite(motor_A1, HIGH);
digitalWrite(motor_B1, LOW);
digitalWrite(motor_A2, HIGH);
digitalWrite(motor_B2, LOW);
}
void forward() {
digitalWrite(motor_A1, LOW);
digitalWrite(motor_B1, HIGH);
digitalWrite(motor_A2, LOW);
digitalWrite(motor_B2, HIGH);
}
void turn_right() {
digitalWrite(motor_A1, HIGH);
digitalWrite(motor_B1, LOW);
digitalWrite(motor_A2, LOW);
digitalWrite(motor_B2, HIGH);
}
void turn_left() {
digitalWrite(motor_A1, LOW);
digitalWrite(motor_B1, HIGH);
digitalWrite(motor_A2, HIGH);
digitalWrite(motor_B2, LOW);
}
void stop_all() {
digitalWrite(motor_A1, LOW);
digitalWrite(motor_B1, LOW);
digitalWrite(motor_A2, LOW);
digitalWrite(motor_B2, LOW);
}
String cmdaaa ="";
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
pinMode(4, OUTPUT); // ESP32CAM 閃光燈
pinMode(12, OUTPUT); // motor-A1
pinMode(13, OUTPUT); // motor-B1
pinMode(14, OUTPUT); // motor-A2
pinMode(15, OUTPUT); // motor-B2
Serial.begin(115200);
SerialBT.begin("Gyro_robot"); //Bluetooth device name
}
void loop() {
while(SerialBT.available()>0){
cmdaaa +=(char)SerialBT.read();
}
if (cmdaaa == "u") { // 向上
forward();
}
if (cmdaaa == "d") { // 向下
backward();
}
if (cmdaaa == "l") { // 向左
turn_left();
}
if (cmdaaa == "r") { // 向右
turn_right();
}
if (cmdaaa == "s") { // 確認鍵
stop_all();
}
if (cmdaaa == "a") { // A 鍵
digitalWrite(4, HIGH); //Turn on
}
if (cmdaaa == "b") { // B 鍵
digitalWrite(4, LOW); //Turn off
}
cmdaaa="";
}