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--- mm-uav_arm_bluetooth_operation [2016/08/02 04:36] – dongbinkim
+++ mm-uav_arm_bluetooth_operation [2016/08/02 05:17] – dongbinkim
@@ Line 70: / Line 70: @@
 {{:mm-uav_danko_arm.jpg?300|}}
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+Arduino Uno only supplies 6 PWM control pins(3,5,6,9,10,11) and if you connect more than 2 motors, pin 9 and 10 won't work, Since new MM-UAV arm design for current project uses 8 servo motors. and they are arranged in 4 pairs as well as aligned in parallel with each other. I decided to connect one of a pair on Arduino then we can manipulate MM-UAV arm with 4 PWM control pins.
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+\\
+**Step 2. Bluetooth installation**
+\\
+\\
+{{:bluetooth_operation_4_.jpg?300|}}
+\\
+Bluetooth operation is working much, much better in Android enviorment. Please download 'Bluetooth Controller' in Google market.
+\\
+\\
+{{:bluetooth_operation_3_.jpg?300|}}
+\\
+Click 'Set Keys' button and set up the button. 'Data of Key' stands for a data that the app will send Serial communication to Arduino. Make sure you write the same data as in Arduino sketch which is on the next section.
+\\
+\\
+**Step 3. Arduino Sketch**
+\\
+\\
+Please refer the **Programming** section to Sketch Arduino. If you understand C++ language, you can easily understand the algorithms. When you are done building up Arduino Sketch, Compile the code and upload on Arduino.
+**WARNING** - When you upload the sketch, make sure you take off the VC line(+) of battery for servos. Otherwise, you will encounter lots of operating errors.
 \\
 \\
-**Step 2**
+**Step 4. Bluetooth Settings**
 \\
 \\
-<Additional steps like **Step 3**, **Step 4**, etc>
+{{:bluetooth_operation_5_.jpg|}}
+\\
+\\
+To set up the bluetooth for yours, you should know how to run AT(Attention) commands. AT commands help you check if bluetooth is connected or not, and help you change name, password, baud rate. The followings are basic AT commands language.
+When you type the word at Sent on Serial display, you must check whether you have seen the received word.
+. Communications Test :
+*Sent : AT
+*receive : OK
+. Change baud rate :
+*Sent : AT+BAUD1
+*receive : OK1200
+*Sent : AT+BAUD2
+*receive : OK2400
+: 1200
+: 2400
+ : 4800
+: 9600
+: 19200
+: 38400
+: 57600
+: 115200
+Baud rate setting can be save even power down.
+. Change Bluetooth device name:
+*Sent : AT+NAMEdevicename
+*receive : OKname
+(devicename is the name you want the device to be , and it will be searched with this name)
+Name setting can be save even power down.
+. Change Pincode:
+*Sent : AT+PINxxxx
+*receive : OKsetpin
+(xxxx is the pin code you set)
+Pin code can be save even power down.
+\\
+\\
+**Step 5. Bluetooth Operation**
+\\
+\\
+{{:bluetooth_operation_1_.jpg?300|}}
+\\
+Once you are done setting up through AT Commands, Connect the power to Arduino and Motors. Then, click 'Scan' on Bluetooth Controller app, find the server to connect. In my case, the name of bluetooth was 'dbkdasl'
+GOOD LUCK!
+\\
 \\
 ==== Programming ====
-A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>.
 \\
-The goal of the code is <brief explanation>.  It works in the following way
+The goal of the code is to manipulate MM-UAV with bluetooth.  It works in the following way
 \\
 ----
-<syntaxhighlight lang="cpp">
+<Code:c++ linenums:1>
 #include <SoftwareSerial.h>
 #include <Servo.h>
+int tx = 2; //input
+int rx = 4; //output
+int servopin1 = 5; //motor pin no.1
+int servopin2 = 6; //motor pin no.2
+int servopin3 = 3; //motor pin no.3
+int servopin4 = 11; //motor pin no.4
+String myString = "";
+int ini1 = 120; //motor1 starting point
+int ini2 = 45; //motor2 starting point
+int ini3 = 20; //motor3 starting point
+int ini4 = 60; //motor4 starting point
+int angle1, angle2, angle3, angle4;
+int pos1, pos2, pos3, pos4;
+int goal1, goal2, goal3, goal4;
+int dly = 120; //motor speed
+Servo servo1; //definition with header
+Servo servo2;
+Servo servo3;
+Servo servo4;
+SoftwareSerial bluetooth(tx, rx);
+void setup()
+{
+  Serial.begin(9600);
+  delay(100);
+  bluetooth.begin(9600);
+  servo1.attach(servopin1);
+  servo2.attach(servopin2);
+  servo3.attach(servopin3);
+  servo4.attach(servopin4);
+  servo1.write(ini1 - 35); // 0 deg to 90 deg on Motor 1 is 120 deg to 30 deg
+  servo2.write(ini2 + 35); // 0 deg to 90 deg on Motor 2 is 45 deg to 135 deg
+  servo3.write(ini3 + 35); // 0 deg to 90 deg on Motor 3 is 20 deg to 110 deg
+  servo4.write(ini4 + 35); // 0 deg to 90 deg on Motor 4 is 60 deg to 150 deg
+  //start degree is 35 degree
+}
+void loop() {
+  while (bluetooth.available())
+  {
+    char myChar = (char)bluetooth.read();
+    myString += myChar;
+    delay(5);
+  }
+  if (!myString.equals(""))
+  {
+    Serial.println("input value: " + myString);
+    if (myString == "down") //if you click button "down"
+    {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5; //all motor moves 5 degrees, if you make this number bigger, it moves bigger
+      delay(dly);
+      for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 - angle1);
+        servo2.write(pos2 + angle1);
+        servo3.write(pos3 + angle1);
+        servo4.write(pos4 + angle1); //all motor moves 5 degrees downward
+        delay(dly);
+      }
+    } else if (myString == "up") {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5;
+      delay(dly);
+     for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 + angle1);
+        servo2.write(pos2 - angle1);
+        servo3.write(pos3 - angle1);
+        servo4.write(pos4 - angle1); //all motor moves 5 degree upward
+        delay(dly);
+      }
+    } else if (myString == "go") {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5;
+      delay(dly);
+     for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 + angle1);
+        servo2.write(pos2 + angle1);
+        servo3.write(pos3 + angle1);
+        servo4.write(pos4 - angle1); //all motor moves 5 degree forward
+        delay(dly);
+      }
+    } else if (myString == "back") {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5;
+      delay(dly);
+     for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 - angle1);
+        servo2.write(pos2 - angle1);
+        servo3.write(pos3 - angle1);
+        servo4.write(pos4 + angle1); //all motor moves 5 degree backward
+        delay(dly);
+      }
+    } else if (myString == "left") {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5;
+      delay(dly);
+     for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 + angle1);
+        servo2.write(pos2 - angle1);
+        servo3.write(pos3 + angle1);
+        servo4.write(pos4 + angle1); //all motor moves 5 degree left
+        delay(dly);
+      }
+    } else if (myString == "right") {
+      int pos1 = servo1.read();
+      int pos2 = servo2.read();
+      int pos3 = servo3.read();
+      int pos4 = servo4.read();
+      int goal1 = 5;
+      delay(dly);
+     for (angle1 = 0; angle1 <= goal1; angle1 += 1)
+      {
+        servo1.write(pos1 - angle1);
+        servo2.write(pos2 + angle1);
+        servo3.write(pos3 - angle1);
+        servo4.write(pos4 - angle1); //all motor moves 5 degree right
+        delay(dly);
+      }
+    } else if (myString == "stop") {
+      servo1.detach();
+      servo2.detach();
+      servo3.detach();
+      servo4.detach(); //all motor stop moving
+    }
+    myString = ""; //initialize variable myString
+  }
+}
+</Code>
 ----
-\\
-The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.
-\\
-----
-<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long -->
-----
-Next, the code does <fill in the blank>.  It does this by <fill in the blank>.
-<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works -->
 //
 //
 ==== Final Words ====
-This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.
+This tutorial's objective was to manipulate MM-UAV arms wirelessly with Bluetooth. Complete sketching Arduino perfectly for active wireless operation. Once the concepts were conveyed the reader could fly drones with the arm to do missions or draw more ideas for further research.
 \\
 \\
-Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.
+Speculating future work derived from this tutorial, includes Hose-Handling, UGV Cargo carry and etc. In the big picture, the problem of obstacles during the flight or being only able to be moved in limited area can be solved with this tutorial.
 \\
 \\
-For questions, clarifications, etc, Email: <paul.oh@unlv.edu>
+For questions, clarifications, etc, Email: <akdba0207@gmail.com>