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MM-UAV Arm Bluetooth Operation
Author: <Dongbin Kim> Email: akdba0207@gmail.com
Date: Last modified on <08/01/16>
Keywords: <Arduino, Bluetooth, Serial communication, C, MM-UAV>
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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 = ""; //myString 변수값 초기화
}
}
>
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For questions, clarifications, etc, Email: paul.oh@unlv.edu