Arduino Projects

 1#include <AFMotor.h>
 2#include <SoftwareSerial.h>
 3
 4SoftwareSerial bluetoothSerial(9, 10);  // RX, TX
 5
 6AF_DCMotor motor1(1, MOTOR12_1KHZ);
 7AF_DCMotor motor2(2, MOTOR12_1KHZ);
 8AF_DCMotor motor3(3, MOTOR34_1KHZ);
 9AF_DCMotor motor4(4, MOTOR34_1KHZ);
10
11char command;
12int speed = 180;
13int speed_reducing_factor = 3;
14
15void setup() {
16  Serial.begin(9600);
17  bluetoothSerial.begin(9600);  
18
19  Serial.println("Waiting for Bluetooth data...");
20}
21
22void loop() {
23  if (bluetoothSerial.available()) {
24    command = bluetoothSerial.read();
25    Serial.print("Received: ");
26    Serial.println(command);
27
28    if (command == 'F') Forward();
29    else if (command == 'B') Backward();
30    else if (command == 'R') TurnRight();
31    else if (command == 'L') TurnLeft();
32    else if (command == 'S') Stop();
33  }
34}
35
36void Forward() {
37  motor1.setSpeed(speed);
38  motor2.setSpeed(speed);
39  motor3.setSpeed(speed);
40  motor4.setSpeed(speed);
41  motor1.run(FORWARD);
42  motor2.run(FORWARD);
43  motor3.run(FORWARD);
44  motor4.run(FORWARD);
45}
46
47void Backward() {
48  motor1.setSpeed(speed);
49  motor2.setSpeed(speed);
50  motor3.setSpeed(speed);
51  motor4.setSpeed(speed);
52  motor1.run(BACKWARD);
53  motor2.run(BACKWARD);
54  motor3.run(BACKWARD);
55  motor4.run(BACKWARD);
56}
57
58void TurnRight() {
59  motor1.setSpeed(speed);
60  motor2.setSpeed(speed);
61  motor3.setSpeed(speed);
62  motor4.setSpeed(speed);
63  motor1.run(FORWARD);
64  motor2.run(FORWARD);
65  motor3.run(BACKWARD);
66  motor4.run(BACKWARD);
67}
68
69void TurnLeft() {
70  motor1.setSpeed(speed);
71  motor2.setSpeed(speed);
72  motor3.setSpeed(speed);
73  motor4.setSpeed(speed);
74  motor1.run(BACKWARD);
75  motor2.run(BACKWARD);
76  motor3.run(FORWARD);
77  motor4.run(FORWARD);
78}
79
80void Stop() {
81  motor1.run(RELEASE);
82  motor2.run(RELEASE);
83  motor3.run(RELEASE);
84  motor4.run(RELEASE);
85}