Arduino Template Sketch

[Dave Smart]

Hi Guys,

Here is an Arduino sketch that we used for our Instructables Robot Rover:- http://www.instructables.com/id/Smart-Robot-with-Vision-and-Voice-control

This sketch may be useful as a template for creating other Arduino programs which need communicate with DroidScript via USB or Bluetooth serial. It allows receiving of 3 letter commands with optional extra parameters.  You can easily test it from the Arduino serial console too :)

//-------------------------------------------------------

// Smart Rover - Arduino Sketch for controlling a 

// Makeblock robots from DroidScript via OTG cable.

//

// This program can be tested using the Aurduino serial

// monitor.  

//

// Examples: 

//   type 'lft100x' to turn left at speed 100.

//   type 'buzy' to turn buzzer on, 'buzn' to turn it off.

//

// Copyright: droidscript.org

// License: Creative Commons Attribution ShareAlike 3.0

//--------------------------------------------------------

 

#include <Makeblock.h>

#include <Arduino.h>

#include <SoftwareSerial.h>

#include <Wire.h>

//Global variables.

char g_version[] = "0.10\n";

MeDCMotor g_motorL( M1 );  

MeDCMotor g_motorR( M2 );

MeUltrasonicSensor ultraSensor( PORT_4 ); 

unsigned long timer = 0; 

//Setup the hardware.

void setup() 

{

  //Setup USB serial comms.

  Serial.begin( 115200 );

  Serial.setTimeout( 100 );

}

//This function is called forever.

void loop() 

{

  //Read serial commands.

  while( Serial.peek() != -1 )

  {

    //Read 3 character command.

    char cmd[4] = "---";

    Serial.readBytes( cmd, 3 );

    

    //Execute command.

    if( strcmp( cmd, "buz" )==0 ) Buzzer();

    else if( strcmp( cmd, "stp" )==0 ) Stop(); 

    else if( strcmp( cmd, "fwd" )==0 ) Forward();

    else if( strcmp( cmd, "rev" )==0 ) Reverse();

    else if( strcmp( cmd, "lft" )==0 ) Left();

    else if( strcmp( cmd, "rgt" )==0 ) Right();

    else if( strcmp( cmd, "ver" )==0 ) GetVersion();

  } 

  

  //Report status every second.

  if( (millis()-timer) > 1000 ) 

  {

     timer += 1000;

     Report();

  }

}

//Get software version.

void GetVersion()

{

  Serial.print( g_version );

}

//Send status back to DroidScript App.

void Report()

{

  int dist = ultraSensor.distanceCm();

  Serial.println( String("dist:") + dist + String(";") );

}

//Control buzzer.

void Buzzer()

{

  //Read on/off parameter.

  char onOff;

  Serial.readBytes( &onOff, 1 );

  

  //Start of stop buzzer.

  if( onOff=='y' ) buzzerOn();

  else buzzerOff();

}

//Turn vehicle left.

void Left()

{

  //Read speed parameter.

  int speed = Serial.parseInt();

  

  //Turn on motors.

  g_motorL.run( -speed );

  g_motorR.run( speed );

}

//Turn vehicle right.

void Right()

{

  //Read speed parameter.

  int speed = Serial.parseInt();

  

  //Turn on motors.

  g_motorL.run( speed );

  g_motorR.run( -speed );

}

//Drive vehicle forward.

void Forward()

{

  //Read speed parameter.

  int speed = Serial.parseInt();

  

  //Turn on motors.

  g_motorL.run( speed );

  g_motorR.run( speed );

}

//Reverse vehicle.

void Reverse()

{

  //Read speed parameter.

  int speed = Serial.parseInt();

  

  //Turn on motors.

  g_motorL.run( -speed );

  g_motorR.run( -speed );

}

//Stop vehicle.

void Stop()

{

  //Turn off motors.

  g_motorL.run( 0 );

  g_motorR.run( 0 );

}

[Dave Smart]

Here are some snippets of code for the DroidScript end when using USB (via OTG cable):-

//Called when application is started.

function OnStart()

{

    :

    :

    //Create USB serial object.

    usb = app.CreateUSBSerial( 115200,8,1,0 ); 

    if( !usb ) 

    {

        app.ShowPopup( "Please connect your Arduino and restart" );

        return;

    }

    usb.SetOnReceive( usb_OnReceive );

    app.ShowPopup( "Connected" );

}

//Called when we get data from Arduino.

function usb_OnReceive( data )

{

   console.log( data );

}

//Send a text command to Arduino.

function Send( cmd )

{

    console.log( cmd );

    if( !usb ) return;

    usb.Write( cmd );

}