From: Vladimir Garistov Date: Thu, 30 Nov 2023 19:36:59 +0000 (+0100) Subject: Added a joystick demonstration to the Bluetooth example X-Git-Url: https://kolegite.com/gitweb/?a=commitdiff_plain;h=9c425e1b69799669905dc836940669f363aeeaf4;p=vmks.git Added a joystick demonstration to the Bluetooth example --- diff --git a/Workshops/TUES_bluetooth_demo/TUES_bluetooth_demo.ino b/Workshops/TUES_bluetooth_demo/TUES_bluetooth_demo.ino index bb73d6a..37a73a6 100644 --- a/Workshops/TUES_bluetooth_demo/TUES_bluetooth_demo.ino +++ b/Workshops/TUES_bluetooth_demo/TUES_bluetooth_demo.ino @@ -22,22 +22,33 @@ // Dabble configuration options #define CUSTOM_SETTINGS #define INCLUDE_TERMINAL_MODULE +#define INCLUDE_GAMEPAD_MODULE #ifdef _ESP32_ // Does not compile with increased warnings in Arduino IDE because some are treated as errors. #include + #include #else #include + #include #endif #ifdef _ESP32_ #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BT_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig` to enable it. #endif - #if !defined(CONFIG_BT_SPP_ENABLED) #error Serial Port Profile for Bluetooth is not available or not enabled. #endif + + #define LED_PIN 2 + #define SERVO_PIN 22 + #define MOTOR_A_PIN 19 + #define MOTOR_B_PIN 21 #else + #define LED_PIN 13 + #define SERVO_PIN 10 + #define MOTOR_A_PIN 11 + #define MOTOR_B_PIN 12 #define RX_PIN 2 #define TX_PIN 3 #define BT_BAUDRATE 9600 @@ -47,11 +58,14 @@ #define UART_TIMEOUT 10 // ms static void serial_relay(void); +static void joystick_execute(void); #ifdef _ESP32_ static const char device_name[] = "ESP32-BT-Slave"; #endif +static Servo servo_1; + void setup() { #ifdef _ESP32_ @@ -60,6 +74,15 @@ void setup() Dabble.begin(BT_BAUDRATE, RX_PIN, TX_PIN); #endif + pinMode(LED_PIN, OUTPUT); + pinMode(MOTOR_A_PIN, OUTPUT); + pinMode(MOTOR_B_PIN, OUTPUT); + digitalWrite(LED_PIN, LOW); + digitalWrite(MOTOR_A_PIN, LOW); + digitalWrite(MOTOR_B_PIN, LOW); + + servo_1.attach(SERVO_PIN); + Serial.begin(UART_BAUDRATE); Serial.setTimeout(UART_TIMEOUT); Serial.println("Setup complete."); @@ -71,6 +94,8 @@ void loop() // Hence calling this function is mandatory in order to get data properly from your mobile. Dabble.processInput(); serial_relay(); + joystick_execute(); + delay(50); } /* @@ -109,3 +134,41 @@ static void serial_relay(void) Serial.println(); } } + +static void joystick_execute(void) +{ + static uint8_t servo_pos = 0; + static bool led_on = false; + bool motor_forward = true; + uint8_t motor_speed = 0; + float angle_y = 0.0; + + if (GamePad.isStartPressed()) + { + led_on = !led_on; + digitalWrite(LED_PIN, led_on); + } + if (GamePad.isSquarePressed() && servo_pos > 0) + { + servo_pos--; + servo_1.write(servo_pos); + } + if (GamePad.isCirclePressed() && servo_pos < 180) + { + servo_pos++; + servo_1.write(servo_pos); + } + angle_y = GamePad.getYaxisData(); + motor_forward = angle_y > 0.0 ? true : false; + motor_speed = (uint8_t) (abs(angle_y) * 36.0); + if (motor_forward) + { + digitalWrite(MOTOR_B_PIN, LOW); + analogWrite(MOTOR_A_PIN, motor_speed); + } + else + { + digitalWrite(MOTOR_A_PIN, LOW); + analogWrite(MOTOR_B_PIN, motor_speed); + } +} \ No newline at end of file