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‎Crickits/Crickit_FlippyBot/BluefruitConfig.h‎

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// SPDX-FileCopyrightText: 2018 Limor Fried for Adafruit Industries
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//
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// SPDX-License-Identifier: MIT
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// COMMON SETTINGS
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// ----------------------------------------------------------------------------------------------
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// These settings are used in both SW UART, HW UART and SPI mode
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// ----------------------------------------------------------------------------------------------
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#define BUFSIZE 128 // Size of the read buffer for incoming data
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#define VERBOSE_MODE true // If set to 'true' enables debug output
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#define BLE_READPACKET_TIMEOUT 500 // Timeout in ms waiting to read a response
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// SOFTWARE UART SETTINGS
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// ----------------------------------------------------------------------------------------------
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// The following macros declare the pins that will be used for 'SW' serial.
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// You should use this option if you are connecting the UART Friend to an UNO
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// ----------------------------------------------------------------------------------------------
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#define BLUEFRUIT_SWUART_RXD_PIN 9 // Required for software serial!
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#define BLUEFRUIT_SWUART_TXD_PIN 10 // Required for software serial!
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#define BLUEFRUIT_UART_CTS_PIN 11 // Required for software serial!
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#define BLUEFRUIT_UART_RTS_PIN -1 // Optional, set to -1 if unused
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// HARDWARE UART SETTINGS
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// ----------------------------------------------------------------------------------------------
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// The following macros declare the HW serial port you are using. Uncomment
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// this line if you are connecting the BLE to Leonardo/Micro or Flora
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// ----------------------------------------------------------------------------------------------
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#ifdef Serial1 // this makes it not complain on compilation if there's no Serial1
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#define BLUEFRUIT_HWSERIAL_NAME Serial1
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#endif
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// SHARED UART SETTINGS
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// ----------------------------------------------------------------------------------------------
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// The following sets the optional Mode pin, its recommended but not required
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// ----------------------------------------------------------------------------------------------
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#define BLUEFRUIT_UART_MODE_PIN 12 // Set to -1 if unused
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// SHARED SPI SETTINGS
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// ----------------------------------------------------------------------------------------------
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// The following macros declare the pins to use for HW and SW SPI communication.
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// SCK, MISO and MOSI should be connected to the HW SPI pins on the Uno when
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// using HW SPI. This should be used with nRF51822 based Bluefruit LE modules
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// that use SPI (Bluefruit LE SPI Friend).
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// ----------------------------------------------------------------------------------------------
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#define BLUEFRUIT_SPI_CS 8
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#define BLUEFRUIT_SPI_IRQ 7
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#define BLUEFRUIT_SPI_RST 4 // Optional but recommended, set to -1 if unused
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// SOFTWARE SPI SETTINGS
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// ----------------------------------------------------------------------------------------------
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// The following macros declare the pins to use for SW SPI communication.
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// This should be used with nRF51822 based Bluefruit LE modules that use SPI
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// (Bluefruit LE SPI Friend).
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// ----------------------------------------------------------------------------------------------
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#define BLUEFRUIT_SPI_SCK 13
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#define BLUEFRUIT_SPI_MISO 12
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#define BLUEFRUIT_SPI_MOSI 11

‎Crickits/Crickit_FlippyBot/Crickit_FlippyBot.ino‎

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// SPDX-FileCopyrightText: 2018 Dave Astels for Adafruit Industries
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//
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// SPDX-License-Identifier: MIT
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// Triangular leg robot.
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// Bluetooth code is from Feather M0 Bluefruit controller example.
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// Explainatory comments kept intact.
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// Adafruit invests time and resources providing this open source code.
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// Please support Adafruit and open source hardware by purchasing
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// products from Adafruit!
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// Written by Dave Astels for Adafruit Industries
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// Copyright (c) 2018 Adafruit Industries
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// Licensed under the MIT license.
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// All text above must be included in any redistribution.
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#include <stdarg.h>
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#include <string.h>
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#include <Arduino.h>
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#include <SPI.h>
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#include "Adafruit_BLE.h"
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#include "Adafruit_BluefruitLE_SPI.h"
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#include "Adafruit_BluefruitLE_UART.h"
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#include "BluefruitConfig.h"
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#include "Adafruit_Crickit.h"
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#include "seesaw_motor.h"
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#define FACTORYRESET_ENABLE 1
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#define MINIMUM_FIRMWARE_VERSION "0.6.6"
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#define MODE_LED_BEHAVIOUR "MODE"
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// function prototypes over in packetparser.cpp
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uint8_t readPacket(Adafruit_BLE *ble, uint16_t timeout);
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float parsefloat(uint8_t *buffer);
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void printHex(const uint8_t * data, const uint32_t numBytes);
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// the packet buffer
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extern uint8_t packetbuffer[];
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//#define DEBUG 1
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Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
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//------------------------------------------------------------------------------
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// setup crickit & motors
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Adafruit_Crickit crickit;
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seesaw_Motor right_leg(&crickit);
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seesaw_Motor left_leg(&crickit);
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seesaw_Motor *legs[2] = {&right_leg, &left_leg};
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const __FlashStringHelper *leg_names[] = {F("right"), F("left")};
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const int RIGHT = 0;
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const int LEFT = 1;
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//------------------------------------------------------------------------------
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// conditional output routines
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void error(const __FlashStringHelper *err)
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{
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digitalWrite(13, HIGH);
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#ifdef DEBUG
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Serial.println(err);
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#endif
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while (1);
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}
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void log(const __FlashStringHelper *msg)
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{
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#ifdef DEBUG
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Serial.println(msg);
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#endif
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}
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void set_leg(int leg, float velocity)
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{
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if (leg != RIGHT && leg != LEFT) {
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error(F("Bad leg specifier"));
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}
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if (velocity < -1.0 || velocity > 1.0) {
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error(F("Velocity out of -1.0//1.0 range"));
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}
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#ifdef DEBUG
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Serial.print(F("Setting "));
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Serial.print(leg_names[leg]);
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Serial.print(F(" to "));
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Serial.println(velocity);
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#endif
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legs[leg]->throttle(velocity);
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}
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void stop()
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{
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set_leg(RIGHT, 0.0);
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set_leg(LEFT, 0.0);
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}
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void forward(float speed)
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{
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set_leg(RIGHT, speed);
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set_leg(LEFT, speed);
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}
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void reverse(float speed)
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{
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set_leg(RIGHT, speed * -1);
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set_leg(LEFT, speed * -1);
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}
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void rotate_clockwise(float speed)
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{
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set_leg(RIGHT, speed * -1);
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set_leg(LEFT, speed);
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}
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void rotate_counterclockwise(float speed)
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{
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set_leg(RIGHT, speed);
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set_leg(LEFT, speed * -1);
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}
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void initialize()
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{
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stop();
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}
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//------------------------------------------------------------------------------
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// Start things up
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void setup()
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{
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pinMode(13, OUTPUT);
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digitalWrite(13, LOW);
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#ifdef DEBUG
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while (!Serial); // required for Flora & Micro
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delay(500);
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Serial.begin(115200);
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#endif
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log(F("FlippyBot"));
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log(F("-----------------------------------------"));
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// Initialise the module
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log(F("Initialising the Bluefruit LE module: "));
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if ( !ble.begin(VERBOSE_MODE) )
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{
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error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
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}
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log( F("OK!") );
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if ( FACTORYRESET_ENABLE )
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{
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// Perform a factory reset to make sure everything is in a known state
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log(F("Performing a factory reset: "));
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if ( ! ble.factoryReset() ){
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error(F("Couldn't factory reset"));
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}
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}
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// Disable command echo from Bluefruit
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ble.echo(false);
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log(F("Requesting Bluefruit info:"));
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// Print Bluefruit information
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ble.info();
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log(F("Please use Adafruit Bluefruit LE app to connect in Controller mode"));
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log(F("Then activate/use the sensors, color picker, game controller, etc!\n"));
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ble.verbose(false); // debug info is a little annoying after this point!
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// Wait for connection
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while (! ble.isConnected()) {
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delay(500);
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}
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log(F("******************************"));
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// LED Activity command is only supported from 0.6.6
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if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
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{
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// Change Mode LED Activity
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log(F("Change LED activity to " MODE_LED_BEHAVIOUR));
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ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
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}
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// Set Bluefruit to DATA mode
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log( F("Switching to DATA mode!") );
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ble.setMode(BLUEFRUIT_MODE_DATA);
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log(F("******************************"));
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if (!crickit.begin()) {
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error(F("Error initializing CRICKIT!"));
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}
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log(F("Crickit started"));
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right_leg.attach(CRICKIT_MOTOR_A1, CRICKIT_MOTOR_A2);
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left_leg.attach(CRICKIT_MOTOR_B1, CRICKIT_MOTOR_B2);
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}
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// Fill these functions in with the movement scripts you want attached to
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// the controller's 1-4 buttons
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void demo1()
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{
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forward(1.0);
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delay(5000);
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rotate_clockwise(1.0);
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delay(2000);
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forward(0.75);
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delay(4000);
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rotate_counterclockwise(1.0);
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delay(3000);
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stop();
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}
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void demo2()
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{
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}
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void demo3()
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{
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}
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void demo4()
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{
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}
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//------------------------------------------------------------------------------
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// Main loop
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void loop()
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{
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// Wait for new data to arrive
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uint8_t len = readPacket(&ble, BLE_READPACKET_TIMEOUT);
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if (len == 0) return;
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// Got a packet!
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// printHex(packetbuffer, len);
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// Buttons
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if (packetbuffer[1] == 'B') {
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uint8_t buttnum = packetbuffer[2] - '0';
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boolean pressed = packetbuffer[3] - '0';
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#ifdef DEBUG
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Serial.print ("Button "); Serial.print(buttnum);
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if (pressed) {
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Serial.println(" pressed");
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} else {
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Serial.println(" released");
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}
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#endif
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switch(buttnum) {
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case 1:
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if (pressed) {
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demo1();
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}
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break;
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case 2:
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if (pressed) {
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demo2();
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}
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break;
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case 3:
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if (pressed) {
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demo3();
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}
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break;
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case 4:
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if (pressed) {
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demo4();
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}
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break;
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case 5:
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if (pressed) {
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forward(1.0);
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} else {
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stop();
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}
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break;
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case 6:
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if (pressed) {
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reverse(1.0);
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} else {
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stop();
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}
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break;
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case 7:
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if (pressed) {
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rotate_counterclockwise(1.0);
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} else {
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stop();
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}
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break;
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case 8:
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if (pressed) {
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rotate_clockwise(1.0);
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} else {
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stop();
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}
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break;
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}
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}
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}

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