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DogushCDogushC
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Update Examples
Update Examples
1 parent ca47311 commit e96f941

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‎libraries/examples/Chariot/Chariot.ino

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/********************************************** CHARIOT ******************************************/
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/* 2xMotionBlock, 1xCubeBlock, 1xMainBlock, 1xDetectBlock, 1xLightBlock, 1xBippBlock */
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#include "SmartBlockFunctions.h"
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#include "DataTransferFunctions.h"
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unsigned char timerFlag = 0;
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extern unsigned char resolvePacketFlag;
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extern capturedPacketType capturedPacket;
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void setup()
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{
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initSmartBlocks();
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initSmartBlue();
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}
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void loop()
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{
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#if defined(CAN_RECEIVE_INTERRUPT_ENABLE)
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if(!digitalRead(CAN_INT))
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{
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}
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#endif
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if(timerFlag)
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{
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timerFlag = 0;
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}
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getSmartBlueData();
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if(resolvePacketFlag)
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{
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switch(capturedPacket.data_packet.packet_id)
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{
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case BLE_ROBOT_NAME: // gelen robot id "0x00" ve data değeri "0xFF" ise robot id'sini gönderir
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if(capturedPacket.data_packet.robot_id == 0x00 && capturedPacket.data_packet.data[0] == 0xFF)
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{
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sendChariotData(BLE_ROBOT_NAME, 0xFF);
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}
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break;
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case BLE_MOVE_FORWARD:
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setMotion(0x140, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_RIGHT:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_LEFT:
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setMotion(0x140, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE STOP:
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setMotion(0x140, motorDirectionForward, 0, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 0, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CW:
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setMotion(0x140, motorDirectionForward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CCW:
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setMotion(0x140, motorDirectionBackward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_DETECT_DATA:
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sendChariotData(BLE_DETECT_DATA, getDetect(0x020));
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break;
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case BLE_BIPP:
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setBipp(0x0E0,capturedPacket.data_packet.data[0]);
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break;
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case BLE_LIGHT:
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setLight(0x120,capturedPacket.data_packet.data[0]);
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break;
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}
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}

‎libraries/examples/Flying_Car/Flying_Car.ino

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/********************************************** FLYING_CAR ******************************************/
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/* 3xMotionBlock, 3xCubeBlock, 1xMainBlock, 1xDetectBlock, 1xLightBlock, 1xBippBlock */
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#include "SmartBlockFunctions.h"
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#include "DataTransferFunctions.h"
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unsigned char timerFlag = 0;
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extern unsigned char resolvePacketFlag;
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extern capturedPacketType capturedPacket;
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void setup()
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{
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initSmartBlocks();
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initSmartBlue();
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}
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void loop()
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{
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#if defined(CAN_RECEIVE_INTERRUPT_ENABLE)
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if(!digitalRead(CAN_INT))
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{
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}
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#endif
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if(timerFlag)
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{
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timerFlag = 0;
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}
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getSmartBlueData();
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if(resolvePacketFlag)
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{
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switch(capturedPacket.data_packet.packet_id)
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{
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case BLE_ROBOT_NAME: // gelen robot id "0x00" ve data değeri "0xFF" ise robot id'sini gönderir
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if(capturedPacket.data_packet.robot_id == 0x00 && capturedPacket.data_packet.data[0] == 0xFF)
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{
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sendFlyingCarData(BLE_ROBOT_NAME, 0xFF);
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}
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break;
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case BLE_MOVE_FORWARD:
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setMotion(0x140, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_RIGHT:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_LEFT:
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setMotion(0x140, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE STOP:
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setMotion(0x140, motorDirectionForward, 0, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 0, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CW:
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setMotion(0x140, motorDirectionForward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CCW:
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setMotion(0x140, motorDirectionBackward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_FLIP:
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setMotion(0x142, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Propeller*/
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break;
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case BLE_DETECT_DATA:
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sendFlyingCarData(BLE_DETECT_DATA, getDetect(0x020));
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break;
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case BLE_BIPP:
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setBipp(0x0E0,capturedPacket.data_packet.data[0]);
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break;
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case BLE_LIGHT:
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setLight(0x120,capturedPacket.data_packet.data[0]);
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break;
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}
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}

‎libraries/examples/Roller/Roller.ino

Lines changed: 101 additions & 0 deletions
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/********************************************** ROLLER ******************************************/
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/* 2xMotionBlock, 2xCubeBlock, 1xMainBlock */
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#include "SmartBlockFunctions.h"
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#include "DataTransferFunctions.h"
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unsigned char timerFlag = 0;
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extern unsigned char resolvePacketFlag;
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extern capturedPacketType capturedPacket;
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void setup()
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{
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initSmartBlocks();
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initSmartBlue();
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}
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void loop()
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{
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#if defined(CAN_RECEIVE_INTERRUPT_ENABLE)
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if(!digitalRead(CAN_INT))
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{
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}
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#endif
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if(timerFlag)
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{
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timerFlag = 0;
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}
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getSmartBlueData();
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if(resolvePacketFlag)
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{
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switch(capturedPacket.data_packet.packet_id)
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{
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case BLE_ROBOT_NAME: // gelen robot id "0x00" ve data değeri "0xFF" ise robot id'sini gönderir
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if(capturedPacket.data_packet.robot_id == 0x00 && capturedPacket.data_packet.data[0] == 0xFF)
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{
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sendRollerData(BLE_ROBOT_NAME, 0xFF);
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}
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break;
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case BLE_MOVE_FORWARD:
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setMotion(0x140, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])/2,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_RIGHT:
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setMotion(0x140,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_FORWARD_LEFT:
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setMotion(0x140,motorDirectionForward,(capturedPacket.data_packet.data[0])*0.75,motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141,motorDirectionForward,capturedPacket.data_packet.data[0],motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_RIGHT:
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setMotion(0x140, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_MOVE_BACKWARD_LEFT:
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setMotion(0x140, motorDirectionBackward, (capturedPacket.data_packet.data[0])*0.75, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, capturedPacket.data_packet.data[0], motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE STOP:
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setMotion(0x140, motorDirectionForward, 0, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 0, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CW:
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setMotion(0x140, motorDirectionForward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionBackward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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case BLE_TURN_360CCW:
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setMotion(0x140, motorDirectionBackward, 255, motorDriverEnable); /*Front_Left Wheel*/
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setMotion(0x141, motorDirectionForward, 255, motorDriverEnable); /*Front_Right Wheel*/
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break;
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}
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}

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