Only works with Arduino Mega

[cmonr]

My intention for this library is for it to be fast enough that the user doesn't notice that it's even there. This requires the library to use a baud rate of at least 115200.

However, many Arduino boards tie the only available UART port to the Serial debugger (which imo they should). This leaves only the SoftSerial library for use.

When I first started writing the library, I attempted using the SoftSerial library, but found it was insufficient for my needs. This has resulted in me only supporting Arduino devices with multiple HardwareSerial objects.

If desired, other Arduino devices could be supported, with the drawback that using the Serial terminal in the Arduino IDE would not work. Also reprogramming the Arduino would require the constant disconnecting and reconnecting of the TX and RX lines.

[JW97]

I'm likely wrong (haven't touched serial much) but can't you use that UART port when the board is disconnected from the debugger?

On 1 Sep 2013, at 04:12, Cruz Monrreal II notifications@github.com wrote:

My intention for this library is for it to be fast enough that the user doesn't notice that it's even there. This requires the library to use a baud rate of at least 115200.

However, many Arduino boards tie the only available UART port to the Serial debugger (which imo they should). This leaves only the SoftSerial library for use.

When I first started writing the library, I attempted using the SoftSerial library, but found it was insufficient for my needs. This has resulted in me only supporting Arduino devices with multiple HardwareSerial objects.

If desired, other Arduino devices could be supported, with the drawback that using the Serial terminal in the Arduino IDE would not work. Also reprogramming the Arduino would require the constant disconnecting and reconnecting of the TX and RX lines.

—
Reply to this email directly or view it on GitHub.

[cmonr]

Yes, but then every time you want to reprogram the Arduino, you need to disconnect the Bluetooth device, then pllug it in again, which imo is a real hassle and seems a bit silly.

The other limitation is that you can not get simple debug information from the Serial terminal.

[xan117]

Hi can you tell me some more details if I want to connect arduino nano with sphero?

[cmonr]

To connect to the Nano, you'd have to use TX0 and RX0, instead of TX1 and RX1. You'd also have to replace all instances of Serial1 to Serial, which means you'd lose debugging capability. Aside from that, the instructions in the repo should be the same.

The other issue you will come into is that since the Arduino Nano is reprogrammed via UART, in order to reprogram the Nano, you'd need to unplug the Bluetooth Adapter every time.

[xan117]

Thank you for your quick reply. But I am still facing some issues. Its not
connecting it. this is what I am uploading. Please let me know if you think
I should change Serial1 to serial for your library too.

On Mon, Apr 7, 2014 at 5:56 PM, Cruz Monrreal II
notifications@github.comwrote:

To connect to the Nano, you'd have to use TX0 and RX0, instead of TX1 and
RX1. You'd also have to replace all instances of Serial1 to Serial, which
means you'd lose debugging capability. Aside from that, the instructions in
the repo should be the same.

The other issue you will come into is that since the Arduino Nano is
reprogrammed via UART, in order to reprogram the Nano, you'd need to unplug
the Bluetooth Adapter every time.

Reply to this email directly or view it on GitHubhttps://github.com//issues/1#issuecomment-39782511
.

[xan117]

/************************************************
Written by Cruz Monrreal II
Created on 06-26-2012
MOdified on 10-20-2012

Updates can be found here:
https://github.com/cmonr/Arduino-Sphero-Library
************************************************/

void setup(){
// Give user a chance to power cycle Bluetooth Module
delay(5000);

// Init USB Serial
//Serial.begin(115200);   // Default Baud Rate
Serial.println("Initializing Bluetooth");

// Init Blutooth Serial
// Uncomment to change baud rate
/*Serial1.begin(115200);
sendCmd("$$$");
sendCmd("U,115200,N");  // *** Replace this with desired Baud Rate ***
sendCmd("---");
*/

// Reconnect to Bluetooth and configure to master
Serial.begin(115200);  // *** This too ***
sendCmd("$$$");
sendCmd("SM,1");
sendCmd("---");

Serial.println("\nEntering Command Mode");
sendCmd("$$$");

Serial.println("\nScanning for Spheros...");
sendCmd("I,10");

}

void loop(){
long start;
String line;
String sphero_id="";
boolean commandComplete;

line = "";
commandComplete = false;
while(!commandComplete){
while(Serial.available()){
unsigned char tmp = Serial.read();
if (tmp == '\n'){ // End of Line
if (line.indexOf("Sphero") != -1){
//Save result
//We can't exit because we need to wait for the command to finish
if (sphero_id == ""){
sphero_id = line;
Serial.println(line);
}
}

    if (line.indexOf("Done") != -1)
      // We can leave now...
      commandComplete = true;

    line = "";
  }else
    line.concat(char(tmp));
}

}

if (sphero_id != ""){
Serial.print("Connecting to ");
Serial.println(sphero_id.substring(13, sphero_id.indexOf(',', 13)));

// Connect to Sphero Address
sendCmd("C," + sphero_id.substring(0, 12));
Serial.println("Connected.");

// Save address
sendCmd("SR," + sphero_id.substring(0, 12));

// We're done here!
sendCmd("---");
Serial.println("\nConfiguration complete!\nYou're Sphero's address has

been saved in the Bluetooth Module\n\nHave fun ^^;");

// Idle...
while(true);

}
}

void sendCmd(String cmd){
String line = "";

// Send command
if (cmd == "$$$")
Serial.print(cmd);
else
Serial.println(cmd);

// Short delay...
delay(100);

// Show which cmd is being sent
Serial.println("> " + cmd);

while(1){
if (Serial.available()){
unsigned char tmp = Serial.read();
if (tmp == '\n')
break;
else
line.concat(char(tmp));
}
}

// Show Response
Serial.println(line);
}

On Mon, Apr 7, 2014 at 6:05 PM, Asif Hasan asif.lfn@gmail.com wrote:

Thank you for your quick reply. But I am still facing some issues. Its not
connecting it. this is what I am uploading. Please let me know if you think
I should change Serial1 to serial for your library too.

On Mon, Apr 7, 2014 at 5:56 PM, Cruz Monrreal II <notifications@github.com

wrote:

To connect to the Nano, you'd have to use TX0 and RX0, instead of TX1 and
RX1. You'd also have to replace all instances of Serial1 to Serial, which
means you'd lose debugging capability. Aside from that, the instructions in
the repo should be the same.

The other issue you will come into is that since the Arduino Nano is
reprogrammed via UART, in order to reprogram the Nano, you'd need to unplug
the Bluetooth Adapter every time.

Reply to this email directly or view it on GitHubhttps://github.com//issues/1#issuecomment-39782511
.

[cmonr]

What Bluetooth breakout board are you using? Do you know that the RN-41 is entering command mode?

Unfortunately, like I mentioned, one of the drawbacks to using Serial is that you cannot get any debug messages. The next thing you need to do is comment any Serial.print statements that were only being used as debug statements. Things like "Serial.print("Connecting to");". Any print statement that was using Serial before needs to be disabled, otherwise that data will be sent to the Bluetooth module and confuse it.