BLE added

BLE_uart_coderacer/BLE_uart_coderacer.ino

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+#include <CodeRacer.h>
+
+/*
+    Video: https://www.youtube.com/watch?v=oCMOYS71NIU
+    Based on Neil Kolban example for IDF: https://github.com/nkolban/esp32-snippets/blob/master/cpp_utils/tests/BLE%20Tests/SampleNotify.cpp
+    Ported to Arduino ESP32 by Evandro Copercini
+
+   Create a BLE server that, once we receive a connection, will send periodic notifications.
+   The service advertises itself as: 6E400001-B5A3-F393-E0A9-E50E24DCCA9E
+   Has a characteristic of: 6E400002-B5A3-F393-E0A9-E50E24DCCA9E - used for receiving data with "WRITE" 
+   Has a characteristic of: 6E400003-B5A3-F393-E0A9-E50E24DCCA9E - used to send data with  "NOTIFY"
+
+   The design of creating the BLE server is:
+   1. Create a BLE Server
+   2. Create a BLE Service
+   3. Create a BLE Characteristic on the Service
+   4. Create a BLE Descriptor on the characteristic
+   5. Start the service.
+   6. Start advertising.
+
+   In this example rxValue is the data received (only accessible inside that function).
+   And txValue is the data to be sent, in this example just a byte incremented every second. 
+*/
+#include <BLEDevice.h>
+#include <BLEServer.h>
+#include <BLEUtils.h>
+#include <BLE2902.h>
+
+
+#define LED_VORWAERTS 26          // Pin an dem die VORWÄRTS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
+#define LED_STOP 25               // Pin an dem die STOP LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
+#define LED_LINKS 27              // Pin an dem die LINKS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
+#define LED_RECHTS 33
+
+BLECharacteristic *pCharacteristic;
+bool deviceConnected = false;
+uint8_t txValue = 0;
+char CRstatus = 0;
+
+// See the following for generating UUIDs:
+// https://www.uuidgenerator.net/
+
+#define SERVICE_UUID           "6E400001-B5A3-F393-E0A9-E50E24DCCA9E" // UART service UUID
+#define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
+#define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
+
+
+class MyServerCallbacks: public BLEServerCallbacks {
+    void onConnect(BLEServer* pServer) {
+      deviceConnected = true;
+    };
+
+    void onDisconnect(BLEServer* pServer) {
+      deviceConnected = false;
+    }
+};
+
+class MyCallbacks: public BLECharacteristicCallbacks {
+    void onWrite(BLECharacteristic *pCharacteristic) {
+      std::string rxValue = pCharacteristic->getValue();
+
+      if (rxValue.length() > 0) {
+        Serial.println("*********");
+        Serial.print("Received Value: ");
+        for (int i = 0; i < rxValue.length(); i++)
+          {
+            
+            CRstatus = rxValue[i];
+            Serial.print(CRstatus);
+            
+          };
+
+        Serial.println();
+        Serial.println("*********");
+      }
+    }
+};
+
+CodeRacer coderacer;
+
+void setup() {
+  Serial.begin(115200);
+  /*
+  pinMode(LED_VORWAERTS, OUTPUT);     // LED Vorwärts ist ein Ausgang
+  pinMode(LED_STOP, OUTPUT);          // LED Stop ist ein Ausgang
+  pinMode(LED_LINKS, OUTPUT);         // LED Links ist ein Ausgang
+  pinMode(LED_RECHTS, OUTPUT);        // LED Rechts ist ein Ausgang
+                                        // alle LEDS aus
+  digitalWrite(LED_VORWAERTS, LOW);
+  digitalWrite(LED_STOP, LOW);
+  digitalWrite(LED_LINKS, LOW);
+  digitalWrite(LED_RECHTS, LOW);
+  */
+   // CodeRacer initialisieren
+   coderacer.begin();
+   coderacer.servo_mitte(); 
+   coderacer.motor_einstellungen(255,255,200,200);
+  
+  // Create the BLE Device
+  BLEDevice::init("UART Service");
+
+  // Create the BLE Server
+  BLEServer *pServer = BLEDevice::createServer();
+  pServer->setCallbacks(new MyServerCallbacks());
+
+  // Create the BLE Service
+  BLEService *pService = pServer->createService(SERVICE_UUID);
+
+  // Create a BLE Characteristic
+  pCharacteristic = pService->createCharacteristic(
+                      CHARACTERISTIC_UUID_TX,
+                      BLECharacteristic::PROPERTY_NOTIFY
+                    );
+                      
+  pCharacteristic->addDescriptor(new BLE2902());
+
+  BLECharacteristic *pCharacteristic = pService->createCharacteristic(
+                                         CHARACTERISTIC_UUID_RX,
+                                         BLECharacteristic::PROPERTY_WRITE
+                                       );
+
+  pCharacteristic->setCallbacks(new MyCallbacks());
+
+  // Start the service
+  pService->start();
+
+  // Start advertising
+  pServer->getAdvertising()->start();
+  Serial.println("Waiting a client connection to notify...");
+}
+
+void loop() {
+
+
+  switch (CRstatus) {
+    case '0':    // 
+      Serial.println("STOP");
+      //digitalWrite(LED_STOP, HIGH);
+      coderacer.anhalten();
+      break;
+    case '1':    
+      Serial.println("VOR");
+      //digitalWrite(LED_VORWAERTS, HIGH);
+      coderacer.vorwaerts();
+      break;
+    case '2':    
+      Serial.println("LINKS");
+      //digitalWrite(LED_LINKS, HIGH);
+      coderacer.links_dreh();
+      break;
+    case '3':    
+      Serial.println("RECHTS");
+      //digitalWrite(LED_RECHTS, HIGH);
+      coderacer.rechts_dreh();
+      break;
+    case '4':    
+      Serial.println("ZURUECK");  // hier gibt es keine LED
+      coderacer.rueckwaerts();
+      break;
+    //default:
+      //Serial.println("Kommando unbekannt");
+      
+  }
+
+
+
+  //if (deviceConnected) {
+  //  Serial.printf("*** Sent Value: %d ***\n", txValue);
+  //  pCharacteristic->setValue(&txValue, 1);
+  //  pCharacteristic->notify();
+  //  txValue++;
+  //}
+  delay(100);
+
+  /*
+  digitalWrite(LED_VORWAERTS, LOW);
+  digitalWrite(LED_STOP, LOW);
+  digitalWrite(LED_LINKS, LOW);
+  digitalWrite(LED_RECHTS, LOW);
+  */
+}