added APPs

Arduino/BTCoderacer/BTCoderacer.ino

@@ -5,6 +5,7 @@
 //and also demonstrate that SerialBT have the same functionalities of a normal Serial
 
 #include "BluetoothSerial.h"
+#include <CodeRacer.h>
 
 #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
 #error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
@@ -13,13 +14,32 @@
 BluetoothSerial SerialBT;
 bool motioncontrol = false;
 
+String recvddata = "";
+int init_azimuth = 1000;
+int azimuth = 0;
+
+int minroll = 20;
+int roll = 20;
+int maxroll = 90;
+int minpitch = 10;
+int pitch = 0;
+int maxpitch = 90;
+
+int defaultleft = 200;
+int left = 0;
+int defaultright = 200;
+int right = 0;
+
+CodeRacer coderacer;
+
 void setup() {
   Serial.begin(115200);
   SerialBT.begin("ESP32test"); //Bluetooth device name
   Serial.println("The device started, now you can pair it with bluetooth!");
+  coderacer.begin();
 }
 
-String recvddata = "";
+
 
 void loop() {
   if (Serial.available()) {
@@ -43,6 +63,7 @@ void BTcontrol()
   if(recvddata.startsWith("motion_on"))
   {
     SerialBT.print("motion_ready");
+    init_azimuth = 1000;
     motioncontrol = true;
     return;
   }
@@ -51,6 +72,7 @@ void BTcontrol()
   {
     SerialBT.print("motion_disabled");
     motioncontrol = false;
+    coderacer.stop_driving();
     return;
   }
 
@@ -71,6 +93,64 @@ void BTcontrol()
 
 String BTmotioncontrol(String recvddata)
 {
+  // split the string ...
+  String apr_substr=recvddata.substring(recvddata.indexOf("=")+1);
+  String a = apr_substr.substring(0,apr_substr.indexOf(";"));
+  String p = apr_substr.substring(apr_substr.indexOf(";")+1,apr_substr.lastIndexOf(";"));
+  String r = apr_substr.substring(apr_substr.lastIndexOf(";")+1);
+
+  azimuth = a.toInt();
+  pitch = p.toInt();
+  roll = r.toInt();
+  
+  if(init_azimuth == 1000)
+  {
+    init_azimuth = azimuth;
+  }
+
+  azimuth = azimuth - init_azimuth;
+  if(abs(pitch)<minpitch){
+    pitch = 0;
+    coderacer.stop_driving();
+  }
+  else
+  {
+    pitch = pitch;
+
+
+    if(pitch > 0)
+    {
+      left = defaultleft+pitch;
+      if(left > 256) left = 256;
+      right = defaultright+pitch;
+      if(right > 256) right = 256;
+      coderacer.drive_forward(left,right);
+    }
+    else
+    {
+      left = defaultleft-pitch;
+      if(left > 256) left = 256;
+      right = defaultright-pitch;
+      if(right > 256) right = 256;
+      coderacer.drive_backward(left,right);
+    }
+  }
+    
+  
+  if(abs(roll)<minroll){
+    roll = 0;
+  }
+  /*
+  int defaultleft = 240;
+  int left = 0;
+  int defaultright = 240;
+  int right = 0;
+  */
+
+  Serial.println(azimuth);
+  Serial.println(pitch);
+  Serial.println(roll);
+  
   return "motion_values_ok";
 }
 

Arduino/SimpleBTCoderacer/SimpleBTCoderacer.ino

@@ -0,0 +1,56 @@
+
+// Full API description of the coderacer.h can be found here: https://fenoglio.pages.itsblue.de/coderacer/
+// Repository with all needed data and users guide is here: https://git.itsblue.de/Fenoglio/coderacer/tree/master
+// An example for a application to control the coderacer via bluetooth can be found here: 
+//   - this app was developed with MIT App Inventor and can be uploaded to your account to rework it.
+
+#include <CodeRacer.h>
+
+CodeRacer coderacer;
+String recvddata = "";                                      //Variable in der der Bluetooth Befehl gespeichert wird
+
+void setup() {
+  Serial.begin(115200);
+  coderacer.begin();
+  coderacer.bt_start("CodeRacer");                          //Bluetooth für den Coderacer anschalten 
+  coderacer.bt_enable_stopOnLostConnection();               //Coderacer anhalten, wenn 1 Sekunde nichts per Bluetooth empfangen wurde
+  coderacer.bt_addStringToIgnoreList(".");                  //das "." Zeichen wird beim empfangen ignoriert
+}
+
+void loop() {
+  // Prüfen ob Bluetooth Nachrichten angekommen sind und die gleich abholen ...
+  recvddata = coderacer.bt_getString();                   //die Nachtricht merken (sie steht jetzt in recvdata und kann später benutzt werden)
+  if (recvddata != "")                                    //wenn eine Nachricht empfangen wurde, in der was drin steht ... 
+  {
+      Serial.println(recvddata);
+
+      if(recvddata == "stop")
+      {
+        coderacer.stop_driving();
+      }
+  
+      if(recvddata == "vor")
+      {
+        coderacer.drive_forward(255,255);
+      }
+
+      if(recvddata.startsWith("rueck"))
+      {
+        coderacer.drive_backward(255,255);
+      }
+
+      if(recvddata.startsWith("links"))
+      {
+        coderacer.turn_left();
+      }
+
+      if(recvddata.startsWith("rechts"))
+      {
+         coderacer.turn_right();
+      }
+  }
+  
+  delay(20);
+}
+
+