Updated coderacer lib - supports now Bluetooth
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310da9bee6
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5 changed files with 244 additions and 19 deletions
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@ -1,6 +1,8 @@
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// the compiler switch for an ESP8266 is looking like this: #elif defined(ARDUINO_ARCH_ESP8266)
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#include "CodeRacer.h"
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using namespace std;
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/** @brief CodeRace constructor without pins. All pins settings taken from the coderacer header file
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* @return nothing
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*/
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@ -68,6 +70,11 @@ CodeRacer::CodeRacer(uint8_t button_pin , uint8_t servo_pin,
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void CodeRacer::begin() {
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// init of variables and objects
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_bluetoothcreated = false;
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_bt_stopOnLostConnection_timeout_ms = 0;
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_bt_lastmessagereceived = millis();
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_bt_ignoremsgs.clear();
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_bt_onlymsgs.clear();
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_servo_dummy = new Servo(); // the dummy is needed so far to avoid conflicts with analog write
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_servo = new Servo();
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@ -490,6 +497,142 @@ void CodeRacer::kitt()
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/** @} */ // end of group lowerlevelfun
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//**************************************
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//*** Bluetooth ***
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//**************************************
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/** @defgroup lowerlevelbluetooth Lower level bluetooth methods
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* @{
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*/
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/** @brief starting the bluetooth service for the coderacer if not already started
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* @param name the device will be listed by that name in your bluetooth device lists
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* @return nothing
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*/
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void CodeRacer::bt_start(String name)
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{
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if (false == _bluetoothcreated) {
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_BTSerial = new BluetoothSerial();
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_BTSerial->begin(name);
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_bluetoothcreated = true;
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}
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}
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/** @brief enables the code to stop if there was no incoming message for the specified time. This will be checked everytime bt_getXXX or bt_msgavailable is called.
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* @param timeout after that duration of milliseconds without an incoming bluetooth message the coderacer will be stopped. 0 means this stoppinf is disabled.
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* @return nothing
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*/
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void CodeRacer::bt_enable_stopOnLostConnection(unsigned long timeout)
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{
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_bt_stopOnLostConnection_timeout_ms = timeout;
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}
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/** @brief enables the code to stop if there was no incoming message for 1 second. This will be checked everytime bt_getXXX or bt_msgavailable is called.
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* @return nothing
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*/
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void CodeRacer::bt_enable_stopOnLostConnection()
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{
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_bt_stopOnLostConnection_timeout_ms = 1000;
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}
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/** @brief Disables the code to stop if there was no incoming message for a certain duration of time.
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* @return nothing
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*/
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void CodeRacer::bt_disable_stopOnLostConnection()
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{
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_bt_stopOnLostConnection_timeout_ms = 0;
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}
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/** @brief gets the bluetooth message string until a delimiter of 0
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* @return will return the string. If nothing is availbale or the service is not started it will return an empty string.
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*/
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String CodeRacer::bt_getString()
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{
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return bt_getString(0);
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}
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/** @brief gets the bluetooth message string until a specified delimiter
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* @return will return the string. If nothing is availbale or the service is not started it will return an empty string.
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*/
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String CodeRacer::bt_getString(uint8_t delimiterbyte)
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{
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String readstring = "";
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if (bt_msgavailable())
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{
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readstring = _BTSerial->readStringUntil(delimiterbyte);
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if (find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end(), readstring) != _bt_ignoremsgs.end())
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{
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readstring = "";
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}
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}
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return(readstring);
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}
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/** @brief add a String to a list of Strings that will be ignored if this is received via blue tooth. Ignores means - it will be read from the pipe but not returned to user code. But it will reset the message timeout counter.
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* @param stringtoignore the String that has to be ignored. Will be added to the internal list if not already there.
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*/
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void CodeRacer::bt_addStringToIgnoreList(String stringtoignore)
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{
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std::vector<String>::iterator it;
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if (stringtoignore.length() > 0)
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{
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it = find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end() ,stringtoignore);
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if (it == _bt_ignoremsgs.end())
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{
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_bt_ignoremsgs.push_back(stringtoignore);
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}
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}
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}
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/** @brief removes a String from the list of Strings that will be ignored if this is received via blue tooth. Ignores means - it will be read from the pipe but not returned to user code. But it will reset the message timeout counter.
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* @param stringtoignore the String that has to be removed from the ignore list.
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*/
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void CodeRacer::bt_removeStringFromIgnoreList(String stringtoignore)
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{
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std::vector<String>::iterator it;
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if (stringtoignore.length() > 0)
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{
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it = find(_bt_ignoremsgs.begin(), _bt_ignoremsgs.end(), stringtoignore);
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if (it != _bt_ignoremsgs.end())
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{
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_bt_ignoremsgs.erase(it);
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}
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}
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}
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/** @brief Clears the list of Strings that will be ignored if this is received via blue tooth. All elements of the list will be deleted from the list.
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*/
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void CodeRacer::bt_clearIgnoreList()
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{
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_bt_ignoremsgs.clear();
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}
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/** @brief checks if a bluetooth is available. Will also stop the coderacer if there was nor message received for a certain time - and if stopping was enabled .
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* @return true if a message is available , false if not message is available or the service was not started
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*/
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bool CodeRacer::bt_msgavailable()
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{
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bool rc = false;
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if (true == _bluetoothcreated) {
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if(_BTSerial->available())
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{
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rc = true;
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_bt_lastmessagereceived = millis();
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}
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if (_bt_stopOnLostConnection_timeout_ms > 0)
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{
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if ((millis() - _bt_lastmessagereceived) > _bt_stopOnLostConnection_timeout_ms)
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{
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stop_driving();
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}
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}
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}
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return rc;
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}
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/** @} */ // end of group lowerlevelbluetooth
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//**************************************
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//*** Servo drive lower level control ***
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//**************************************
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@ -2,6 +2,13 @@
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#include <algorithm> // std::swap
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#include <ESP32Servo.h> // Servo drive support for ESP32
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#include "esp32-hal-ledc.h" // Part of ESP32 board files - Analog output
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#include "BluetoothSerial.h" // Bluetooth enablement - part of ESP or standart Arduino lib
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#include <vector> // support for vectors
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#include <string>
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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#endif
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#ifndef __CodeRacer_H__
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#define __CodeRacer_H__
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@ -56,6 +63,9 @@
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#define H_LED_LEFT_PIN 33
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#define H_LED_RIGHT_PIN 27
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using namespace std;
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static volatile bool coderracer_activ = false;;
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static volatile unsigned long button_last_pressed_at_ms = millis();
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@ -75,6 +85,14 @@ class CodeRacer {
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private:
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//bluetooth
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std::vector<String> _bt_ignoremsgs;
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std::vector<String> _bt_onlymsgs;
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bool _bluetoothcreated;
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unsigned long _bt_stopOnLostConnection_timeout_ms;
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unsigned long _bt_lastmessagereceived;
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BluetoothSerial* _BTSerial;
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//pins
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uint8_t _button_pin;
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uint8_t _servo_pin;
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@ -131,7 +149,7 @@ class CodeRacer {
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static void _set_button_state();
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void _analog_write(uint8_t pin, uint8_t speed);
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unsigned long _servo_set_position(uint8_t position);
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public:
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//properties
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bool coderacer_fun_enabled;
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@ -187,6 +205,17 @@ class CodeRacer {
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void start_stop_at_min_distance(unsigned long min_distance_cm);
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void stop_stop_at_min_distance();
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// Bluetooth
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void bt_enable_stopOnLostConnection();
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void bt_enable_stopOnLostConnection(unsigned long timeout);
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void bt_disable_stopOnLostConnection();
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void bt_start(String name);
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String bt_getString();
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String bt_getString(uint8_t delimiterbyte);
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bool bt_msgavailable();
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void bt_addStringToIgnoreList(String stringtoignore);
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void bt_clearIgnoreList();
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void bt_removeStringFromIgnoreList(String stringtoignore);
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// LEDs
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void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled);
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@ -0,0 +1,56 @@
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// Full API description of the coderacer.h can be found here: https://fenoglio.pages.itsblue.de/coderacer/
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// Repository with all needed data and users guide is here: https://git.itsblue.de/Fenoglio/coderacer/tree/master
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// An example for a application to control the coderacer via bluetooth can be found here:
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// - this app was developed with MIT App Inventor and can be uploaded to your account to rework it.
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#include <CodeRacer.h>
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CodeRacer coderacer;
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String recvddata = ""; //Variable in der der Bluetooth Befehl gespeichert wird
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void setup() {
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Serial.begin(115200);
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coderacer.begin();
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coderacer.bt_start("CodeRacer"); //Bluetooth für den Coderacer anschalten
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coderacer.bt_enable_stopOnLostConnection(); //Coderacer anhalten, wenn 1 Sekunde nichts per Bluetooth empfangen wurde
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coderacer.bt_addStringToIgnoreList("."); //das "." Zeichen wird beim empfangen ignoriert
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}
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void loop() {
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// Prüfen ob Bluetooth Nachrichten angekommen sind und die gleich abholen ...
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recvddata = coderacer.bt_getString(); //die Nachtricht merken (sie steht jetzt in recvdata und kann später benutzt werden)
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if (recvddata != "") //wenn eine Nachricht empfangen wurde, in der was drin steht ...
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{
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Serial.println(recvddata);
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if(recvddata == "stop")
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{
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coderacer.stop_driving();
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}
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if(recvddata == "vor")
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{
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coderacer.drive_forward(255,255);
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}
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if(recvddata.startsWith("rueck"))
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{
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coderacer.drive_backward(255,255);
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}
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if(recvddata.startsWith("links"))
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{
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coderacer.turn_left();
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}
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if(recvddata.startsWith("rechts"))
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{
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coderacer.turn_right();
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}
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}
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delay(20);
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}
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@ -3,24 +3,6 @@
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//----- settings for the ultrasonic sensor -----
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#define US_STOP_ABSTAND_CM 20 // if distance goes below that - stop the racer
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//----- {CODES}RACER API -> online: https://doc.itsblue.de/Fenoglio/coderacer/Doku/Doxygen/html/
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//-- Some main higher level methods listed below
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// void CodeRacer::stop_driving () Stops the racer and sets status LEDs
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// void CodeRacer::drive_forward () Sets the speed and the directions of both drives so that it will move forward.
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// void CodeRacer::drive_backward () Sets the speed and the directions of both drives so that it will move backward.
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// void CodeRacer::turn_left () Will turn the racer to the left for the internally stored time in ms and with the internally stored speed.
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// void CodeRacer::turn_right () Will turn the racer to the right for the internally stored time in ms and with the internally stored speed.
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// void CodeRacer::start_stop_at_min_distance () Enables to stopp the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance.
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// void CodeRacer::stop_stop_at_min_distance () Disables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance.
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// bool CodeRacer::start_stop () This will return if the codracer is in active mode or not.
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// void CodeRacer::servo_set_to_right () Drives the servo to the postion that is defined by #servo_right_pos.
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// void CodeRacer::servo_set_to_left () Drives the servo to the postion that is defined by #servo_left_pos.
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// void CodeRacer::servo_set_to_center () Drives the servo to the postion that is defined by #servo_center_pos.
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// uint8_t CodeRacer::servo_position () Get the actual position of the servo.
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// unsigned long CodeRacer::usonic_measure_cm () Measures the distance to the next object in front of the ultra sonic sensor in cm.
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//
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// ... there are much more ... read the online API for more details.
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//----- variables we need
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unsigned long distance_cm = 0;
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15
Arduino/libraries/CodeRacer/keywords.txt
Normal file
15
Arduino/libraries/CodeRacer/keywords.txt
Normal file
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CodeRacer KEYWORD1
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begin KEYWORD2
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servo_einstellungen KEYWORD2
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motor_einstellungen KEYWORD2
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anhalten KEYWORD2
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normal_tempo KEYWORD2
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vorwaerts KEYWORD2
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links KEYWORD2
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rechts KEYWORD2
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servo_rechts KEYWORD2
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servo_links KEYWORD2
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servo_mitte KEYWORD2
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abstand_messen KEYWORD2
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servo_schwenk KEYWORD2
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start_stop KEYWORD2
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