Thursday, 26 December 2013
Monday, 15 April 2013
Use Android smartphone to control two wheels robot with Arduino via Bluetooth
3) Android programming part using Processing
For the programming for my android smart phone, I've tried using few ways to establish the bluetooth connection between Arduino and my smart phone. I've tried to use few library to do the programming part, like sweetbt and btserial library, but these two libraries don’t function well as
my smart phone could not successfully connect to the device via Bluetooth. The btserial library can be download at this website but the .jar file is seem to be missing and waiting for rebuild.
So
I tried to change to eclipse, although I manage to download the application
into my smart phone(sony Xperia X10i), but the coding for eclipse is much more harder compared
to processing as I totally don’t have the basic for android programming it
will be very hard for me to use the eclipse. So I try to find another
alternative way to do the android programming. But lastly, I managed to find a
library named Ketai, for processing, which works perfectly to communicate with
the Arduino Bluetooth shield via Bluetooth, and the coding is much easier than
eclipse.
You can download the Ketai library from this website and place it in your sketch "library" file : https://code.google.com/p/ketai/downloads/list
Before download the codes into your android smartphone via processing, pls do enable the sketch permission of BLUETOOTH and BLUETOOTH ADMIN via the "Android" tab. If you forgot to tick this 2 things, the apps downloaded into your smart phone cannot be launched.
Before download the codes into your android smartphone via processing, pls do enable the sketch permission of BLUETOOTH and BLUETOOTH ADMIN via the "Android" tab. If you forgot to tick this 2 things, the apps downloaded into your smart phone cannot be launched.
I've edited the code base on this original codes, and it is very helpful for me:)
Below will be the final coding of the android
processing code with implemented Ketai library function:
//required for BT enabling on startup
import android.content.Intent;
import android.os.Bundle;
import ketai.net.bluetooth.*;
import ketai.ui.*;
import ketai.net.*;
PFont fontMy;
//declaring font
boolean bReleased = true; //no permament sending when finger is tap
KetaiBluetooth bt; //
Create object from BtSerial class
boolean isConfiguring = true;
String info = "";
KetaiList klist;
ArrayList devicesDiscovered = new ArrayList();
//store in array the discovered device
boolean rectOver = false;
int rec = 0;
// The following code is required to enable
bluetooth at startup.
void onCreate(Bundle savedInstanceState)
{
super.onCreate(savedInstanceState);
bt = new KetaiBluetooth(this);//create the BtSerial
object that will handle the connection
}
void onActivityResult(int requestCode, int
resultCode, Intent data)
{
bt.onActivityResult(requestCode, resultCode, data);
}//to show the discovered device
void setup()
{
size(displayWidth, displayHeight); //size of my
phone screen
smooth();
frameRate(10); //the
frame rate of my screen
orientation(PORTRAIT); //vertical
bt.start(); //start
listening for BT connections
isConfiguring = true; //at my phone start select device…
fontMy = createFont("SansSerif", 20);
//font size
textFont(fontMy);
}
void draw()
{
//at app start select device
if (isConfiguring)
{
ArrayList names;
//create the BtSerial object that will handle the
connection
//with the list of paired devices
klist = new KetaiList(this,
bt.getPairedDeviceNames());
isConfiguring = false; //stop selecting device
}
else
{
color a = color(255,0,0); //the
color for each button of the interface
color b = color(255,0,0);
color c = color(255,0,0);
color d = color(255,0,0);
color e = color(165,8,27);
color f = color(165,8,27);
color g = color(165,8,27);
color h = color(165,8,27);
color i = color(18,21,121);
color j = color(255,255,255);
color k = color(255,255,255);
color l = color(0,0,0);
update(mouseX, mouseY); //update our finger point at where of the screen
background(45,12,137); //background color
if((mousePressed)&&(rectOver)&&(rec==1)) //when we click the button’s color
change
accordingly with different color code
{ c =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==2))
{ d =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==3))
{ a =
color(10,237,26);
}
else if ((mousePressed)&&(rectOver)&&(rec==4))
{ b =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==5))
{ j =
color(74,182,252);
}
else if
((mousePressed)&&(rectOver)&&(rec==6))
{ k =
color(74,182,252);
}
else if
((mousePressed)&&(rectOver)&&(rec==7))
{ e =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==8))
{ f =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==9))
{ g =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==10))
{ h =
color(10,237,26);
}
else if
((mousePressed)&&(rectOver)&&(rec==11))
{ l =
color(255,255,255);
}
if ((rec == 2) &&
(rectOver)&&(mousePressed) && (bReleased == true)) {
// If our finger is on the square,
byte[]
data = {'w'}; // send w to arduino
when we click the button 2
bt.broadcast(data);
//send with bt
bReleased
= false; // send data for
once until next time we click the button again
}
if ((rec == 1) &&
(rectOver)&&(mousePressed) && (bReleased == true)) {
byte[]
data = {'s'}; // send s to arduino
when we click the button 1
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if ((rec ==
3) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'a'}; // send a to arduino
when we click the button 3
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if ((rec ==
4) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'d'}; // send d to arduino
when we click the button 4
bt.broadcast(data);
//send with bt
bReleased
= false;
}
if ((rec ==
5) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'l'}; // send l to arduino
when we click the button 5(ellipse)
bt.broadcast(data);
//send with bt
bReleased
= false;
}
if ((rec ==
6) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'k'}; // send k to arduino
when we click the button 6(ellipse)
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if ((rec
== 7) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'q'}; // send q to arduino
when we click the button 7
bt.broadcast(data);
//send with bt
bReleased
= false;
}
if ((rec
== 8) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'e'}; // send e to arduino
when we click the button 8
bt.broadcast(data);
//send with bt
bReleased
= false;
}
if ((rec
== 9) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'z'}; // send z to arduino
when we click the button 9
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if ((rec
== 10) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'c'}; // send c to arduino
when we click the button 10
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if ((rec
== 11) && (rectOver)&&(mousePressed) && (bReleased ==
true)) {
byte[]
data = {'t'}; //
send t to arduino when we click the button 3
bt.broadcast(data); //send
with bt
bReleased
= false;
}
if((rectOver)&&(mousePressed ==
false)&& (bReleased == false))
{ //when our finger move up
from the button, send stop command to arduino
byte[]
data = {' '};
bt.broadcast(data);
bReleased
= true;
}
fill(a); //fill
each area of button with the color declared above
stroke(162);
//the shape covered with a grey color line
triangle(200,250,250,150,300,250);
//draw the triangle with the
coordinates
fill(b);
triangle(200,600,250,700,300,600);
fill(c);
triangle(150,375,50,425,150,475);
fill(d);
triangle(350,375,450,425,350,475);
fill(e);
triangle(425,240,325,290,400,340);
//325
fill(f);
triangle(400,510,325,560,425,610);
//325
fill(g);
triangle(75,240,175,290,100,340); //75
fill(h);
triangle(100,510,175,560,75,610); //75
fill(i);
stroke(172);
rect(380,80,70,70); //draw
2 rectangle below the sphere(ellipse)
rect(380,700,70,70);
stroke(0);
fill(j);
ellipse(415,115,85,85); //draw sphere with diameter 85
fill(k);
ellipse(415,735,85,85);
fill(l);
stroke(255);
ellipse(25,25,30,30);
}
//to print received data and show on screen
fill(255);
noStroke();
textAlign(LEFT);
text(info, 20, 104);
noFill();
}
void update(int x, int y) { //to control the flag when we click a button
if (
overRect(200, 150, 100, 100) ) {
rectOver =
true; //left right
rec = 3;
}
else if
(
overRect(50, 375, 100, 100) ) {
rectOver =
true; //up down
rec = 1;
}
else if
(
overRect(350, 375, 100, 100) ) {
rectOver =
true;
rec =
2; //up down
}
else if
( overRect(200,
600, 100, 100) ) {
rectOver =
true; //left right
rec =
4;
}
else if
(
overRect(372,72,85,85) ) {
rectOver =
true;
rec =
5; //for
ellipse 1
}
else if
(
overRect(372,692,85,85) ) {
rectOver =
true;
rec =
6; //for
ellipse 2
}
else if
(
overRect(325, 240, 100, 100) ) {
rectOver =
true;
rec =
7; //up left
}
else if
(
overRect(325, 510, 100, 100) ) {
rectOver =
true;
rec =
8; //up right
}
else if
(
overRect(75, 240, 100, 100) ) {
rectOver =
true;
rec =
9; //btm left
}
else if
(
overRect(75, 510, 100, 100) ) {
rectOver =
true;
rec =
10; //btm right
}
else
if
( overRect(10,
10, 30, 30) ) {
rectOver =
true;
rec =
11; //stop
}
else
{
rectOver =
false; //nothing s
touched on screen
}
}
boolean overRect(int x, int y, int width, int
height) { // to scan we touch which area
if (mouseX
>= x && mouseX <= x+width &&
mouseY
>= y && mouseY <= y+height)
//to see if the mouse cursor inside rect
{
return
true;
} else {
return
false;
}
}
void onKetaiListSelection(KetaiList klist)
{
String selection = klist.getSelection(); //select the device to connect
bt.connectToDeviceByName(selection); //connect to the device
klist = null; //dispose
of bluetooth list for now
}
//Call back method to manage data received
void onBluetoothDataEvent(String who, byte[] data)
{
if (isConfiguring)
return;
//received
info += new String(data);
if(info.length() > 150) //clean the words on screen if string to long
info = "";
}//END of Android processing coding
Video will be uploaded soon :)
Friday, 5 April 2013
Use Android smartphone to control two wheels robot with Arduino via Bluetooth
2) Arduino Programming Part
For the Arduino programming part, I'm using is Arduino Leonardo. The difference of programming coding of Leonardo with Uno is the "serial" command. If i'm not mistaken, for Leonardo to communicate via Bluetooth the command will be "Serial1.xx" as below. Meanwhile for Uno will be just "Serial.xx".
Before going into Arduino programming part, you have to configure your own Bluetooth module. For example: set the baudrate, name of the Bluetooth device, and password to let your Android device connect to your Bluetooth shield. I'm doing all this setting by using a software called hyperterminal. You can try to configure your bluetooth module first because everyone are using different shield & module so I'm not gonna emphasize on it here, you can always try to google it :) (Bluetooth module configuration). Also, make sure your computer had installed the correct driver for your own Bluetooth Dongle.
Below are the coding for my Arduino Leonardo:
For the Arduino programming part, I'm using is Arduino Leonardo. The difference of programming coding of Leonardo with Uno is the "serial" command. If i'm not mistaken, for Leonardo to communicate via Bluetooth the command will be "Serial1.xx" as below. Meanwhile for Uno will be just "Serial.xx".
Before going into Arduino programming part, you have to configure your own Bluetooth module. For example: set the baudrate, name of the Bluetooth device, and password to let your Android device connect to your Bluetooth shield. I'm doing all this setting by using a software called hyperterminal. You can try to configure your bluetooth module first because everyone are using different shield & module so I'm not gonna emphasize on it here, you can always try to google it :) (Bluetooth module configuration). Also, make sure your computer had installed the correct driver for your own Bluetooth Dongle.
 |
| Bluetooth Shield, Module and Dongle that I'm using |
#include <Servo.h> //include servo
function
#define BUFFERSIZE 127
uint8_t inBuffer[BUFFERSIZE];
int inLength; // length of data in the
buffer
int numLoop = 0; // number of times we
looped
char val;
Servo myservo; //for servo function
int motor_LF=2; //declaring pin used for
the motor
int motor_LR=3;
int motor_RF=4;
int motor_RR=5;
int motor_LPWM = 13; //declaring pwm pin
int motor_RPWM = 11;
void setup() {
Serial1.begin(38400); //baud rate I set for bluetooth module is 38400
myservo.attach(9); //my servo at pin 9 as actuator
pinMode(motor_LF, OUTPUT); //set pin as output
pinMode(motor_LR, OUTPUT);
pinMode(motor_RF, OUTPUT);
pinMode(motor_RR, OUTPUT);
pinMode(motor_LPWM, OUTPUT);
pinMode(motor_RPWM, OUTPUT);
motor_reset(); // call function to reset the motor
}
void loop() {
// read string if available
if (Serial1.available()) {
inLength = 0;
while (Serial1.available()) {
val = Serial1.read();
}
Serial1.print("Arduino received: "); //send the text to the android device
Serial1.write(val);
Serial1.println();
}
if (val == 'k') //K
{ myservo.write(90); } //write the angle of servo should move
if (val == 'l') //L
{ myservo.write(30); }
if (val == 'm') ///M
{ myservo.write(178); }
if (val == 'w') //W – Forward motion of motor
{
digitalWrite(motor_LF, HIGH);
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, HIGH);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 255); //sending pwm pulses
analogWrite(motor_RPWM, 255); //255 will be highest
}
if (val == 's') //S – Reverse motion
{
digitalWrite(motor_LF, LOW);
digitalWrite(motor_LR, HIGH );
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, HIGH);
analogWrite(motor_LPWM, 255);
analogWrite(motor_RPWM, 255);
}
if (val == 'q') //Q - Left Forward
{
digitalWrite(motor_LF, HIGH);
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, HIGH);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 128); //slower thn Right PWM but same direction
to turn left
analogWrite(motor_RPWM, 255);
}
if (val == 'e') //E - Right Forward
{
digitalWrite(motor_LF, HIGH);
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, HIGH);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 255);
analogWrite(motor_RPWM, 128);
//slower thn left PWM but same direction to turn right
}
if (val == 'z') //Z - Left backward
{
digitalWrite(motor_LF, LOW);
digitalWrite(motor_LR, HIGH);
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, HIGH);
analogWrite(motor_LPWM, 128);
analogWrite(motor_RPWM, 255);
}
if (val == 'c') //C - Right backward
{
digitalWrite(motor_LF, LOW);
digitalWrite(motor_LR, HIGH);
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, HIGH);
analogWrite(motor_LPWM, 255);
analogWrite(motor_RPWM, 128);
}
if (val == 'a') //A - Spin Left
{
digitalWrite(motor_LF, LOW);
digitalWrite(motor_LR, HIGH);
digitalWrite(motor_RF, HIGH);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 255); //move in same speed but different
direction to spin
analogWrite(motor_RPWM, 255);
}
if (val == 'd') //D - Spin Right
{
digitalWrite(motor_LF, HIGH);
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, HIGH);
analogWrite(motor_LPWM, 255);
analogWrite(motor_RPWM, 255);
}
if (val == ' ') //Space – Brake function
{
digitalWrite(motor_LF, LOW); //make all the pin LOW to stop the motor
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 255); //both 255 to make the motor stop
immediately
analogWrite(motor_RPWM, 255);
}
if (val == 't') //T – Reset the motor
{
motor_reset();
}
}
void motor_reset() //reset function
{
digitalWrite(motor_LF, LOW);
digitalWrite(motor_LR, LOW);
digitalWrite(motor_RF, LOW);
digitalWrite(motor_RR, LOW);
analogWrite(motor_LPWM, 0);
analogWrite(motor_RPWM, 0);
}//END of arduino code
Parts of the coding credits to
Nadrew Chong Jia Ying
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