Project #12: Robotics – Unmanned Vehicles 1b – Mk06

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XBee

Digi XBee is the brand name of a family of form factor compatible radio modules from Digi International. The first XBee radios were introduced under the MaxStream brand in 2005 and were based on the IEEE 802.15.4-2003 standard designed for point-to-point and star communications at over-the-air baud rates of 250 kbit/s.

Two models were initially introduced, a lower cost 1 mW XBee and the higher power 100 mW XBee-PRO. Since the initial introduction, a number of new XBee radios have been introduced and an ecosystem of wireless modules, gateways, adapters and software has evolved.

The XBee radios can all be used with the minimum number of connections — power (3.3 V), ground, data in and data out (UART), with other recommended lines being Reset and Sleep. Additionally, most XBee families have some other flow control, input/output (I/O), analog-to-digital converter (A/D) and indicator lines built in.

DL2001Mk02

1 x Arduino Fio
1 x Arduino UNO – R3
1 x ProtoScrewShield
1 x Adafruit RGB LCD Shield 16×2 Character Display
2 x XBee S1
1 x SparkFun XBee Explorer Regulated
1 x Lithium Ion Battery – 2.5Ah
1 x LED Red
1 x LED Green
1 x LED Bi-Colour
1 x LED Yellow
4 x Jumper Wires 3″ M/M
10 x Jumper Wires 6″ M/M
1 x Half-Size Breadboard
1 x SparkFun XBee Explorer USB
1 x DIGI XCTU Software
1 x SparkFun FTDI Basic Breakout – 3.3V
1 x SparkFun Cerberus USB Cable

Arduino UNO

TX0 – Digital 1
RX0 – Digital 0
VIN – +5V
GND – GND

XBee S1: Transmitter

CH Channel: C
PAN Id: 3333
SH Serial Number: 13A200
SL Serial Number: 40717A1F
CE Coordinator: Coordinator
BD: 9600

DL2001Mk02p.ino

// ***** Don Luc Electronics © *****
// Software Version Information
// Project #12: Robotics - Unmanned Vehicles 1b - Mk06
// 01-02
// DL2001Mk01p.ino 12-06
// Arduino UNO - R3
// ProtoScrewShield
// Adafruit RGB LCD Shield 16×2 Character Display
// EEPROM with Unique ID
// Transmitter
// XBee S1

// Include the library code:
// EEPROM library to read and write EEPROM with unique ID for unit
#include <EEPROM.h>
// Adafruit RGB LCD Shield
#include <Adafruit_RGBLCDShield.h>

// Adafruit RGB LCD Shield
Adafruit_RGBLCDShield RGBLCDShield = Adafruit_RGBLCDShield();

// These #defines make it easy to set the backlight color
#define OFF 0x0
#define RED 0x1
#define YELLOW 0x3
#define GREEN 0x2
#define TEAL 0x6
#define BLUE 0x4
#define VIOLET 0x5
#define WHITE 0x7

// Momentary Button
int yy = 0;
uint8_t momentaryButton = 0;

// Communication
unsigned long dTime = 1000;

// The current address in the EEPROM (i.e. which byte we're going to  read to next)
// Version
String sver = "12-2.p";
// Unit ID Information
String uid = "";

void loop() {

  // Clear
  RGBLCDShield.clear();

  // set the cursor to column 0, line 0
  RGBLCDShield.setCursor(0,0);
  RGBLCDShield.print("Robotics");         // Robotics 

  // Momentary Button
  momentaryButton = RGBLCDShield.readButtons();

  switch ( yy ) {
    case 1:
    
      // LED Green
      isSwitch1();
      
      break;
    case 2:
    
      // LED Bipolar (Green)
      isSwitch2();
      
      break;
    case 3:

      // Right
      isSwitch3();
      
      break;
    case 4:

      // Left
      isSwitch4();
      
      break;
    case 5:

      // LED Red
      isSwitch5();
      
      break;
    default:

      // LED Red
      yy = 5;
      RGBLCDShield.setBacklight(RED);
      isSwitch5();

   }
   
   if ( momentaryButton ) {
    
    if ( momentaryButton & BUTTON_UP ) {
      
      yy = 1;
      // LED Green
      RGBLCDShield.setBacklight(GREEN);
      
    }
    
    if ( momentaryButton & BUTTON_DOWN ) {
      
      yy = 2;
      // LED Bipolar A
      RGBLCDShield.setBacklight(VIOLET);
      
    }
    
    if ( momentaryButton & BUTTON_LEFT ) {
      
      yy = 3;
      // LED Bipolar B
      RGBLCDShield.setBacklight(TEAL);
      
    }
    
    if ( momentaryButton & BUTTON_RIGHT ) {

      yy = 4;
      // LED Bipolar A B
      RGBLCDShield.setBacklight(YELLOW);
    }
    
    if ( momentaryButton & BUTTON_SELECT ) {

      yy = 5;
      // LED Red
      RGBLCDShield.setBacklight(RED);
   
    }
    
  }

  // Process Message
  isProcessMessage();

  delay( dTime );
   
}

getEEPROM.ino

// EEPROM
// isUID
void isUID()
{
  
  // Is Unit ID
  uid = "";
  for (int x = 0; x < 5; x++)
  {
    uid = uid + char(EEPROM.read(x));
  }
  
}

getProcessMessage.ino

// ProcessMessage
// isProcessMessage
void isProcessMessage() {

   //int incb = 0;  
   String msg = "";
  
   /// Loop through serial buffer one byte at a time until you reach * which will be end of message
   //while ( Serial.available() ) 
  // {

      // Print => XBEE + Unit ID + Version + *
      msg = "XBEE|" + uid + "|" + sver + "|" + yy + "|*";
      Serial.println( msg );
         
  // }
     
}

getSwitch.ino

// Switch
// Switch 1
void isSwitch1(){

   yy = 1;
   
   isSwitchLEDStop();
   // LED 
   // turn LED on:
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Green");  
   
}
// Switch 2
void isSwitch2(){

   yy = 2;

   isSwitchLEDStop();
   // LED 
   // turn LED on:
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Bi-Colour A");    
      
}
// Switch 3
void isSwitch3(){

   yy = 3;

   isSwitchLEDStop();
   // LED 
   // turn LED on:
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Bi-Colour B");    
      
}
// Switch 4
void isSwitch4(){

   yy = 4;

   isSwitchLEDStop();
   // LED 
   // turn LED on:
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Bi-Colour A B"); 
      
}
// Switch 5
void isSwitch5(){

   yy = 5;

   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Stop");

   //delay( 250 );

   isSwitchLEDStop();
   // LED 
   // turn LED on:
   //digitalWrite(iLEDRed, HIGH);   
       
}
void isSwitchLEDStop(){

  //digitalWrite(iLEDRed, LOW);
  //digitalWrite(iLEDGreen, LOW);
  //digitalWrite(iLEDB1, LOW);
  //digitalWrite(iLEDB2, LOW);
  //digitalWrite(iLEDYellow, LOW);
  
}

setup.ino

// Setup
void setup() {
  
  //Open serial port at 9600 baud
  Serial.begin( 9600 );

  // Pause
  delay(5);

  // EEPROM Unit ID
  isUID();
  
  // Pause
  delay(5);
  
  // Adafruit RGB LCD Shield
  // Set up the LCD's number of columns and rows: 
  RGBLCDShield.begin(16, 2);
  RGBLCDShield.setBacklight(GREEN);
  
  // Display
  // Set the cursor to column 0, line 0  
  RGBLCDShield.setCursor(0,0);  
  RGBLCDShield.print("Don Luc Electron");         // Don luc Electron
  // Set the cursor to column 0, line 1
  RGBLCDShield.setCursor(0, 1);
  RGBLCDShield.print("Robotics");                 // Robotics

  // Serial
  Serial.println( "Don Luc Electronics");
  Serial.println( "Robotics");

  delay(5000);

  // Clear
  RGBLCDShield.clear();

  // Display
  // Set the cursor to column 0, line 0  
  RGBLCDShield.setCursor(0,0);  
  RGBLCDShield.print("Version: ");                // Version
  RGBLCDShield.print( sver );
  // Set the cursor to column 0, line 1
  RGBLCDShield.setCursor(0, 1);
  RGBLCDShield.print("UID: ");                    // Unit ID Information
  RGBLCDShield.print( uid );

  // Serial
  Serial.print( "Software Version Information: ");
  Serial.println( sver );
  Serial.print( "Unit ID Information: ");
  Serial.println( uid );

  delay(5000);

  // Clear
  RGBLCDShield.clear();

}

Arduino Fio

LER – Digital 13
LEG – Digital 12
LEA – Digital 11
LEB – Digital 10
LEY – Digital 9
TX0 – Digital 1
RX0 – Digital 0
VIN – +3.3V
GND – GND

XBee S1: Receiver

CH Channel: C
PAN Id: 3333
SH Serial Number: 13A200
SL Serial Number: 4076E2C5
CE Coordinator: End Device
BD: 9600

DL2001Mk02Rp.ino

// ***** Don Luc Electronics © *****
// Software Version Information
// Project #12: Robotics - Unmanned Vehicles 1b - Mk06
// 01-02
// DL2001Mk02Rp.ino 12-06
// Arduino Fio
// SparkFun FTDI Basic Breakout - 3.3V
// EEPROM with Unique ID
// LED Red
// LED Green
// LED Bi-Colour
// LED Yellow
// Lithium Ion Battery - 2.5Ah
// Receiver
// XBee S1

// Include the library code:
// EEPROM library to read and write EEPROM with unique ID for unit
#include <EEPROM.h>

// LED Red
int iLEDRed = 13;
// LED Green
int iLEDGreen = 12;
// LED Bi-Colour
int iLEDBiCoA = 11;
int iLEDBiCoB = 10;
// LED Yellow
int iLEDYellow = 9;

// Momentary Button
int yy = "";

// Software Version Information
String sver = "12-02";
// Unit ID information
String uid = "DR001";

void loop() {

  // Check for serial messages
  if ( Serial.available() ) 
  {
    isProcessMessage();
  }

  // Switch
  isSwitch();
  
}

getEEPROM.ino

// EEPROM
// isUID
void isUID()
{
  
  // Is Unit ID
  uid = "";
  for (int x = 0; x < 5; x++)
  {
    uid = uid + char(EEPROM.read(x));
  }
  
}

getProcessMessage.ino

// ProcessMessage
// isProcessMessage
void isProcessMessage() {

   int incb = 0;  
   String msg = "";
   String zzz = "";
   
  // Loop through serial buffer one byte at a time until you reach * which will be end of message
  while ( Serial.available() ) 
  {
      
      // Read the incoming byte:
      incb = Serial.read();
      // Add character to string
      msg = msg + char(incb);
      
      // Check if receive character is the end of message *
      if ( incb == 42 ) 
      {
         
         Serial.println(msg);

         zzz = msg.charAt( 18 );
         
         Serial.println(zzz);
         
         yy = zzz.toInt();
         
        Serial.println( yy );
        
      }
   }
     
}

getSwitch.ino

// Switch
// isSwitch
void isSwitch(){
  
  switch ( yy ) {
    case 1:
    
      // LED Green
      sLEDStop();
      digitalWrite(iLEDGreen, HIGH);
      delay( 1000 );
      
      break;
    case 2:
    
      // LED Bi-Colour A
      sLEDStop();
      digitalWrite(iLEDBiCoA, HIGH);
      delay( 1000 );
      
      break;
    case 3:

      // LED Bi-Colour B
      sLEDStop();
      digitalWrite(iLEDBiCoB, HIGH);
      delay( 1000 );
      
      break;
    case 4:

      // LED Bi-Colour A B
      sLEDStop();
      digitalWrite(iLEDBiCoA, HIGH);
      digitalWrite(iLEDBiCoB, HIGH);
      delay( 1000 );
      
      break;
    case 5:

      // LED Red
      sLEDStop();
      digitalWrite(iLEDRed, HIGH); 
      delay( 1000 );
       
      break;
    default:

      // LED Red
      sLEDStop();
      digitalWrite(iLEDRed, HIGH);
      delay( 1000 ); 

   }
  
}
// LED Stop
void sLEDStop(){

  digitalWrite(iLEDRed, LOW);
  digitalWrite(iLEDGreen, LOW);
  digitalWrite(iLEDBiCoA, LOW);
  digitalWrite(iLEDBiCoB, LOW);
  
}

setup.ino

// Setup
void setup() {

  // Open the serial port at 9600 bps:
  Serial.begin( 9600 );

  // Pause
  delay(5);

  // EEPROM Unit ID
  isUID();
  
  // Pause
  delay(5);
  
  // Serial
  Serial.print( "Software Version Information: ");
  Serial.println( sver );
  Serial.print( "Unit ID Information: ");
  Serial.println( uid );
  
  delay(5000);

  // LED => OUTPUT
  pinMode(iLEDRed, OUTPUT);
  pinMode(iLEDGreen, OUTPUT);
  pinMode(iLEDBiCoA, OUTPUT);
  pinMode(iLEDBiCoB, OUTPUT);
  pinMode(iLEDYellow, OUTPUT);

  // LED Yellow
  digitalWrite(iLEDYellow, HIGH);

}

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