Project #12: Robotics – Unmanned Vehicles 1c – Mk07

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DL2002Mk01

1 x Arduino UNO – R3
1 x Arduino UNO – SparkFun RedBoard
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 Breakout Board for XBee Module
2 x EasyDriver
2 x Small Stepper
6 x Jumper Wires 3″ M/M
12 x Jumper Wires 6″ M/M
1 x Full-Size Breadboard
1 x SparkFun XBee Explorer USB
1 x DIGI XCTU Software
1 x SparkFun USB Mini-B Cable
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

DL2002Mk01p.ino

// ***** Don Luc Electronics © *****
// Software Version Information
// Project #12: Robotics - Unmanned Vehicles 1c - Mk07
// 02-01
// DL2002Mk01p.ino 12-07
// Arduino UNO - R3
// ProtoScrewShield
// Adafruit RGB LCD Shield 16×2 Character Display
// EEPROM with Unique ID
// Transmitter
// XBee S1
// Stepper

// 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 = 50;

// The current address in the EEPROM (i.e. which byte we're going to  read to next)
// Version
String sver = "12-7.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:
    
      // Up
      isSwitch1();
      
      break;
    case 2:
    
      // Down
      isSwitch2();
      
      break;
    case 3:

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

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

      // Stop
      isSwitch5();
      
      break;
    default:

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

   }
   
   if ( momentaryButton ) {
    
    if ( momentaryButton & BUTTON_UP ) {
      
      yy = 1;
      // Up
      RGBLCDShield.setBacklight(GREEN);
      
    }
    
    if ( momentaryButton & BUTTON_DOWN ) {
      
      yy = 2;
      // Down
      RGBLCDShield.setBacklight(VIOLET);
      
    }
    
    if ( momentaryButton & BUTTON_LEFT ) {
      
      yy = 3;
      // Right
      RGBLCDShield.setBacklight(TEAL);
      
    }
    
    if ( momentaryButton & BUTTON_RIGHT ) {

      yy = 4;
      // Left
      RGBLCDShield.setBacklight(YELLOW);
    }
    
    if ( momentaryButton & BUTTON_SELECT ) {

      yy = 5;
      // Stop
      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() {

   // 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.print( '<'  );
      Serial.print( yy );
      Serial.println( '*' );
         
  // }
     
}

getSwitch.ino

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

   yy = 1;

   // Stepper 
   // Up
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Up");  
   
}
// Switch 2
void isSwitch2(){

   yy = 2;

   // Stepper 
   // Down
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Down");    
      
}
// Switch 3
void isSwitch3(){

   yy = 3;

   // Stepper 
   // Right
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Right");    
      
}
// Switch 4
void isSwitch4(){

   yy = 4;

   // Stepper 
   // Left
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Left"); 
      
}
// Switch 5
void isSwitch5(){

   yy = 5;
   
   // Stepper 
   // Stop
   RGBLCDShield.setCursor(0,1);    
   RGBLCDShield.print("Stop");
       
}

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 UNO – SparkFun RedBoard

SP1 – Digital 3
DI1 – Digital 2
SP2 – Digital 5
DI2 – Digital 4
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

DL2002Mk01Rp.ino

// ***** Don Luc Electronics © *****
// Software Version Information
// Project #12: Robotics - Unmanned Vehicles 1c - Mk07
// 02-01
// DL2002Mk01Rp.ino 12-07
// Arduino UNO - SparkFun RedBoard
// EEPROM with Unique ID
// Receiver
// Breakout Board for XBee Module
// XBee S1
// 2 x EasyDriver
// 2 x Small Stepper

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

// Momentary Button
int yy = "";

// 2 x EasyDriver - 2 x Stepper
int dirPinR = 2;                           // EasyDriver Right
int stepPinR = 3;                          // stepPin Right
int dirPinL = 4;                           // EasyDriver Left
int stepPinL = 5;                          // stepPin Left
int i = 0;

// Software Version Information
String sver = "12-07";
// Unit ID information
String uid = "";

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( 1 );
         
         // Serial.println(zzz);
         
         yy = zzz.toInt();
         
         // Serial.println( yy );
        
      }
   }
     
}

getStepper.ino

// Stepper
// isStepperSetup
void isStepperSetup() {

  // 2 x EasyDriver
  pinMode(dirPinR, OUTPUT);
  pinMode(stepPinR, OUTPUT);
  pinMode(dirPinL, OUTPUT);
  pinMode(stepPinL, OUTPUT);

}
// isStepper1
void isStepper1(){

   // 2 x EasyDriver - Up
   digitalWrite(dirPinR, LOW);              // Set the direction.
   delay(5);
   digitalWrite(dirPinL, LOW);              // Set the direction.
   delay(5);

   for (i = 0; i<300; i++)                 // Iterate for 1000 microsteps.
   { 
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
   } 
   
}
// isStepper2
void isStepper2(){

   // 2 x EasyDriver
   digitalWrite(dirPinR, HIGH);              // Set the direction.
   delay(5);
   digitalWrite(dirPinL, HIGH);              // Set the direction.
   delay(5);

   for (i = 0; i<1000; i++)                 // Iterate for 1000 microsteps.
   { 
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
   } 
   
}
// Switch 3
void isStepper3(){

   // Right

   // 2 x EasyDriver
   digitalWrite(dirPinR, LOW);               // Set the direction.
   delay(5);
   digitalWrite(dirPinL, HIGH);              // Set the direction.
   delay(5);

   for (i = 0; i<300; i++)                 // Iterate for 1000 microsteps.
   {
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
   }    
  
}
// Switch 4
void isStepper4(){

   // Left
   // 2 x EasyDriver
   digitalWrite(dirPinR, HIGH);             // Set the direction.
   delay(5);
   digitalWrite(dirPinL, LOW);              // Set the direction.
   delay(5);

   for (i = 0; i<300; i++)                 // Iterate for 1000 microsteps.
   {
     digitalWrite(stepPinR, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinR, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
     digitalWrite(stepPinL, LOW);           // This LOW to HIGH change is what creates the
     digitalWrite(stepPinL, HIGH);          // "Rising Edge" so the easydriver knows to when to step.
     delayMicroseconds(300);                // This delay time is close to top speed.
   }    
    
}
// isStepperStop
void isStepperStop() {

   // 2 x EasyDriver
   digitalWrite(dirPinR, LOW);              // Set the direction.
   delay(5);
   digitalWrite(dirPinL, LOW);              // Set the direction.
   delay(5);
   digitalWrite(stepPinR, LOW);             // This LOW to HIGH change is what creates the
   digitalWrite(stepPinL, LOW);             // This LOW to HIGH change is what creates the 

}

getSwitch.ino

// Switch
// isSwitch
void isSwitch(){
  
  switch ( yy ) {
    case 1:

      // Stepper 1 - Up
      isStepper1();

      break;
    case 2:
      
      // Stepper 2 - Back
      isStepper2();
      
      break;
    case 3:

      // Stepper 3 - Right
      isStepper3();
      
      break;
    case 4:
      
      // Stepper 4 - Left
      isStepper4();
      
      break;
    case 5:
      
      // Stepper Stop
      isStepperStop();
       
      break;
    default:

      // Stepper Stop
      isStepperStop();

   }
  
}

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);

  // 2 x EasyDriver
  isStepperSetup();

}

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