Android controlled RC tank with on-board Video

[tolisn63]

Hi Kas

Thanks for the help. Now it's working great with no lag from the camera although I did have some freeze ups (video froze and I had to press the video enable button to unfreeze it) and some drop outs (video would suddenly shut down and the video button from green would become grey).

Now to start testing the R/C sketch and see how it goes.

I really appreciate all your help. Keep up the great work on this fantastic application.

[kas]

I really appreciate all your help. Keep up the great work on this fantastic application.

Thanks to you tolisn63, as you are the one who suggested to add Video to Joystick bluetooth Commander

[tolisn63]

I just tried the RC sketch.
When the joystick goes left the bot goes forward, when the joystick goes right the bot goes backward. The forward and backward movement of the stick does nothing to the bot.

[kas]

This sketch has been updated to AndroTest.ino V1.41

Code: [Select]

#define VERSION     "AndroTest V1.41A - @kas2014\ndemo for V4.X  (6 button version)"


// V1.41A Sabertooth version
// V1.3A Sabertooth version
// Demo setup: motor only, no buttons

// Arduino pin#2 to TX BlueTooth module
// Arduino pin#3 to RX BlueTooth module
// make sure your BT board is set @57600 bps
// better remove SoftSerial for PWM based projects

// For Mega 2560:
// remove   #include "SoftwareSerial.h", SoftwareSerial mySerial(2,3);
// search/replace  mySerial  >> Serial1
// pin#18 to RX bluetooth module, pin#19 to TX bluetooth module

#include "SoftwareSerial.h"

#include <Servo.h>                // Sabertooth  XXX
Servo motor_R;                    // Sabertooth  XXX
Servo motor_L;                    // Sabertooth  XXX
#define    PWM_R         5        // Sabertooth  XXX  PWM output
#define    PWM_L         6        // Sabertooth  XXX  PWM output

#define    STX          0x01
#define    ETX          0x00
#define    ledPin       13
#define    SLOW         1000                           // Datafields refresh rate (ms)
#define    FAST         250                            // Datafields refresh rate (ms)

boolean DEBUG = false;

SoftwareSerial mySerial(2,3);                           // BlueTooth module: pin#2=TX pin#3=RX
int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0};                       // bytes received
//byte buttonStatus = 0;                                  // first Byte sent to Android device
//long previousMillis = 0;                                // will store last time Buttons status was updated
//boolean setButtonFeedback = false;                      // momentary buttons feedback to Android device
//long sendInterval = SLOW;                               // interval between Buttons status transmission (milliseconds)
//String displayStatus = "xxxx";                          // message to Android device

void setup()  {
  Serial.begin(57600);
  mySerial.begin(57600);                                // 57600 = max value for softserial
  pinMode(ledPin, OUTPUT);     
  Serial.println(VERSION);
  motor_R.attach(PWM_R);             // Sabertooth  XXX
  motor_R.attach(PWM_L);             // Sabertooth  XXX
}

void loop() {
  if(mySerial.available())  {                            // data received from smartphone
    delay(2);                                                              //  <<mod XXXXXXXX
    cmd[0] =  mySerial.read(); 
    if(cmd[0] == STX)  {
      i=1;     
      while(mySerial.available())  {
        delay(1);                                                          //  <<mod XXXXXXXX
        cmd[i] = mySerial.read();
        if(cmd[i]>127 || i>5)                               break;   // Communication error << XXX Mod
        if((cmd[i]==ETX) && ((i==2 && cmd[1]>2) || i==5))   break;   // Button or Joystick data
        i++;
      }
      if     (i==2 && cmd[1]>48 && cmd[1]<68)     getButtonState(cmd[1]);                         // 3 Bytes
      else if(i==5 && cmd[1]<3  && cmd[3]<3 )     getJoystickState(cmd);                          // 6 Bytes
      if(DEBUG)       printDebug(i);
    }
  }
  sendBlueToothData();                                                       //  <<mod XXXXXXXX
}


void getJoystickState(byte data[5])    {
  int joyX = (data[1]<<7) + data[2];
  int joyY = (data[3]<<7) + data[4];
  joyX = joyX - 200;               // Offset to avoid
  joyY = joyY - 200;               // transmitting negative numbers

  if(!DEBUG)  {
    Serial.print("Joystick position:  ");
    Serial.print(joyX); 
    Serial.print(", "); 
    Serial.println(joyY);
  }
 
// Your code here ...

  joyX = map(joyX, -100, 100, 0, 180);             // Sabertooth  XXX
  joyY = map(joyY, -100, 100, 0, 180);             // Sabertooth  XXX

// 180: full forward,  0: full reverse, 90: stop
  motor_R.write(joyX);                             // Sabertooth  XXX
  motor_L.write(joyY);                             // Sabertooth  XXX
}

void getButtonState(int bStatus)  {
  // do nothing
}

void sendBlueToothData()  {
  // do nothing
}

//String getButtonStatusString()  {
//}

//int GetdataInt1()  {              // Data dummy values sent to Android device for demo purpose
//}

//float GetdataFloat2()  {           // Data dummy values sent to Android device for demo purpose
//}

void printDebug(int nByte)  {
  if(nByte ==2)    {   
//    Serial.print("buttonStatus: "); Serial.print(buttonStatus);
//    Serial.print("  bin: "); Serial.println(getButtonStatusString());   
//    Serial.print("Button: < ");
  }
  else if(nByte ==5)  Serial.print("Joystick: < ");
  else                Serial.print("*error*: < ");
  for(int j =0; j<nByte+1; j++) { Serial.print(cmd[j]); Serial.print(" "); }
  Serial.println(">");
}

When the joystick goes left the bot goes forward, when the joystick goes right the bot goes backward.
The forward and backward movement of the stick does nothing to the bot.

Left motor should turn Forward/Backward with joystick moving North/South
Right motor should turn Forward/Backward with joystick moving East/West
Double check your cabling and let me know the status