Birectional data transfer via bluetooth

Using Arduino Networking, Protocols, and Devices
1

I would like to remotely control my robot via my PC.
I am seeking to transfer telemetry data from my robot and control data (PID) to my robot.
bidirectional data transfer via bluetooth

Robot is an Arduino Uno
Communication is via Bluetooth HC-05 (9600 Baud)
Windows PC / XLS with Datastreamer to visualize/cockpit.

In general - it works...

However, there about 10-30% of the data to the arduino is corrupt. Seems data collision.

How can I improve / avoid this data loss???

Best regards,
Matthias

bluetooth
bluetooth630×852 176 KB

smartcar-9sensor-datastream.ino (9.6 KB)

2

Many members (me) are reluctant to download code. It is just too much work to manage all the files that I would end up with in the course of helping people.
Post your code in code tags. Read the forum guidelines to see how to properly post code.

Use the IDE autoformat tool (ctrl-t or Tools, Auto Format) to indent the code for readability before posting code.

I would have the PC request that the robot send data instead of the robot sending whenever it wants. A master-slave setup. The PC is the master and it only controls communication.

3

OP's code


// Auto mit 9 tracking sensoren
// über SoftSerial Bluetooth COM9 (Ports 11/10 RX, TX) werden Telemetriedaten / Regelparameter ausgetauscht

#include "configuration.h"
#include <Wire.h> // für I2C
#include <SoftwareSerial.h>

// I2C
byte PCF8574_Adr = 0x20;
byte daten = 0; // gelesenes Byte


// Variablen für die Sensoren - Positionsbestimmung
int sensor[10];
float ist_position;
float alt_position;
float soll_position;
float delta;
float delta_integral;
int n;
int drive_mode;

// Variable für Regelung
float Kp = 1.0;
float Ki = 0.0;
float Kd = 0.0;
int v = 100;     // Anfangsgeschwindigkeit = 0
int notaus = 0;
int track_id = 1;

// Variablen für den PI Regler
float u;
float msf_r;     // Motorspeed r - float wert - wird als int Wert der Motorsteuerung übergeben
float msf_l;     // Motorspeed l

//serial comms
char serial_in[50] = "222222                                                                               \n";
int serial_index = 0;
String Eingabe;
int t = 0;

SoftwareSerial mySerial(11, 10); // RX, TX


//*** Unterprogramme Motoren

void go_Advance(void)  //Forward
{
  digitalWrite(dir1PinL, HIGH);
  digitalWrite(dir2PinL, LOW);
  digitalWrite(dir1PinR, HIGH);
  digitalWrite(dir2PinR, LOW);
}

void go_Left(void)  //Turn left
{
  digitalWrite(dir1PinL, HIGH);
  digitalWrite(dir2PinL, LOW);
  digitalWrite(dir1PinR, LOW);
  digitalWrite(dir2PinR, HIGH);
}

void go_Right(void)  //Turn right
{
  digitalWrite(dir1PinL, LOW);
  digitalWrite(dir2PinL, HIGH);
  digitalWrite(dir1PinR, HIGH);
  digitalWrite(dir2PinR, LOW);
}

void go_Back(void)  //Reverse
{
  digitalWrite(dir1PinL, LOW);
  digitalWrite(dir2PinL, HIGH);
  digitalWrite(dir1PinR, LOW);
  digitalWrite(dir2PinR, HIGH);
}

void stop_Stop()    //Stop
{
  digitalWrite(dir1PinL, LOW);
  digitalWrite(dir2PinL, LOW);
  digitalWrite(dir1PinR, LOW);
  digitalWrite(dir2PinR, LOW);
}



void serial_comms()
{
  char incomingByte;
  char in;
  String parameter;
  String telemetrie;


  while (mySerial.available() > 0) {
    // read the incoming byte:
    //  Serial.print("I received: ");
    in = mySerial.read();
    Eingabe += in;
    //   Serial.println(in,DEC);

    if (in == '\n')
    {
      Serial.print("I received: ");
      Serial.println(Eingabe);

      // track_id
      parameter = split(Eingabe, ',', 0 );
      track_id = parameter.toInt();

      // v
      parameter = split(Eingabe, ',', 1 );
      v = parameter.toInt();

      //Kp
      parameter = split(Eingabe, ',', 2 );
      Kp = parameter.toFloat();

      //Ki
      parameter = split(Eingabe, ',', 3 );
      Ki = parameter.toFloat();

      //Kd
      parameter = split(Eingabe, ',', 4 );
      Kd = parameter.toFloat();

      //notaus
      parameter = split(Eingabe, ',', 5 );
      notaus = parameter.toInt();


      telemetrie = "";
      telemetrie = telemetrie + track_id + "," + v + "," + Kp + "," + Ki + "," + Kd + "," + notaus + "," + ist_position + "," + delta + "," + delta_integral + "," + u + "," + msf_r + "," + msf_l;

      mySerial.println(telemetrie);

      Eingabe = "";
    }
  }
}



void serial_comms_alt()
{
  String serial_input;
  int i, n, l;
  int telemetrie;
  String zeile;
  String output;
  String parameter;

  // Serial.println("hallo");

  // Serial lesen track_id, v, Kp, Ki, Kd, Notaus
  while (mySerial.available()) {


    serial_input = mySerial.readString();// read the incoming data as string
    Serial.println(serial_input);
    l = serial_input.length();
    n = 0;
    for (i = 0; i <= l; i++) {
      // Serial.println(serial_input.charAt(i));
      if (serial_input.charAt(i) == '\n') {
        n = n + 1;
      }
    }

    delta_integral = 0; // ** Integralteil zurücksetzen bei Änderung der Regel-Parameter

    Serial.print("*********************************** ");
    Serial.println(n);

    if (n >= 1) {
      zeile = split(serial_input, '\n', n - 1);
      Serial.print("Zeile");
      Serial.println(zeile);

      // track_id
      parameter = split(zeile, ',', 0 );
      track_id = parameter.toInt();
      // v
      parameter = split(zeile, ',', 1 );
      v = parameter.toInt();
      //Kp
      parameter = split(zeile, ',', 2 );
      Kp = parameter.toFloat();
      //Ki
      parameter = split(zeile, ',', 3 );
      Ki = parameter.toFloat();
      //Kd
      parameter = split(zeile, ',', 4 );
      Kd = parameter.toFloat();
      //notaus
      parameter = split(zeile, ',', 5 );
      notaus = parameter.toInt();
    }
  }
}


/*set motor speed */
void set_Motorspeed(int speed_L, int speed_R)
{
  analogWrite(speedPinL, speed_L);
  analogWrite(speedPinR, speed_R);
}

//*** split funktion Input von serieller Schnittstelle
String split(String s, char parser, int index) {
  String rs = "";
  int parserIndex = index;
  int parserCnt = 0;
  int rFromIndex = 0, rToIndex = -1;
  while (index >= parserCnt) {
    rFromIndex = rToIndex + 1;
    rToIndex = s.indexOf(parser, rFromIndex);
    if (index == parserCnt) {
      if (rToIndex == 0 || rToIndex == -1) return "";
      return s.substring(rFromIndex, rToIndex);
    } else parserCnt++;
  }
  return rs;
}


//*** Telemetriedaten senden
// track_id, v, Kp, Ki, Kd, Notaus,ist_position, delta, delta_integral, msf_r, msf_l,
void sende_telemetrie()
{
  String telemetrie;


  telemetrie = "";
  telemetrie = telemetrie + track_id + "," + v + "," + Kp + "," + Ki + "," + Kd + "," + notaus + "," + ist_position + "," + delta + "," + delta_integral + "," + u + "," + msf_r + "," + msf_l;

  t = t + 1;

  if (t > 100)
  {
    Serial.println(telemetrie);
    mySerial.println(telemetrie);
    t = 0;
  }
}


//*** 9 Trackingsensoren einlesen

void read_sensor_values()
{
  sensor[0] = digitalRead(LFSensor_0);  // Sensor 0 ist direkt über D9 angschlossen!

  Wire.requestFrom(PCF8574_Adr, 1);     // Sensor 1-8 über I2C auslesen!
  if (Wire.available()) {
    daten = Wire.read();
  }

  if ((daten & 1) == 1) {
    sensor[8] = HIGH;
  }
  else
    sensor[8] = LOW;

  if ((daten & 2) == 2) {
    sensor[7] = HIGH;
  }
  else
    sensor[7] = LOW;

  if ((daten & 4) == 4) {
    sensor[6] = HIGH;
  }
  else
    sensor[6] = LOW;

  if ((daten & 8) == 8) {
    sensor[5] = HIGH;
  }
  else
    sensor[5] = LOW;

  if ((daten & 16) == 16)
    sensor[4] = HIGH;
  else
    sensor[4] = LOW;

  if ((daten & 32) == 32)
    sensor[3] = HIGH;
  else
    sensor[3] = LOW;

  if ((daten & 64) == 64)
    sensor[1] = HIGH;
  else
    sensor[1] = LOW;

  if ((daten & 128) == 128)
    sensor[2] = HIGH;
  else
    sensor[2] = LOW;

}

// ************************************************* auto tracking **************************************************

void auto_tracking() {

  //****** Sensorwerte einlesen
  read_sensor_values();

  //***** Ist Position aus Sensorwerten bestimmen
  n = 0;
  ist_position = 0;

  if (sensor[0] == HIGH) {
    ist_position = ist_position - 120;
    n = n + 1;
  }

  if (sensor[1] == HIGH) {
    ist_position = ist_position - 80;
    n = n + 1;
  }

  if (sensor[2] == HIGH) {
    ist_position = ist_position - 40;
    n = n + 1;
  }

  if (sensor[3] == HIGH) {
    ist_position = ist_position - 20;
    n = n + 1;
  }

  if (sensor[4] == HIGH) {
    n = n + 1;
  }

  if (sensor[5] == HIGH) {
    ist_position = ist_position + 20;
    n = n + 1;
  }

  if (sensor[6] == HIGH) {
    ist_position = ist_position + 40;
    n = n + 1;
  }

  if (sensor[7] == HIGH) {
    ist_position = ist_position + 80;
    n = n + 1;
  }

  if (sensor[8] == HIGH) {
    ist_position = ist_position + 120;
    n = n + 1;
  }

  // Fall mehrere Sensoren haben Kontakt zur Linie
  if (n > 0) {
    ist_position = ist_position / n;
  }
  // Falls kein Sensor hat Kontakt zur Linie
  if (n == 0) {
    ist_position = alt_position;
  }

  // Fall Stop
  //  if(n>4) {
  //      stop_Stop();
  //      delay(10000);
  //    }

  alt_position = ist_position;


  //*** PI Regler
  delta = soll_position - ist_position;
  delta_integral = delta_integral + delta;
  u = Kp * delta + Ki * delta_integral;

  if ( u < 0 ) // Abweichung nach links / Rechtskurve
  {
    msf_l = v;
    msf_r = v + u;
  }
  else     // Abweichung nach rechts / Linkskurve
  {
    msf_r = v;
    msf_l = v - u;
  }

  if (msf_r < v / 2) {
    msf_r = v / 2;
  }

  if (msf_l < v / 2) {
    msf_l = v / 2;
  }

  //*** Motor ansteuern
  go_Advance();
  set_Motorspeed((int) msf_l, (int) msf_r);

}


void setup()
{
  // Ports für Motoren konfigurieren
  pinMode(speedPinL, OUTPUT); //left motor PWM pin
  pinMode(speedPinR, OUTPUT); //rignt motor PWM  pin
  pinMode(dir1PinL, OUTPUT); //left motor direction pin1
  pinMode(dir2PinL, OUTPUT); //left motor direction pin2
  pinMode(dir1PinR, OUTPUT); //right motor direction Pin 1
  pinMode(dir2PinR, OUTPUT); //right motor direction Pin 2


  // Open serial communications and wait for port to open:
  Serial.begin(38400);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for Native USB only
  }

  //Serial.println("Goodnight moon!");

  // set the data rate for the SoftwareSerial port
  mySerial.begin(9600);
  mySerial.println("Hello, world?");

  /* I2C communication */
  Wire.begin();

  /*line follow sensors */
  pinMode(LFSensor_0, INPUT);
  drive_mode = DRIVE_MODE_LINEFOLLOWER;

}

void loop() // run over and over
{
  String test_str = "";

  serial_comms();

  switch (drive_mode) {
    case DRIVE_MODE_LINEFOLLOWER:
      auto_tracking();
      sende_telemetrie();

      break;
    case DRIVE_MODE_STOP:
      Serial.println(test_str);
      break;
    default:
      break;
  }


  test_str = "";
  test_str.concat(ist_position);

}

@mario123ggggggg, please post configuration.h

Your problem might be caused by the use of the String (capital S) concatenation that you use. I would just print the text instead of first creating a long String and see if it solves the issue. Change sende_telemetrie()

//*** Telemetriedaten senden
// track_id, v, Kp, Ki, Kd, Notaus,ist_position, delta, delta_integral, msf_r, msf_l,
void sende_telemetrie()
{
  if (t > 100)
  {
    Serial.print(track_id);
    Serial.print(",");
    Serial.print(v);
    Serial.print(",");
    Serial.print(Kp);
    Serial.print(",");
    Serial.print(Ki);
    Serial.print(",");
    Serial.print(Kd);
    Serial.print(",");
    Serial.print(notaus);
    Serial.print(",");
    Serial.print(ist_position);
    Serial.print(",");
    Serial.print(delta);
    Serial.print(",");
    Serial.print(delta_integral);
    Serial.print(",");
    Serial.print(u);
    Serial.print(",");
    Serial.print(msf_r);
    Serial.print(",");
    Serial.println(msf_l);

    // repeat for mySerial
    ...
    ...
      
      
    t = 0;
  }
}

Make a similar change in serial_comms.

Further I'm not sure why your code behaves as it does. There are other changes that I would make (get rid of String objects altogether and use a protocol that echoes received characters back over bluetooth to the sender; the sender is not allowed to send the next character before it has received the echo.

4

All,
thank you very much for your analysis - I need to investigate - will keep you updated.

5

thank you both for your help. The fault is now heavilit reduced. I've changed it now to a clear master-slave setup and eliminated strings.

6

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