This basic pan & tilt robot is controlled via an Android smartphone, using a virtual joystick
http://www.youtube.com/watch?v=-jaszg2t2TY
The code on the Arduino side is rather straighforward Tip: the SoftwareSerial and the servo libraries don't collaborate happily, I learnt it the hard way :~
More info re Joystick Bluetooth Commander application here
Enjoy
I posted a BlinkM (RGB LED) project based on Joystick Bluetooth Commander, in the LEDs and Multiplexing Section
Interesting. Perhaps you could outfit the robot and make it look a little bit better. Thin layer of plastic? Not sure, I'm still new to this. Also, you could do something along the lines of it being able to function multiple limbs at once: I.E: One arm up, at the same time, another arm going down, while spinning in a circle. You might be able to do something with this in the toy industry.
Thanks for the comments
The robot was quickly assembled using available parts, including an old parallax sonic sensor for the head ;) The all project is just a proof of concept for the Joystick Bluetooth Commander application
Hi Rosamunda
Here is the Arduino side code:
// Andro_Pan&Tilt V2.6
// Arduino test sketch for Joystick BT commander
// Controls two servo motors
// V2.6 can receive both Byte (Joystick BT commander V2.5)& Integer data (V3.0)
// V2.0: removed SoftwareSerial
// Arduino pin #0 to TX Bluetooth module
#include
#define DEBUG false
#define ledPin 13 // LED pin
#define pinServo_X 9
#define pinServo_Y 10
#define STX 0x02
#define ETX 0x03
#define MIN_Y 45 // vertical move limitation
#define MAX_Y 180 // horizontal move limitation
#define ZERO_Y 60
int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0};
Servo myservoX; // create servo object
Servo myservoY;
void setup() {
Serial.begin(57600);
myservoX.attach(pinServo_X);
myservoY.attach(pinServo_Y);
pinMode(ledPin, OUTPUT);
if(DEBUG) Serial.println("AndroZinZin V2.5");
}
void loop() {
if(Serial.available()) { // received from smartphone
delay(5);
cmd[0] = Serial.read();
// if(DEBUG) Serial.println(cmd[0]); // ** DEBUG **
if(cmd[0] == STX) {
i=1;
while(Serial.available() && ((cmd[i]=Serial.read()) != ETX)) {
if(i>5) break;
// if(DEBUG) {Serial.print(i); Serial.print(": "); Serial.println(cmd[i]);} // ** DEBUG **
i++;
}
}
if(i==2) setLED(cmd[1]);
if(i==3) setPosition_Byte(cmd[1], cmd[2]);
if(i==5) setPosition_Int(cmd[1]*128+cmd[2], cmd[3]*128+cmd[4]);
}
delay(5);
}
void setLED(int LEDstatus) {
switch (LEDstatus) {
case '1':
Serial.println("Button_1: ON");
// your code...
break;
case '2':
Serial.println("Button_1: OFF");
// your code...
break;
case '3':
Serial.println("Button_2: ON");
// your code...
break;
case '4':
Serial.println("Button_2: OFF");
// your code...
break;
case '5':
Serial.println("Button_3: ON");
// your code...
break;
case '6':
Serial.println("Button_3: OFF");
// your code...
break;
case '7':
Serial.println("Button_4: ON");
// your code...
break;
case '8':
Serial.println("Button_4: OFF");
// your code...
break;
}
}
void setPosition_Byte(byte posX, byte posY) { // Joystick BT commander V2.5
posX = map(posX, 10, 110, 180, 0);
posY = map(posY, 10, 110, 0, 180);
posY+=ZERO_Y;
posY = constrain(posY, MIN_Y, MAX_Y);
if(DEBUG) { Serial.print("(Byte) "); Serial.print(posX); Serial.print(", "); Serial.println(posY); } // ** DEBUG **
myservoX.write(posX);
myservoY.write(posY);
}
void setPosition_Int(int posX, int posY) { // Joystick BT commander V3.0
posX = map(posX, 10, 210, 180, 0);
posY = map(posY, 10, 210, 0, 180);
posY+=ZERO_Y;
posY = constrain(posY, MIN_Y, MAX_Y);
if(DEBUG) { Serial.print("(Int) "); Serial.print(posX); Serial.print(", "); Serial.println(posY); } // ** DEBUG **
myservoX.write(posX);
myservoY.write(posY);
}
Let me know the outcome in the Project main thread
Enjoy
This is the revised sketch, compatible with Joystick Bluetooth Commander V3.X (modified communication protocol)
// Andro_Pan&Tilt V3.1
// Arduino demo sketch for Joystick BT commander V3.X
// Controls two servo motors
// V3.0: Android BT Commander V3.X compatible, no button data management
// V2.5 can receive both Byte & Integer data
// V2.0: removed SoftwareSerial
// Android BT Commander settings:
// Options/Options for advanced users/Data Range >>> -180 to +180
// Options/Options for advanced users/Refresh interval >>> 25ms
// Arduino pin #0 to TX BlueTooth module
// BT TX to be disconnected from D0 during sketch upload
#include
boolean DEBUG = true;
#define pinServo_X 9
#define pinServo_Y 10
#define STX 0x02
#define ETX 0x03
#define MIN_Y 45 // vertical move limitation
#define MAX_Y 180
#define ZERO_Y 60 // vertical offset
int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0};
Servo myservoX; // create servo object
Servo myservoY;
void setup() {
Serial.begin(57600);
myservoX.attach(pinServo_X);
myservoY.attach(pinServo_Y);
if(DEBUG) Serial.println("Stepper demo for Android BT Commander V3.X");
}
void loop() {
if(Serial.available()) { // data received from smartphone
delay(5);
cmd[0] = Serial.read();
if(cmd[0] == STX) {
i=1;
while(Serial.available()) {
cmd[i] = Serial.read();
if(cmd[i] == ETX) {
if(i==2 && cmd[1]>48) break; // Button data
if(i==5 && cmd[1]<3 && cmd[3]<3) break; // Joystick data
}
if(i>5) break;
i++;
}
if (i==2) Serial.println("Button data not implemented"); // 3 Bytes
else if(i==5) setServoPosition(cmd); // 5 Bytes
else Serial.println("Communication error");
}
}
delay(5);
}
void setServoPosition(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
joyX = map(joyX, -180, 180, 180, 0); // (-180/+180 JBC range)
joyY = map(joyY, -180, 180, 0, 180);
joyY+=ZERO_Y;
joyY = constrain(joyY, MIN_Y, MAX_Y);
myservoX.write(joyX);
myservoY.write(joyY);
if(DEBUG) {Serial.print(joyX); Serial.print(", "); Serial.println(joyY);}
}
Please post technical questions in the main thread
if i add ur software to my robot it will be nice https://www.youtube.com/watch?v=uAcljpmfuh0
Hi caymanguy, Nice bot , thanks for sharing :)
I also use this App for controlling my own balancing robot, (now with MPU-6050 gyro/acc combo)
You may see the Bluetooth card, vertically plugged on the breadboard
I would love to talk to you about your app for my project.
jmcward: I would love to talk to you about your app for my project.
If you follow the second link in his signature there's a thread describing how to use the app.
IMO, Joystick BT Commander is a great app. I've used in a couple robots myself.
If you have questions about the app, you should probably ask them in the app thread so other people can find the information provided.
kas: This basic pan & tilt robot is controlled via an Android smartphone, using a virtual joystick
http://www.youtube.com/watch?v=-jaszg2t2TY
The code on the Arduino side is rather straighforward Tip: the SoftwareSerial and the servo libraries don't collaborate happily, I learnt it the hard way :~
More info re Joystick Bluetooth Commander application here
Enjoy
hey kas, i tried this but i can't seem to make it work. I am using HC-05 module, 2 sg5010 servos and arduino uno. I tried uploading your code and I used the app you posted on google play, but nothing seems to be working.
kas: This basic pan & tilt robot is controlled via an Android smartphone, using a virtual joystick
http://www.youtube.com/watch?v=-jaszg2t2TY
The code on the Arduino side is rather straighforward Tip: the SoftwareSerial and the servo libraries don't collaborate happily, I learnt it the hard way :~
More info re Joystick Bluetooth Commander application here
Enjoy
so we cant use both at the same time?
geeameal: so we cant use both at the same time?
YMMV according to processor load, try it for yourself As suggested by DuaneDegn, please keep the technical discussion on the main thread
