Hello I am trying to modify a existing project i admire. The Blynk app no longer supports Arduino Bluetooth so I'm switching to Dabble.
Using a BN880 GPS which works fine on the tinygps full example.
I'm struggling to replace the BLYNK_WRITE calls on line 99, 115,124 and 141.
I get they are setting a virtual pin.
My substitute would be a Dabble app which i have tested with gamepad and serial read and write along with discrete command such as-
''if(GamePad.isPressed(0)) {
Motor1.moveMotor(2.55*100);
}''
They work fine-
When i replace a 'Blynk_Write(V#)' with a '(GamePad.isPressed(0))' or '(Inputs.getSlideSwitchStatus(1, 2))' I get errors with - expected ')' before '.' token
I've imported the dabble libraries which seem excessive but was trying get the gamepad commands working with this sketch
Thanks in advance! circuit photo attached
#define BLYNK_USE_DIRECT_CONNECT
static const int RXPin = 4, TXPin = 3;
static const uint32_t GPSBaud = 38400;
// Imports
#include <Dabble.h>
#include <DabbleInputs.h>
#include <DabblePrint.h>
#include <DabblePrintln.h>
#include <DataLoggerModule.h>
#include <GamePadModule.h>
#include <IncludedModulesDefines.h>
#include <ModuleIds.h>
#include <ModuleIncludes.h>
#include <ModuleSelection.h>
#include <motorControls.h>
#include <NotifyAndSMSModule.h>
#include <PinMonitorModule.h>
#include <SensorModule.h>
#include <SoftwareSerial.h>
#include <TerminalModule.h>
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_HMC5883_U.h>
#include <Servo.h>
#include <SoftwareSerial.h>
#include <BlynkSimpleSerialBLE.h>
#include "./TinyGPS.h" // Use local version of this library
#include "./CoolerDefinitions.h"
// GPS
TinyGPS gps;
// Lid
Servo lidServo;
CoolerLid lidState = CLOSED;
// Master Enable
bool enabled = false;
//WidgetTerminal terminal(V3);
// Serial components
SoftwareSerial bluetoothSerial(BLUETOOTH_TX_PIN, BLUETOOTH_RX_PIN);
SoftwareSerial nss(GPS_TX_PIN, 255); // TXD to digital pin 3
SoftwareSerial ss(RXPin, TXPin);
/* Compass */
Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
GeoLoc checkGPS() {
Serial.println("Reading onboard GPS: ");
bool newdata = false;
unsigned long start = millis();
while (millis() - start < GPS_UPDATE_INTERVAL) {
if (feedgps())
newdata = true;
}
if (newdata) {
return gpsdump(gps);
}
GeoLoc coolerLoc;
coolerLoc.lat = 0.0;
coolerLoc.lon = 0.0;
return coolerLoc;
}
// Get and process GPS data
GeoLoc gpsdump(TinyGPS &gps) {
float flat, flon;
unsigned long age;
gps.f_get_position(&flat, &flon, &age);
GeoLoc coolerLoc;
coolerLoc.lat = flat;
coolerLoc.lon = flon;
Serial.print(coolerLoc.lat, 7); Serial.print(", "); Serial.println(coolerLoc.lon, 7);
return coolerLoc;
}
// Feed data as it becomes available
bool feedgps() {
while (nss.available()) {
if (gps.encode(nss.read()))
return true;
}
return false;
}
// Lid Hook
BLYNK_WRITE(V0)
{
switch (lidState)
{
case OPENED:
setServo(SERVO_LID_CLOSE);
lidState = CLOSED;
break;
case CLOSED:
setServo(SERVO_LID_OPEN);
lidState = OPENED;
break;
}
}
// Killswitch Hook
BLYNK_WRITE(V1)
{
enabled = !enabled;
//Stop the wheels
stop();
}
// GPS Streaming Hook
BLYNK_WRITE(V2)
{
GpsParam gps(param);
Serial.println("Received remote GPS: ");
// Print 7 decimal places for Lat
Serial.print(gps.getLat(), 7); Serial.print(", "); Serial.println(gps.getLon(), 7);
GeoLoc phoneLoc;
phoneLoc.lat = gps.getLat();
phoneLoc.lon = gps.getLon();
driveTo(phoneLoc, GPS_STREAM_TIMEOUT);
}
// Terminal Hook
BLYNK_WRITE(V3)
{
Serial.print("Received Text: ");
Serial.println(param.asStr());
String rawInput(param.asStr());
int colonIndex;
int commaIndex;
do {
commaIndex = rawInput.indexOf(',');
colonIndex = rawInput.indexOf(':');
if (commaIndex != -1) {
String latStr = rawInput.substring(0, commaIndex);
String lonStr = rawInput.substring(commaIndex + 1);
if (colonIndex != -1) {
lonStr = rawInput.substring(commaIndex + 1, colonIndex);
}
float lat = latStr.toFloat();
float lon = lonStr.toFloat();
if (lat != 0 && lon != 0) {
GeoLoc waypoint;
waypoint.lat = lat;
waypoint.lon = lon;
Serial.print("Waypoint found: "); Serial.print(lat); Serial.println(lon);
driveTo(waypoint, GPS_WAYPOINT_TIMEOUT);
}
}
rawInput = rawInput.substring(colonIndex + 1);
} while (colonIndex != -1);
}
void displayCompassDetails(void)
{
sensor_t sensor;
mag.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print ("Sensor: "); Serial.println(sensor.name);
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" uT");
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" uT");
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" uT");
Serial.println("------------------------------------");
Serial.println("");
delay(500);
}
#ifndef DEGTORAD
#define DEGTORAD 0.0174532925199432957f
#define RADTODEG 57.295779513082320876f
#endif
float geoBearing(struct GeoLoc &a, struct GeoLoc &b) {
float y = sin(b.lon - a.lon) * cos(b.lat);
float x = cos(a.lat) * sin(b.lat) - sin(a.lat) * cos(b.lat) * cos(b.lon - a.lon);
return atan2(y, x) * RADTODEG;
}
float geoDistance(struct GeoLoc &a, struct GeoLoc &b) {
const float R = 6371000; // km
float p1 = a.lat * DEGTORAD;
float p2 = b.lat * DEGTORAD;
float dp = (b.lat - a.lat) * DEGTORAD;
float dl = (b.lon - a.lon) * DEGTORAD;
float x = sin(dp / 2) * sin(dp / 2) + cos(p1) * cos(p2) * sin(dl / 2) * sin(dl / 2);
float y = 2 * atan2(sqrt(x), sqrt(1 - x));
return R * y;
}
float geoHeading() {
/* Get a new sensor event */
sensors_event_t event;
mag.getEvent(&event);
// Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
// Calculate heading when the magnetometer is level, then correct for signs of axis.
float heading = atan2(event.magnetic.y, event.magnetic.x);
// Offset
heading -= DECLINATION_ANGLE;
heading -= COMPASS_OFFSET;
// Correct for when signs are reversed.
if (heading < 0)
heading += 2 * PI;
// Check for wrap due to addition of declination.
if (heading > 2 * PI)
heading -= 2 * PI;
// Convert radians to degrees for readability.
float headingDegrees = heading * 180 / M_PI;
// Map to -180 - 180
while (headingDegrees < -180) headingDegrees += 360;
while (headingDegrees > 180) headingDegrees -= 360;
return headingDegrees;
}
void setServo(int pos) {
lidServo.attach(SERVO_PIN);
lidServo.write(pos);
delay(2000);
lidServo.detach();
}
void setSpeedMotorA(int speed) {
digitalWrite(MOTOR_A_IN_1_PIN, LOW);
digitalWrite(MOTOR_A_IN_2_PIN, HIGH);
// set speed to 200 out of possible range 0~255
analogWrite(MOTOR_A_EN_PIN, speed + MOTOR_A_OFFSET);
}
void setSpeedMotorB(int speed) {
digitalWrite(MOTOR_B_IN_1_PIN, LOW);
digitalWrite(MOTOR_B_IN_2_PIN, HIGH);
// set speed to 200 out of possible range 0~255
analogWrite(MOTOR_B_EN_PIN, speed + MOTOR_B_OFFSET);
}
void setSpeed(int speed)
{
// this function will run the motors in both directions at a fixed speed
// turn on motor A
setSpeedMotorA(speed);
// turn on motor B
setSpeedMotorB(speed);
}
void stop() {
// now turn off motors
digitalWrite(MOTOR_A_IN_1_PIN, LOW);
digitalWrite(MOTOR_A_IN_2_PIN, LOW);
digitalWrite(MOTOR_B_IN_1_PIN, LOW);
digitalWrite(MOTOR_B_IN_2_PIN, LOW);
}
void drive(int distance, float turn) {
int fullSpeed = 230;
int stopSpeed = 0;
// drive to location
int s = fullSpeed;
if ( distance < 8 ) {
int wouldBeSpeed = s - stopSpeed;
wouldBeSpeed *= distance / 8.0f;
s = stopSpeed + wouldBeSpeed;
}
int autoThrottle = constrain(s, stopSpeed, fullSpeed);
autoThrottle = 230;
float t = turn;
while (t < -180) t += 360;
while (t > 180) t -= 360;
Serial.print("turn: ");
Serial.println(t);
Serial.print("original: ");
Serial.println(turn);
float t_modifier = (180.0 - abs(t)) / 180.0;
float autoSteerA = 1;
float autoSteerB = 1;
if (t < 0) {
autoSteerB = t_modifier;
} else if (t > 0) {
autoSteerA = t_modifier;
}
Serial.print("steerA: "); Serial.println(autoSteerA);
Serial.print("steerB: "); Serial.println(autoSteerB);
int speedA = (int) (((float) autoThrottle) * autoSteerA);
int speedB = (int) (((float) autoThrottle) * autoSteerB);
setSpeedMotorA(speedA);
setSpeedMotorB(speedB);
}
void driveTo(struct GeoLoc &loc, int timeout) {
nss.listen();
GeoLoc coolerLoc = checkGPS();
bluetoothSerial.listen();
if (coolerLoc.lat != 0 && coolerLoc.lon != 0 && enabled) {
float d = 0;
//Start move loop here
do {
nss.listen();
coolerLoc = checkGPS();
bluetoothSerial.listen();
d = geoDistance(coolerLoc, loc);
float t = geoBearing(coolerLoc, loc) - geoHeading();
Serial.print("Distance: ");
Serial.println(geoDistance(coolerLoc, loc));
Serial.print("Bearing: ");
Serial.println(geoBearing(coolerLoc, loc));
Serial.print("heading: ");
Serial.println(geoHeading());
drive(d, t);
timeout -= 1;
} while (d > 3.0 && enabled && timeout > 0);
stop();
}
}
void setupCompass() {
/* Initialise the compass */
if (!mag.begin())
{
/* There was a problem detecting the HMC5883 ... check your connections */
Serial.println("Ooops, no HMC5883 detected ... Check your wiring!");
while (1);
}
/* Display some basic information on this sensor */
displayCompassDetails();
}
void setup()
{
// Compass
setupCompass();
// Motor pins
pinMode(MOTOR_A_EN_PIN, OUTPUT);
pinMode(MOTOR_B_EN_PIN, OUTPUT);
pinMode(MOTOR_A_IN_1_PIN, OUTPUT);
pinMode(MOTOR_A_IN_2_PIN, OUTPUT);
pinMode(MOTOR_B_IN_1_PIN, OUTPUT);
pinMode(MOTOR_B_IN_2_PIN, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, HIGH);
//Debugging via serial
Serial.begin(4800);
//GPS
nss.begin(9600);
Serial.begin(38400);
ss.begin(GPSBaud);
//Bluetooth
Dabble.begin(9600);
Serial.begin(9600);
bluetoothSerial.begin(9600);
}
// Testing
void testDriveNorth() {
float heading = geoHeading();
int testDist = 10;
Serial.println(heading);
while (!(heading < 5 && heading > -5)) {
drive(testDist, heading);
heading = geoHeading();
Serial.println(heading);
delay(500);
}
stop();
}
void loop()
{
Blynk.run();
Dabble.processInput();
}