[code]
#include <AFMotor.h>
#include <Servo.h>
Servo servo1_servo;
Servo servo2_servo;
//initial motors pin
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(1, MOTOR34_1KHZ);
AF_DCMotor motor4(2, MOTOR34_1KHZ);
char command;
void setup()
{
servo2_servo.attach (11);
servo1_servo.attach (10);
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
}
void loop(){
if(Serial.available() > 0){
command = Serial.read();
Stop(); //initialize with motors stoped
//Change pin mode only if new command is different from previous.
//Serial.println(command);
switch(command){
case ‘F’:
forward();
break;
case ‘B’:
back();
break;
case ‘L’:
left();
break;
case ‘R’:
right();
break;
}
}
}
if (case ‘F’ && case ‘L’ ) {
servo1_servo.write (60);
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255);//Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255);//Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void forward()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255);//Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255);//Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void back()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(BACKWARD); //rotate the motor anti-clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(BACKWARD); //rotate the motor anti-clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(BACKWARD); //rotate the motor anti-clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(BACKWARD); //rotate the motor anti-clockwise
}
void left()
{
}
void right()
{
}
void Stop()
{
servo1_servo.write (100);
motor1.setSpeed(0); //Define minimum velocity
motor1.run(RELEASE); //stop the motor when release the button
motor2.setSpeed(0); //Define minimum velocity
motor2.run(RELEASE); //rotate the motor clockwise
motor3.setSpeed(0); //Define minimum velocity
motor3.run(RELEASE); //stop the motor when release the button
motor4.setSpeed(0); //Define minimum velocity
motor4.run(RELEASE); //stop the motor when release the button
}