Robot Romeo mini

thingiverse

Children love The link to the Romeo mini card is https://www.dfrobot.com/product-1367.html?search=romeo%20mini The links for the libraries to install are https://github.com/Arduinolibrary/DFRobot_Flame_Wheel_Vehicle/raw/master/ROMEO_M.zip https://github.com/CainZ/GoBle/archive/master.zip And the good program is /* ---Flamewheel Bluetooth Control Program //------2016.6.29 by LL //------Suitable for Romeo BLE Mini MCU //http://www.dfrobot.com/index.php?route=product/product&product_id=1367&search=ble+mini&description=true#.V8AR1q11Zfc */ #include "GoBLE.h" #include <Romeo_m.h> #define LED 13 // GoBLE Goble(Serial); int joystickX, joystickY; int buttonState[7]; unsigned int led_count; void setup() { Romeo_m.Initialise(); Goble.begin(); pinMode(LED, OUTPUT); } void loop() { if (Goble.available()) { readGoBle(); motorContrl(); } delayLedBlink(); //delay 10ms and led blink } // Read GoBLE values void readGoBle() { // read joystick value when there's valid command from bluetooth joystickX = Goble.readJoystickX(); joystickY = Goble.readJoystickY(); // read button state when there's valid command from bluetooth buttonState[SWITCH_UP] = Goble.readSwitchUp(); buttonState[SWITCH_DOWN] = Goble.readSwitchDown(); buttonState[SWITCH_LEFT] = Goble.readSwitchLeft(); buttonState[SWITCH_RIGHT] = Goble.readSwitchRight(); buttonState[SWITCH_SELECT] = Goble.readSwitchSelect(); buttonState[SWITCH_START] = Goble.readSwitchStart(); } // Move according to GoBLE value //Joystick left and right to turn bends, left and right buttons to spin on the spot void motorContrl() { if ((buttonState[SWITCH_UP] == PRESSED) || ((joystickX > 128) && (joystickY >= 64) && (joystickY <= 192))) { Romeo_m.motorControl(Forward, 200, Forward, 200); //go forward return; //end function } if ((buttonState[SWITCH_DOWN] == PRESSED) || ((joystickX < 128) && (joystickY >= 64) && (joystickY <= 192))) { Romeo_m.motorControl(Reverse, 150, Reverse, 150); //go backwards return; //end function } if (buttonState[SWITCH_LEFT] == PRESSED) { Romeo_m.motorControl(Reverse, 100, Forward, 100); //turn left return; //end function } if ((joystickY < 128 ) && (joystickX >= 64 ) && ( joystickX <= 192) ) { Romeo_m.motorControl_M1(Forward, 80); //turn left big bend Romeo_m.motorControl_M2(Forward, 200); return; //end function } if ( buttonState[SWITCH_RIGHT] == PRESSED) { Romeo_m.motorControl(Forward, 100, Reverse, 100); //turn right return; //end function } if ((joystickY > 128) && (joystickX >= 64) && (joystickX <= 192)) { Romeo_m.motorControl_M2(Forward, 80); //turn right big bend Romeo_m.motorControl_M1(Forward, 200); return; //big bend } Romeo_m.motorStop(); //no stop button is pressed } // led blink function, each execution delay 10ms. every 100 times level inverted void delayLedBlink() { delay(10); led_count++; if (led_count > 100) { digitalWrite(LED, !digitalRead(LED)); led_count = 0; } }