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BLE Toy Train Controlled by Smartphone

I made train controlled by smart phone using 100 ten toy train and BLE board.

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BLE Toy Train Controlled by Smartphone

Things used in this project

Hardware components

100Yen Toy Train
×3
RedBear BLE Nano
×1
Motor Driver DRV8830
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×1
3.7 V LiPo Battery
×1

Software apps and online services

Arduino IDE
Arduino IDE
Android Studio
Android Studio

Story

Read more

Schematics

Diagram

Code

moterDriveBLEnano00.ino

Arduino
#include <Wire.h>
//#include "I2Cdev.h"
#include <BLE_API.h>
#include <Servo.h> 
 
Servo myservo; 
const int DRV8830 = 0x64;

int power = 0;
int angle = 0;
int rot = 0;

#define TXRX_BUF_LEN    20

BLE     ble;
Timeout timeout;                

static uint8_t rx_buf[TXRX_BUF_LEN];
static uint8_t rx_buf_num;

// The Nordic UART Service
static const uint8_t service1_uuid[]                = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t service1_tx_uuid[]             = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t service1_rx_uuid[]             = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t uart_base_uuid_rev[]           = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71};

uint8_t tx_value[TXRX_BUF_LEN] = {0,};
uint8_t rx_value[TXRX_BUF_LEN] = {0,};

int speed1 = 0;
int iniState = 0;
int angleRx_ini = 35;
int angleRx = angleRx_ini;

GattCharacteristic  characteristic1(service1_tx_uuid, tx_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE );

GattCharacteristic  characteristic2(service1_rx_uuid, rx_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);

GattCharacteristic *uartChars[] = {&characteristic1, &characteristic2};

GattService         uartService(service1_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));

// I2C motor driver I2C
//Reference
//http://makers-with-myson.blog.so-net.ne.jp/2014-05-15
void writeMotorResister(byte vset, byte data1){
  int vdata = vset << 2 | data1;
  Wire.beginTransmission(DRV8830);
  Wire.write(0x00);
  Wire.write(vdata);
  Wire.endTransmission(true);
  //delay(10);
}


void disconnectionCallBack(Gap::Handle_t handle, Gap::DisconnectionReason_t reason){
  Serial.println("Disconnected!");
  Serial.println("Restarting the advertising process");
  iniState = 0;
  ble.startAdvertising();
}

// data Rx
void writtenHandle(const GattWriteCallbackParams *Handler){
  uint8_t buf[TXRX_BUF_LEN];
  uint16_t bytesRead, index;

  //Serial.println("onDataWritten : ");
  if (Handler->handle == characteristic1.getValueAttribute().getHandle()) {
    ble.readCharacteristicValue(characteristic1.getValueAttribute().getHandle(), buf, &bytesRead);

    if (buf[0] == 'c') {
      iniState = 1;
      power = buf[1];
      angle = buf[2];
      rot = buf[3];
    }
  }
  speed1 = map(power, 0, 100, 5, 19);
  angleRx = map(angle, 0, 180, 0, angleRx_ini * 2);

  if (rot == 2){
    Serial.print("Forward  ");
  }
  if (rot == 1){
    Serial.print("Reverse  ");
  }
  Serial.print("power: ");
  Serial.print(power);
  Serial.print("  ");
  Serial.print("angle: ");
  Serial.println(angle);
}

//data Tx
void m_uart_rx_handle(){
  rx_buf_num = 1;
  rx_buf[0] = 's';
  ble.updateCharacteristicValue(characteristic2.getValueAttribute().getHandle(), rx_buf, rx_buf_num);   
  memset(rx_buf, 0x00,1);
  delay(500);
  Serial.println("Tx: s");
}

void setup() {   
  Wire.begin(D3, D2, 400000L);
  Serial.begin(250000);
  writeMotorResister(0x00, 0x00);
  //writeMotorResister(0x80, 0x00);
  BLEset();

  myservo.attach(D4);
  myservo.write(angleRx);
  
}

void loop() {
  //delay(300);
  if(iniState == 0){
    m_uart_rx_handle();
  }
  
  if (power >= 0 && power < 45){
    angleRx = angleRx_ini;
  }
  
  if (power == 0){
    writeMotorResister(0x00, 0x00);
  }else {
    writeMotorResister((byte)speed1, (byte)rot);
  }
  myservo.write(angleRx); 

  delay(15);
}



//BLE 
void BLEset() {
  ble.init();
  ble.onDisconnection(disconnectionCallBack);
  ble.onDataWritten(writtenHandle);
  
  // setup adv_data and srp_data
  ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
 
  ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
                                     (const uint8_t *)"motor", sizeof("motor") - 1);
  ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
                                     (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid_rev));
                
  // set adv_type
  ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);    
  // add service
  ble.addService(uartService);
  // set device name
  ble.setDeviceName((const uint8_t *)"Simple Chat");
  // set tx power,valid values are -40, -20, -16, -12, -8, -4, 0, 4
  ble.setTxPower(4);
  // set adv_interval, 100ms in multiples of 0.625ms.
  ble.setAdvertisingInterval(160);
  // set adv_timeout, in seconds
  ble.setAdvertisingTimeout(0);
  // start advertising
  ble.startAdvertising();

  Serial.println("Advertising Start!"); 
}

Ctl.java

Java
package com.redbear.moterDrive_BLEnano02;

import java.util.HashMap;
import java.util.Map;
import java.util.UUID;

import android.app.Activity;
import android.bluetooth.BluetoothGattCharacteristic;
import android.bluetooth.BluetoothGattService;
import android.content.BroadcastReceiver;
import android.content.ComponentName;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.content.ServiceConnection;
import android.os.Bundle;
import android.os.IBinder;
import android.util.Log;
import android.view.MenuItem;
import android.widget.TextView;

import com.developwear.joystickview.JoystickView;

public class Ctl extends Activity {
	private final static String TAG = Ctl.class.getSimpleName();

	public static final String EXTRAS_DEVICE = "EXTRAS_DEVICE";
	private TextView tv = null;
	private JoystickView jsv;

	private String mDeviceName;
	private String mDeviceAddress;
	private RBLService mBluetoothLeService;
	private Map<UUID, BluetoothGattCharacteristic> map = new HashMap<UUID, BluetoothGattCharacteristic>();

	private int bleState = 0;

	private final ServiceConnection mServiceConnection = new ServiceConnection() {

		@Override
		public void onServiceConnected(ComponentName componentName,
				IBinder service) {
			mBluetoothLeService = ((RBLService.LocalBinder) service)
					.getService();
			if (!mBluetoothLeService.initialize()) {
				Log.e(TAG, "Unable to initialize Bluetooth");
				finish();
			}

			// Automatically connects to the device upon successful start-up
			// initialization.
			mBluetoothLeService.connect(mDeviceAddress);
		}

		@Override
		public void onServiceDisconnected(ComponentName componentName) {

			mBluetoothLeService = null;
		}
	};

	private final BroadcastReceiver mGattUpdateReceiver = new BroadcastReceiver() {
		@Override
		public void onReceive(Context context, Intent intent) {
			final String action = intent.getAction();

			if (RBLService.ACTION_GATT_DISCONNECTED.equals(action)) {
				tv.setText("Ready..");
				bleState = 0;
			} else if (RBLService.ACTION_GATT_SERVICES_DISCOVERED
					.equals(action)) {
				getGattService(mBluetoothLeService.getSupportedGattService());
			} else if (RBLService.ACTION_DATA_AVAILABLE.equals(action)) {
				//Data Rx
				byte[] RxData = intent.getByteArrayExtra(RBLService.EXTRA_DATA);
				if(RxData[0] == 's'){
					tv.setText("Start!!");
					bleState = 1;
				}
			}
		}
	};

	@Override
	protected void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);
		setContentView(R.layout.second);

		tv = (TextView) findViewById(R.id.textView);

		//Joy Stick
		//https://github.com/clkasd/JoystickView
		jsv = (JoystickView)findViewById(R.id.joystickview);
		jsv.setJoystickChangeListener(new JoystickView.JoystickChangeListener() {
			@Override
			public void onJoystickChanged(int power, int degree) {
				Log.v("power", String.valueOf(String.valueOf(power)));
				Log.v("degree", String.valueOf(String.valueOf(degree)));
				sendJoyStick(power, degree);
			}
		});

		Intent intent = getIntent();

		mDeviceAddress = intent.getStringExtra(Device.EXTRA_DEVICE_ADDRESS);
		mDeviceName = intent.getStringExtra(Device.EXTRA_DEVICE_NAME);

		getActionBar().setTitle(mDeviceName);
		getActionBar().setDisplayHomeAsUpEnabled(true);

		Intent gattServiceIntent = new Intent(this, RBLService.class);
		bindService(gattServiceIntent, mServiceConnection, BIND_AUTO_CREATE);
	}

	@Override
	protected void onResume() {
		super.onResume();

		registerReceiver(mGattUpdateReceiver, makeGattUpdateIntentFilter());
	}

	@Override
	public boolean onOptionsItemSelected(MenuItem item) {
		if (item.getItemId() == android.R.id.home) {
			mBluetoothLeService.disconnect();
			mBluetoothLeService.close();

			System.exit(0);
		}

		return super.onOptionsItemSelected(item);
	}

	@Override
	protected void onStop() {
		super.onStop();

		unregisterReceiver(mGattUpdateReceiver);
	}

	@Override
	protected void onDestroy() {
		super.onDestroy();

		mBluetoothLeService.disconnect();
		mBluetoothLeService.close();

		System.exit(0);
	}

	private void getGattService(BluetoothGattService gattService) {
		if (gattService == null)
			return;

		BluetoothGattCharacteristic characteristic = gattService
				.getCharacteristic(RBLService.UUID_BLE_SHIELD_TX);
		map.put(characteristic.getUuid(), characteristic);

		BluetoothGattCharacteristic characteristicRx = gattService
				.getCharacteristic(RBLService.UUID_BLE_SHIELD_RX);
		mBluetoothLeService.setCharacteristicNotification(characteristicRx,
				true);
		mBluetoothLeService.readCharacteristic(characteristicRx);
	}

	private static IntentFilter makeGattUpdateIntentFilter() {
		final IntentFilter intentFilter = new IntentFilter();

		intentFilter.addAction(RBLService.ACTION_GATT_CONNECTED);
		intentFilter.addAction(RBLService.ACTION_GATT_DISCONNECTED);
		intentFilter.addAction(RBLService.ACTION_GATT_SERVICES_DISCOVERED);
		intentFilter.addAction(RBLService.ACTION_DATA_AVAILABLE);

		return intentFilter;
	}

	//Data Tx
	public void sendJoyStick(int pow, int deg){
		BluetoothGattCharacteristic characteristic = map
				.get(RBLService.UUID_BLE_SHIELD_TX);

		byte[] bytes = new byte[4];
		bytes[0]='c';
		bytes[1]=(byte)pow;
		bytes[2]=(byte)(Math.abs(deg)); //
		if(deg < 0){
			bytes[3] = 1; //
		}else{
			bytes[3] = 2; //
		}

		characteristic.setValue(bytes);

		if(bleState == 1){
			mBluetoothLeService.writeCharacteristic(characteristic);
		}
	}
}

second.xml

Java
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="fill_parent"
    android:layout_height="fill_parent"
    android:orientation="vertical"
    android:weightSum="1">

    <TextView
        android:id="@+id/textView"
        android:layout_width="256dp"
        android:layout_height="50dp"
        android:scrollbars="vertical"
        android:textSize="30dp"
        android:text="Ready..." />

    <com.developwear.joystickview.JoystickView
        android:id="@+id/joystickview"
        android:layout_width="700px"
        android:layout_height="700px"
        android:layout_centerVertical="true"
        android:layout_centerHorizontal="true"
        android:layout_gravity="center_horizontal" />

</LinearLayout>

build.gradle (Module: app)

Java
apply plugin: 'com.android.application'

android {
    compileSdkVersion 21
    buildToolsVersion "23.0.2"

    defaultConfig {
        applicationId "com.hmg.moterdrive_blenano02"
        minSdkVersion 21
        targetSdkVersion 21
    }

    buildTypes {
        release {
            minifyEnabled false
            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.txt'
        }
    }
}

dependencies {
    compile 'com.android.support:support-v4:21.0.0'
    compile 'com.developwear:joystickviewlib:1.0.1'
}

Credits

HomeMadeGarbage

HomeMadeGarbage

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We are family. hobby is D.I.Y!!

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