Project #12: Robotics - Arduino Robot Car 2WD - Mk38

// Drive
void drive(char cmd) {
  // Forward
       if (cmd == 'F') { forward();  }  
    // Backward
  else if (cmd == 'B') { backward(); }  
  // Left
  else if (cmd == 'L') { left(); } 
  // Right     
  else if (cmd == 'R') { right(); }
  // Spin
  else if (cmd == 'O') { spin(); } 
  // Stop
  else { stopCar(); }
}

// Forward
void forward()  { digitalWrite(motor1pin1, LOW);  digitalWrite(motor1pin2, HIGH); digitalWrite(motor2pin1, HIGH); digitalWrite(motor2pin2, LOW); }
// Backward
void backward() { digitalWrite(motor1pin1, HIGH); digitalWrite(motor1pin2, LOW);  digitalWrite(motor2pin1, LOW);  digitalWrite(motor2pin2,HIGH); }
// Left
void left()     { digitalWrite(motor1pin1, LOW);  digitalWrite(motor1pin2, HIGH); digitalWrite(motor2pin1, LOW);  digitalWrite(motor2pin2, LOW); }
// Right
void right()    { digitalWrite(motor1pin1, LOW);  digitalWrite(motor1pin2, LOW);  digitalWrite(motor2pin1, HIGH); digitalWrite(motor2pin2, LOW); }
// Spin
void spin()     { digitalWrite(motor1pin1, HIGH); digitalWrite(motor1pin2, LOW);  digitalWrite(motor2pin1, HIGH); digitalWrite(motor2pin2, LOW); }
// Stop
void stopCar()  { digitalWrite(motor1pin1, LOW);  digitalWrite(motor1pin2, LOW);  digitalWrite(motor2pin1, LOW);  digitalWrite(motor2pin2, LOW); }

// Setup
void setup()
{
 
  // Initialize the LED matrix
  matrix.begin();

  // Load and display the basic emoji frame on the LED matrix
  matrix.loadFrame(LEDMATRIX_UNO);
  
  // Motor DC 1
  pinMode(motor1pin1, OUTPUT);
  pinMode(motor1pin2, OUTPUT);

  // Motor DC 2
  pinMode(motor2pin1, OUTPUT);
  pinMode(motor2pin2, OUTPUT);

  // Serial Begin
  Serial.begin(9600);
  
  // BLE Begin
  if (!BLE.begin()) {
    
    while (1);

  }

  // Name
  BLE.setLocalName("UnoR4Car");
  // Advertised Service
  BLE.setAdvertisedService(carService);
  // Characteristic
  carService.addCharacteristic(commandChar);
  // Service
  BLE.addService(carService);
  // Advertise
  BLE.advertise();

}