MassimilianoMichele Valentini
Published © CC BY

Arduino-Powered Robot Controlled with The Tactigon

We used The Tactigon to control an Arduino-powered robot via BLE. Moving The Tactigon as a 3D steering wheel is awesome!

BeginnerFull instructions provided3 hours4,975

Things used in this project

Hardware components

Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
The Tactigon One
The Tactigon One
wearable board with SDK Arduino
×1
Bluetooth Low Energy (BLE) Module (Generic)
×1

Software apps and online services

Arduino IDE
Arduino IDE

Story

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Code

Robot.ino

Arduino
This is the sketch to run on an Arduino UNO connected to the Alphabot 2 Rover
#include <Adafruit_NeoPixel.h>

#define PWMA   6           //Left Motor Speed pin (ENA)
#define AIN2   A0          //Motor-L forward (IN2).
#define AIN1   A1          //Motor-L backward (IN1)
#define PWMB   5           //Right Motor Speed pin (ENB)
#define BIN1   A2          //Motor-R forward (IN3)
#define BIN2   A3          //Motor-R backward (IN4)
#define PIN 7

String comdata = "";
int Speed = 150;
uint16_t i, j;
unsigned long lasttime = 0;
byte flag = 1;
Adafruit_NeoPixel RGB = Adafruit_NeoPixel(4, PIN, NEO_GRB + NEO_KHZ800);

void forward();
void backward();
void right();
void left();
void stop();
uint32_t Wheel(byte WheelPos);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  RGB.begin();
  RGB.show(); // Initialize all pixels to 'off'
  pinMode(PWMA,OUTPUT);                     
  pinMode(AIN2,OUTPUT);      
  pinMode(AIN1,OUTPUT);
  pinMode(PWMB,OUTPUT);       
  pinMode(AIN1,OUTPUT);     
  pinMode(AIN2,OUTPUT);  
  Serial.println("Bluetooth control example");
  stop();
}

void loop() {
  // put your main code here, to run repeatedly:
  while (Serial.available() > 0)  
  {
    comdata += char(Serial.read());
    delay(2);
  }
  if (comdata.length() > 0)
  {
    Serial.println(comdata);
    const char* command = comdata.c_str();
    if(strcmp(command,"Forward") == 0)          //Forward
    {
      flag = 0;
      RGB.setPixelColor(0, 0xFF0000);
      RGB.setPixelColor(1, 0xFF0000);
      RGB.setPixelColor(2, 0xFF0000);
      RGB.setPixelColor(3, 0xFF0000);
      RGB.show();
      forward();
    }
    else if(strcmp(command,"Backward") == 0)    //Backward
    {
      flag = 0;
      RGB.setPixelColor(0, 0x00FF00);
      RGB.setPixelColor(1, 0x00FF00);
      RGB.setPixelColor(2, 0x00FF00);
      RGB.setPixelColor(3, 0x00FF00);
      RGB.show();  
      backward();
    }
    else if(strcmp(command,"Left") == 0)        //Left
    {
      flag = 0;
      RGB.setPixelColor(0, 0xFFFF00);
      RGB.setPixelColor(1, 0xFFFF00);
      RGB.setPixelColor(2, 0xFFFF00);
      RGB.setPixelColor(3, 0xFFFF00);
      RGB.show();
      left();
    }
    else if(strcmp(command,"Right") == 0)       //Right
    {
      flag = 0;
      RGB.setPixelColor(0, 0x0000FF);
      RGB.setPixelColor(1, 0x0000FF);
      RGB.setPixelColor(2, 0x0000FF);
      RGB.setPixelColor(3, 0x0000FF);
      RGB.show();  
      right();
    }
    else if(strcmp(command,"Stop") == 0)        //Stop
    {
      flag = 1;
      stop();
    }
    else if(strcmp(command,"Low") == 0)         //Low
    {
      Speed = 50;
    }
    else if(strcmp(command,"Medium") == 0)      //Medium
    {
      Speed = 150;
    }
    else if(strcmp(command,"High") == 0)        //High
    {
      Speed = 250;
    }
    else if(strstr(command,"Wh")!=0)  //Direct wheels control
    {
      int leftSpeed,rightSpeed; 
      sscanf(command,"Wh(%d)(%d)",&leftSpeed,&rightSpeed);
      direct_motor(leftSpeed,rightSpeed);
    }
    
    comdata = "";
  }
  if(millis() - lasttime >20){  
    lasttime = millis();   
    for(i=0; i< RGB.numPixels(); i++) {
      RGB.setPixelColor(i, Wheel(((i * 256 / RGB.numPixels()) + j) & 255));
    }
    if(flag)RGB.show();
    if(j++ > 256*5) j= 0;
  }
}

void direct_motor(int leftSpeed,int rightSpeed)
{
  if(leftSpeed==0)
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,LOW);
  }
  else
  {
    if(leftSpeed>0)
    {
      analogWrite(PWMA,leftSpeed);
      digitalWrite(AIN1,LOW);
      digitalWrite(AIN2,HIGH);

    }
    else
    {
      analogWrite(PWMA,-leftSpeed);
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);

    }
  }


  if(rightSpeed==0)
  {
    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,LOW);
  }
  else
  {
    if(rightSpeed>0)
    {
      analogWrite(PWMB,rightSpeed);
      digitalWrite(BIN1,LOW);
      digitalWrite(BIN2,HIGH);

    }
    else
    {
      analogWrite(PWMB,-rightSpeed);
      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);

    }
  }
}

void forward()
{
  analogWrite(PWMA,Speed);
  analogWrite(PWMB,Speed);
  digitalWrite(AIN1,LOW);
  digitalWrite(AIN2,HIGH);
  digitalWrite(BIN1,LOW);  
  digitalWrite(BIN2,HIGH); 
}

void backward()
{
  analogWrite(PWMA,Speed);
  analogWrite(PWMB,Speed);
  digitalWrite(AIN1,HIGH);
  digitalWrite(AIN2,LOW);
  digitalWrite(BIN1,HIGH); 
  digitalWrite(BIN2,LOW);  
}

void right()
{
  analogWrite(PWMA,80);
  analogWrite(PWMB,80);
  digitalWrite(AIN1,LOW);
  digitalWrite(AIN2,HIGH);
  digitalWrite(BIN1,HIGH); 
  digitalWrite(BIN2,LOW);  
}

void left()
{
  analogWrite(PWMA,80);
  analogWrite(PWMB,80);
  digitalWrite(AIN1,HIGH);
  digitalWrite(AIN2,LOW);
  digitalWrite(BIN1,LOW); 
  digitalWrite(BIN2,HIGH);  
}

void stop()
{
  analogWrite(PWMA,0);
  analogWrite(PWMB,0);
  digitalWrite(AIN1,LOW);
  digitalWrite(AIN2,LOW);
  digitalWrite(BIN1,LOW); 
  digitalWrite(BIN2,LOW);  
}

// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
  if(WheelPos < 85) {
   return RGB.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
  } else if(WheelPos < 170) {
   WheelPos -= 85;
   return RGB.Color(255 - WheelPos * 3, 0, WheelPos * 3);
  } else {
   WheelPos -= 170;
   return RGB.Color(0, WheelPos * 3, 255 - WheelPos * 3);
  }
}

Tactigon.ino

Arduino
This is the sketch to run on The Tactigon to control the alphabot 2 rover.
#include <tactigon_led.h>
#include <tactigon_IMU.h>
#include <tactigon_BLE.h>


extern int ButtonPressed;

T_Led rLed, bLed, gLed;



T_QUAT qMeter;
T_QData qData;

T_BLE bleManager;
UUID targetUUID;
uint8_t targetMAC[6] = {0x00,0x0e,0x0b,0x0c,0x4a,0x00};
T_BLE_Characteristic accChar, gyroChar, magChar, qChar;

int ticks, ticksLed, stp, cnt, printCnt;
float roll, pitch, yaw;



void setup() {
  // put your setup code here, to run once:
  ticks = 0;
  ticksLed = 0;
  stp = 0;
  cnt = 0;

  //init leds
  rLed.init(T_Led::RED);
  gLed.init(T_Led::GREEN);
  bLed.init(T_Led::BLUE);
  rLed.off();
  gLed.off();
  bLed.off();

  //init BLE 
  bleManager.setName("Tactigon");
  bleManager.InitRole(TACTIGON_BLE_CENTRAL);                  //role: CENTRAL
  targetUUID.set("0000ffe1-0000-1000-8000-00805f9b34fb");     //target characteristic
  bleManager.setTarget(targetMAC, targetUUID);                //target: mac device and its char UUID
}

void loop() {

  char buffData[24];  
  int deltaWheel, speedWheel;
  int pitchThreshold, rollThreshold, th1, th2;

  //update BLE characteristics @ 50Hz (20msec)
  if(GetCurrentMilli() >= (ticks +(1000 / 50)))
  {    
    ticks = GetCurrentMilli();
        
    //get quaternions and Euler angles
    qData = qMeter.getQs();      

    //Euler angles: rad/sec --> degrees/sec    
    roll = qData.roll * 360/6.28;
    pitch = qData.pitch * 360/6.28;
    yaw = qData.yaw * 360/6.28;


    //build command to rover depending on Euler angles                  
    //left/right
    pitchThreshold = 15;
    if(pitch < -pitchThreshold || pitch > pitchThreshold)
    {
      if(pitch<-pitchThreshold)
      {
        deltaWheel =- (fabs(pitch) - pitchThreshold)*3;
      }
      else
      {
        deltaWheel =+ (fabs(pitch) - pitchThreshold)*3;
      }      
    }
    else
    {
      deltaWheel=0;
    }

    //forward/backword
    rollThreshold = 15;
    th1 = 90 + rollThreshold;
    th2 = 90 - rollThreshold;
    roll = fabs(roll);
    if(roll > th1)
    {
      speedWheel = (roll - th1) * 3;
    }
    else if(roll < th2)
    {
      speedWheel = (roll - th2) * 3;
    }
    else
    {
      speedWheel = 0;
    }
    
    //command in buffData
    sprintf(buffData,"Wh(%d)(%d)", speedWheel-(-deltaWheel/2), speedWheel+(-deltaWheel/2));

    
    //if connected and attached to peripheral characteristic write in it
    if(bleManager.getStatus() == 3)
    {
      //signal that connection is on
      bLed.on();
      
      //send command every 100msec
      rLed.off();
      cnt++;
      if(cnt > 5)
      {
        cnt = 0;
        bleManager.writeToPeripheral((unsigned char *)buffData, strlen(buffData));
        rLed.on();        
      }    
    }


    //say hello on serial monitor every second and blink green led
    printCnt++;
    rLed.off();
    if(printCnt > 50)
    {      
      //Serial.println("Hello!");
      //Serial.println(roll);
      printCnt = 0;
      rLed.on();
    }    
    
  }  
}

Credits

Massimiliano

Massimiliano

28 projects • 102 followers
I'm an engineer and I like robotics, embedded systems and linux. I spent a lot of time in automation and firmware development.
Michele Valentini

Michele Valentini

20 projects • 51 followers
From Pepper growing to CNC milling, i don't like to waste time sleeping

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