Moving a robot with the help of your mind

I added a function called circle() to the main program that came with the smart bat car. The important thing is to make move slower a wheel than the other. In this case the left wheel goes to 2/3 the speed of the right. So robot makes a circle. control variable in code, is the speed in general.

/*NOVELTY!*/
void circle ()
{
  int slow;
  // right motor back off
  digitalWrite(Right_motor_back, LOW);
  analogWrite(Right_motor_go, control); // PWM--Pulse Width Modulation(0~255) control speed

  // left motor go ahead
  digitalWrite(Left_motor_back, LOW);
  slow = (int)(control * 2 / 3);//without decimals
  analogWrite(Left_motor_go, slow); // PWM--Pulse Width Modulation(0~255) control speed   
  //speed of left wheel is two thirds of right wheel
}

Second, I incorporated a function that reads the level of attention of the brain from the mindwave mobile 2 EEG (ElectroEncephaloGraphy. The value of attention comes to the robot through (classic) bluetooth. There is a bluetooth module in the headset reader of electric waves and another master HC-05 that I substituted instead of the HC-06 slave that came with the smart bat car robot.

#define MINDWAVE_BAUD 57600
// checksum variables
byte generatedChecksum = 0;
byte checksum = 0; 
int payloadLength = 0;
byte payloadData[64] = {
  0};
byte poorQuality = 0;
byte attention = 0;

boolean bigPacket = false;


// Read data from Serial UART //
byte ReadOneByte() {
  int ByteRead;
  while(!Serial.available());
  ByteRead = Serial.read();
  return ByteRead;
}

void mindwaveAttent(){

  // Look for sync bytes
  if(ReadOneByte() == 170) 
  {
    if(ReadOneByte() == 170) 
    {
      payloadLength = ReadOneByte();
      if(payloadLength > 169)                      //Payload length can not be greater than 169
          return;

      generatedChecksum = 0;        
      for(int i = 0; i < payloadLength; i++) 
      {  
        payloadData[i] = ReadOneByte();            //Read payload into memory
        generatedChecksum += payloadData[i];
      }   

      checksum = ReadOneByte();                     //Read checksum byte from stream      
      generatedChecksum = 255 - generatedChecksum;   //Take one's compliment of generated checksum
      if(checksum == generatedChecksum) 
      {    
        poorQuality = 200;
        attention = 0;

        for(int i = 0; i < payloadLength; i++) 
        {    // Parse the payload
          switch (payloadData[i]) 
          {
          case 2:
            i++;            
            poorQuality = payloadData[i];
            bigPacket = true;            
            break;
          case 4:
            i++;
            attention = payloadData[i];                        
            break;
          case 5:
            i++;
            break;
          case 0x80:
            i = i + 3;
            break;
          case 0x83:
            i = i + 25;      
            break;
          default:
            break;
          } // switch
        } // for loop

        if(bigPacket && poorQuality == 0)
          mindwaveSpeed(attention); //changes the wheels speed and commands circles         
        bigPacket = false;        
      }
      else 
      {
        //Checksum Error
      }  // end if else for checksum
    } // end if read 0xAA byte (170 en binario)
  } // end if read 0xAA byte
}

Third, I passed this attention value to another function, that converts it in speed of the wheels. That is, it changes the value of the control variable. And it sends a command to do circles. Incorporate this code on the main program:

//changes the wheels speed and commands circles
void mindwaveSpeed(int attention){
control = map(attention, 0, 100, 175, 270); //it is very rare achieve the top attention
if (control > 255)
  control = 255;
newLineReceived = true;  //send a command
inputString = "$7#"; //circles
}

Then we incorporate the function mindwaveAttent() into the loop()

void loop()
{
  mindwaveAttent();
  Bluetooth();
  // Switch different mode
  if (g_AllState == 0 && g_modeSelect == 1)
    track();
  CarControl();
}

Last there is necessary to configure HC-05 module. I do it by means of a USB to serial TTL converter cable and pressing the button incorporated on the module. It was setup as master and auto-connect.

Possible betterings

Proving something similar with new kind of robots.

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