Published February 26, 2023 © CERN-OHL2

New functions to delivered ELEGOO Robot CarV3.0

Extended Function to a program that delivered with ELEGOO Smart Robot Car Kit V3.0 you can make Your own

BeginnerProtip1 hour525

New functions to delivered ELEGOO Robot CarV3.0

Things used in this project

Hardware components

RobotCar ELEGOO

Software apps and online services

Arduino IDE

Story

About this project

ELEGOO is one of the manufacturers on the market, whose clone products are compatible with the official Arduino microcontroller boards. They can use the official Arduino software, sensors, and codes. There is almost everything what you need. It can be controlled via Bluetooth using a mobile phone. The robot can also operate autonomously detecting obstacles in its close surrounding. One of the missing features is the "Follow me" and “Patrol”. With this mode, the robot car can automatically follow moving objects and monitor a closed space. We can add to that and that is our topic. This is up to date now that a new version has been built and I hope that they are much people who will find something interesting in this tutorial.

RobotCar in action

How to do that

For more details about ELEGO smart car see page: hier. Download and unpack the ElegooCarV3 package .

As open source software, arduino IDE, based on Processing IDE development is an integrated development environment officially launched by Arduino.

Download the development software that is suited for the operating system of your computer.

Save the above code file in the directory. You carry all the necessary changes inside.

To control with a smartphone invites you the corresponding "Elegoo BLE" app in the stores of choice for free. Configures a connection to the Bluetooth module "HC-08" AND defines triggers to which the car should react.

As is clear from picture below, when number 2 is sent, Obstacle Avoidance Mode function is called. With the number 1 is executed Line-tracking function.

App: ELEGOO BLE TOOL

I have integrated complete extended programs into ELEGOO main program and with the appropriate addition to the app you could call the “Follow me” and Patrol program, as shown in the following picture. In the following program the robot operates autonomously following the closest object and controls it via Android app.

Just add following lines in the downloaded code SmartCar_Core.ino:

From picture above, when number 4 is sent, FolowMe mode is called. With the number 5 is executed Patrol function.

But you can also define additional functions, such as increasing or decreasing the speed, Patrol function when SmartCar drives within a limited black circle. For more details about Algorithms and Subroutine for smart car see page here.

First routine for FollowMe function is FollowMe_mode shown on the picture below.

Subroutine FollowMe

The next function is Follow Object, it searches for an object if it is not currently located.

Subroutine Follow Objekt

If the object is not in front of the robot and a search would require rotation by its own axis, the function searchObject is activated.

Subroutine Search Objekt

You can change the downloaded ELEGOO program manually. I have provided the finished version. Three more files (Header from the original: MSTimers and ArduinoJson) must be copied into the same directory.

Please remove the Bluetooth module from the IO expansion board by uploading codes. That, because the serial port for uploading codes and Bluetooth communication is the same one and there will be conflicts.

When it is uploaded successfully you can mount the Bluetooth module.

Conclusion

As can be seen, I'm not interested in controlling the car with a remote or with a phone app, I am only interested in programming the car to work autonomously. I wrote code for the followMe and also Patrol function, which can be integrated without any major problems into the program that is delivered with the ELEGOO Kit V3.

Code

2PN_NoviSmartCar_Core

/*
 * @Description: In User Settings Edi
 * @Author: your name
 * @Date: 2019-08-12 18:00:25
 * @LastEditTime: 03.05.2021
 * @LastEditors: Kenan Paralija
 */
#include <IRremote.h>
#include <Servo.h>
#include <stdio.h>

#include "HardwareSerial.h"

#include "ArduinoJson-v6.11.1.h" //Use ArduinoJson Libraries

#define f 16736925    // FORWARD  
#define b 16754775    // BACK     
#define l 16720605    // LEFT     
#define r 16761405    // RIGHT    
#define s 16712445    // STOP     
#define KEY1 16738455 //Line Teacking mode       
#define KEY2 16750695 //Obstacles Avoidance mode 

#define KEY_STAR 16728765
#define KEY_HASH 16732845

int carSpd = 180;   // change speed with the void accPlus() a. void accMin()
//********************followMe variablen
int distanceR = 0, distanceL = 0, distanceM = 0;
const int nomDistance=30, minDistance=20, maxDistance=50, kritDistance=10;
int distance;
//*********************
/*Arduino pin is connected to the IR Receiver*/
#define RECV_PIN 12


/*Arduino pin is connected to the Ultrasonic sensor module*/
#define ECHO_PIN A4
#define TRIG_PIN A5

/*Arduino pin is connected to the Motor drive module*/
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
bool state = LOW; 
#define LED_Pin 13

/*Arduino pin is connected to the IR tracking module*/
#define LineTeacking_Pin_Right 10
#define LineTeacking_Pin_Middle 4
#define LineTeacking_Pin_Left 2

#define LineTeacking_Read_Right !digitalRead(10) //Right
#define LineTeacking_Read_Middle !digitalRead(4) //Middle
#define LineTeacking_Read_Left !digitalRead(2)   //Left

#define carSpeed 180 //PWM(Motor speed/Speed)

Servo servo;             //  Create a DC motor drive object
IRrecv irrecv(RECV_PIN); //  Create an infrared receive drive object
decode_results results;  //  Create decoding object

unsigned long IR_PreMillis;
unsigned long LT_PreMillis;

int rightDistance = 0;  //Right distance
int leftDistance = 0;   //left Distance
int middleDistance = 0; //middle Distance

/*DIY_MotorControl: Motor Control Motor SpeedMotor DirectionMotor Time*/
uint8_t DIY_MotorSelection;
uint8_t DIY_MotorDirection;

uint16_t DIY_MotorSpeed;
unsigned long DIY_leftMotorControl_Millis;
unsigned long DIY_rightMotorControl_Millis;

/*DIY_CarControl: Car ControlCar moving directionCar SpeedCar moving time*/
uint8_t DIY_CarDirection;
uint8_t DIY_CarSpeed;
uint16_t DIY_CarTimer;
unsigned long DIY_CarControl_Millis;

uint8_t DIY_CarDirectionxxx;
uint8_t DIY_CarSpeedxxx;

uint16_t DIY_Distance;

String CommandSerialNumber; //

enum FUNCTIONMODE
{
  IDLE,                  /*free*/
  LineTeacking,          /*Line Teacking Mode*/
  ObstaclesAvoidance,    /*Obstacles Avoidance Mode*/
  Bluetooth,             /*Bluetooth Control Mode*/
  IRremote,              /*Infrared Control Mode*/
  DIY_MotorControl,      /*Motor Control Mode*/
  DIY_CarControl,        /*Car Control Mode*/
  DIY_CarControlxxx,     /*Car Control Mode*/
  DIY_ClearAllFunctions, /*Clear All Functions Mode*/
} func_mode = IDLE;      /*Functional mode*/

enum MOTIONMODE
{
  STOP,            /*stop*/
  FORWARD,         /*forward*/
  BACK,            /*back*/
  LEFT,            /*left*/
  RIGHT            /*right*/
} mov_mode = STOP; /*move mode*/

void delays(unsigned long t)
{

  for (unsigned long i = 0; i < t; i++)
  {
    // getBTData();
    getBTData_Plus();//Bluetooth Communication Data Acquisition
    getIRData(); //Infrared Communication Data Acquisition
    delay(1);
  }
}

/*
Acquisition Distance: Ultrasound
*/
unsigned int getDistance(void)
{ //Getting distance
  static unsigned int tempda = 0;
  unsigned int tempda_x = 0;
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  tempda_x = ((unsigned int)pulseIn(ECHO_PIN, HIGH) / 58);
  if (tempda_x < 150)
  {
    tempda = tempda_x;
  }
  else
  {
    tempda = 30;
  }
  return tempda;
}
/*
  Control motorCar movement forward
*/
void forward(bool debug, int16_t in_carSpeed)
{

  analogWrite(ENA, in_carSpeed);
  analogWrite(ENB, in_carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  if (debug)
    Serial.println("Go forward!");
}

/*
  Control motorCar moving backwards
*/
void back(bool debug, int16_t in_carSpeed)
{

  analogWrite(ENA, in_carSpeed);
  analogWrite(ENB, in_carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  if (debug)
    Serial.println("Go back!");
}
/*
  Control motorThe car turns left and moves forward
*/
void left(bool debug, int16_t in_carSpeed)
{

  analogWrite(ENA, 250);
  analogWrite(ENB, 250);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);

  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  if (debug)
    Serial.println("Go left!");
}
/*
  Control motorThe car turns right and moves forward
*/
void right(bool debug, int16_t in_carSpeed)
{
  analogWrite(ENA, 250);
  analogWrite(ENB, 250);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  if (debug)
    Serial.println("Go right!");
}
/*
  Stop motor controlTurn off the motor drive
*/
void stop(bool debug = false)
{
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
  if (debug)
    Serial.println("Stop!");
}



/*
  Bluetooth serial port data acquisition and control command parsing
*/
void getBTData_Plus(void)
{
  String comdata = "";

  while ((Serial.available() > 0) && (false == comdata.endsWith("}")))
  {
    comdata += char(Serial.read());
    delay(6);
  }
  if ((comdata.length() > 0) && (comdata != "") && (true == comdata.endsWith("}")))
  {
    //Serial.print(comdata);
    //comdata = "{\"N\":\"2\",\"D1\":1}";
    //{"N":2,"D1":1}
    StaticJsonDocument<200> doc;                                //Create a JsonDocument object
    DeserializationError error = deserializeJson(doc, comdata); //Deserialize JSON data
    if (!error)                                                 //Check if deserialization is successful
    {
      int control_mode_N = doc["N"];
      char buf[3];
      uint8_t temp = doc["H"];
      sprintf(buf, "%d", temp);
      CommandSerialNumber = buf; //Get the serial number of the new command

      switch (control_mode_N)
      {
      case 21: /*Ultrasonic module  processing <commandN 21>*/
        DIY_UltrasoundModuleStatus_Plus(doc["D1"]);
        break;
      case 22: /*Trace module data processing <commandN 22>*/
        DIY_TraceModuleStatus_Plus(doc["D1"]);
        break;
      case 1: /*Motion module  processing <commandN 1>*/
        func_mode = DIY_MotorControl;
        DIY_MotorSelection = doc["D1"];
        DIY_MotorDirection = doc["D2"];
        DIY_MotorSpeed = doc["D3"];

        //Serial.print("{ok}");
        Serial.print('{' + CommandSerialNumber + "_ok}");
        break;
      case 4: /*Motion module  processing <commandN 4>*/
        func_mode = DIY_CarControl;
        DIY_CarDirection = doc["D1"];
        DIY_CarSpeed = doc["D2"];
        DIY_CarTimer = doc["T"];
        DIY_CarControl_Millis = millis(); //Get the timestamp
        //Serial.print("{ok}");
        break;
      case 40:
        func_mode = DIY_CarControlxxx;
        DIY_CarDirectionxxx = doc["D1"];
        DIY_CarSpeedxxx = doc["D2"];
        //Serial.print("{ok}");
        Serial.print('{' + CommandSerialNumber + "_ok}");
        break;
      case 5: /*Clear mode  processing <commandN 5>*/
        func_mode = DIY_ClearAllFunctions;
        //Serial.print("{ok}");
        Serial.print('{' + CommandSerialNumber + "_ok}");
        break;
      case 3: /*Remote switching mode  processing <commandN 3>*/
        if (1 == doc["D1"]) // Line Teacking Mode
        {
          func_mode = LineTeacking;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        else if (2 == doc["D1"]) //Obstacles Avoidance Mode
        {
          func_mode = ObstaclesAvoidance;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        break;
      case 2: /*Remote switching mode  processing <commandN 2>*/

        if (1 == doc["D1"])
        {
          func_mode = Bluetooth;
          mov_mode = LEFT;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        else if (2 == doc["D1"])
        {
          func_mode = Bluetooth;
          mov_mode = RIGHT;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        else if (3 == doc["D1"])
        {
          func_mode = Bluetooth;
          mov_mode = FORWARD;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        else if (4 == doc["D1"])
        {
          func_mode = Bluetooth;
          mov_mode = BACK;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        else if (5 == doc["D1"])
        {
          func_mode = Bluetooth;
          mov_mode = STOP;
          //Serial.print("{ok}");
          Serial.print('{' + CommandSerialNumber + "_ok}");
        }
        break;
      default:
        break;
      }
    }
  }
  else if (comdata != "")
  {
    if (true == comdata.equals("f"))
    {
      func_mode = DIY_CarControlxxx;
      DIY_CarDirectionxxx = 3;
      DIY_CarSpeedxxx = carSpd;
    }
    else if (true == comdata.equals("b"))
    {
      func_mode = DIY_CarControlxxx;
      DIY_CarDirectionxxx = 4;
      DIY_CarSpeedxxx = carSpd;
    }
    else if (true == comdata.equals("l"))
    {
      func_mode = DIY_CarControlxxx;
      DIY_CarDirectionxxx = 1;
      DIY_CarSpeedxxx = 180;
    }
    else if (true == comdata.equals("r"))
    {
      func_mode = DIY_CarControlxxx;
      DIY_CarDirectionxxx = 2;
      DIY_CarSpeedxxx = 180;
    }
    else if (true == comdata.equals("s"))
    {

      func_mode = Bluetooth;
      mov_mode = STOP;
    }
    else if (true == comdata.equals("1"))
    {
      func_mode = LineTeacking;
    }
    else if (true == comdata.equals("2"))
    {
      func_mode = ObstaclesAvoidance;
    }
    else if (true == comdata.equals("a"))
    {
      stateChange(); //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
    }
    else if (true == comdata.equals("p"))
    {
      accPlus(); //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
    }
    else if (true == comdata.equals("m"))
    {
      accMin(); //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
    }
    else if (true == comdata.equals("3"))
    {
      cvijet();  //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
      }

       else if (true == comdata.equals("4"))
    {
      patrol();  //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
      }
      else if (true == comdata.equals("5"))
    {
      followMe();  //                             ++++++++++++++++++++ xxxxxxxxx ++++++++++++++++
      }
  }
}
/*
  Infrared Communication Data Acquisition
*/
void getIRData(void)
{

  if (irrecv.decode(&results))
  {
    IR_PreMillis = millis();
    switch (results.value)
    {
    case f:
      func_mode = IRremote;
      mov_mode = FORWARD;
      break; /*forward*/
    case b:
      func_mode = IRremote;
      mov_mode = BACK;
      break; /*back*/
    case l:
      func_mode = IRremote;
      mov_mode = LEFT;
      break; /*left*/
    case r:
      func_mode = IRremote;
      mov_mode = RIGHT;
      break; /*right*/
    case s:
      func_mode = IRremote;
      mov_mode = STOP;
      break; /*stop*/
    case KEY1:
      func_mode = LineTeacking;
      break; /*Line Teacking Mode*/
    case KEY2:
      func_mode = ObstaclesAvoidance;
      break; /*Obstacles Avoidance Mode*/
    default:
      break;
    }
    irrecv.resume();
  }
}
/*
  Bluetooth remote control mode
*/
void bluetooth_mode()
{
  if (func_mode == Bluetooth)
  {
    switch (mov_mode)
    {
    case FORWARD:
      forward(false, carSpeed);
      break;
    case BACK:
      back(false, carSpeed);
      break;
    case LEFT:
      left(false, carSpeed);
      break;
    case RIGHT:
      right(false, carSpeed);
      break;
    case STOP:
      stop();
      break;
    default:
      break;
    }
  }
}
/*
  Infrared remote control mode
*/
void irremote_mode(void)
{
  if (func_mode == IRremote)
  {
    switch (mov_mode)
    {
    case FORWARD:
      forward(false, carSpeed);
      break;
    case BACK:
      back(false, carSpeed);
      break;
    case LEFT:
      left(false, carSpeed);
      break;
    case RIGHT:
      right(false, carSpeed);
      break;
    case STOP:
      stop();
      break;
    default:
      break;
    }
    if (millis() - IR_PreMillis > 500)
    {
      mov_mode = STOP;
      IR_PreMillis = millis();
    }
  }
}
/*
  Line Teacking Mode
*/
void line_teacking_mode(void)
{
  if (func_mode == LineTeacking)
  {
    if (LineTeacking_Read_Middle)
    { //Detecting in the middle infrared tube

      forward(false, carSpeed); //Control motorthe car moving forward
      LT_PreMillis = millis();
    }
    else if (LineTeacking_Read_Right)
    { //Detecting in the right infrared tube

      right(false, carSpeed); //Control motorthe car moving right
      while (LineTeacking_Read_Right)
      {
        getBTData_Plus();//Bluetooth data acquisition
        //getBTData();
        getIRData(); //Infrared data acquisition
      }
      LT_PreMillis = millis();
    }
    else if (LineTeacking_Read_Left)
    {         //Detecting in the left infrared tube
      left(false, carSpeed); //Control motorthe car moving left
      while (LineTeacking_Read_Left)
      {
        getBTData_Plus();//Bluetooth data acquisition
        //getBTData();
        getIRData(); //Infrared data acquisition
      }
      LT_PreMillis = millis();
    }
    else
    {
      if (millis() - LT_PreMillis > 150)
      {
        stop(); //Stop motor controlTurn off motor drive mode
      }
    }
  }
}
/*
  Obstacles Avoidance Mode
*/
/*f(x) int */
static boolean function_xxx(long xd, long sd, long ed) //f(x)
{
  if (sd <= xd && xd <= ed)
    return true;
  else
    return false;
}
/*Obstacle avoidance*/
void obstacles_avoidance_mode(void)
{
  static uint16_t ULTRASONIC_Get = 0;
  static unsigned long ULTRASONIC_time = 0;
  static boolean stateCar = false;
  static boolean CarED = false;
  static uint8_t switc_ctrl = 0x00;
  static boolean timestamp = true;

  if (func_mode == ObstaclesAvoidance)
  {
    servo.attach(3);
    if (millis() - ULTRASONIC_time > 100)
    {
      ULTRASONIC_Get = getDistance(); //Measuring obstacle distance
      ULTRASONIC_time = millis();
      if (function_xxx(ULTRASONIC_Get, 0, 25)) //If the distance is less than Xcm obstacles
      {
        stateCar = true;      //If the distance is less than Xcm obstacles
        stop(); //stop
      }
      else
      {
        stateCar = false;     //If the distance is more than Xcm obstacles
      }
    }
    if (false == CarED)
    {
      if (stateCar == true)
      {
        timestamp = true;
        CarED = true;
        switc_ctrl = 0x00;
        stop();          //stop
        servo.write(30); //sets the servo position according to the  value
        delays(500);
        if (function_xxx(getDistance(), 0, 25)) //How many cm in the front have obstacles?
        {
          switc_ctrl |= 0x01;
          //goto
        }
        else
        {
          switc_ctrl &= (~0x01);
        }
        servo.write(150); //sets the servo position according to the  value
        delays(500);
        if (function_xxx(getDistance(), 0, 25)) //How many cm in the front have obstacles?
        {
          switc_ctrl |= 0x02;
          //goto
        }
        else
        {
          switc_ctrl &= (~0x02);
        }
        servo.write(90); //tell servo to go to position in variable 30
        delays(500);
        if (function_xxx(getDistance(), 0, 25)) //How many cm in the front have obstacles?
        {
          switc_ctrl |= 0x04;
          //goto
        }
        else
        {
          switc_ctrl &= (~0x04);
        }
      }
      else
      {
        forward(false, 180); //Control motorthe car moving forwar
        CarED = false;
      }
    }

    if (true == CarED)
    {
      // Get cpu time
      static unsigned long MotorRL_time;
      if (timestamp == true || millis() - MotorRL_time > 420)
      {
        timestamp = false;
        MotorRL_time = millis();
      }
      if (function_xxx((millis() - MotorRL_time), 0, 400))
      {
        switch (switc_ctrl)
        {
        case 0 ... 1:
          left(false, 150); //Control motorThe car moves forward and left
          break;
        case 2:
          right(false, 150); //Control motorThe car moves forward and right
          break;
        case 3:
          forward(false, 150); //Control motorthe car moving forwar
          break;
        case 4 ... 5:
          left(false, 150); //Control motorThe car moves forward and left
          break;
        case 6:
          right(false, 100); //Control motorThe car moves forward and right
          break;
        case 7:
          back(false, 150); //Control motorCar backwards
          break;
        }
      }
      else
      {
        CarED = false;
      }
    }
  }
  else
  {
    servo.detach();
    ULTRASONIC_Get = 0;
    ULTRASONIC_time = 0;
  }
}

/*****************************************************Begin@DIY**************************************************************************************/

/*

  N21:command
  DIY modeUltrasonic moduleApp controls module status, module sends data to app
*/
void DIY_UltrasoundModuleStatus_Plus(uint8_t is_get) //Ultrasonic module processing
{
  //uint16_t DIY_Distance = getDistance(); //Ultrasonic module measuring distance

  if (1 == is_get) // is_get Start  trueObstacles / false:No obstacles
  {
    if (DIY_Distance <= 40)
    {
      // Serial.print("{true}");
      Serial.print('{' + CommandSerialNumber + "_true}");
    }
    else
    {
      //Serial.print("{false}");
      Serial.print('{' + CommandSerialNumber + "_false}");
    }
  }
  else if (2 == is_get) //Ultrasonic is_get data
  {
    char toString[10];
    sprintf(toString, "%d", DIY_Distance);
    // Serial.print(toString);
    Serial.print('{' + CommandSerialNumber + '_' + toString + '}');
  }
}
/*
  N22:command
   DIY modeTeacking moduleApp controls module status, module sends data to app
*/
void DIY_TraceModuleStatus_Plus(uint8_t is_get) //Tracking module processing
{
  if (0 == is_get) /*Get traces on the left*/
  {
    if (LineTeacking_Read_Left)
    {
      //Serial.print("{true}");
      Serial.print('{' + CommandSerialNumber + "_true}");
    }
    else
    {
      //Serial.print("{false}");
      Serial.print('{' + CommandSerialNumber + "_false}");
    }
  }
  else if (1 == is_get) /*Get traces on the middle*/
  {
    if (LineTeacking_Read_Middle)
    {
      //Serial.print("{true}");
      Serial.print('{' + CommandSerialNumber + "_true}");
    }
    else
    {
      //Serial.print("{false}");
      Serial.print('{' + CommandSerialNumber + "_false}");
    }
  }
  else if (2 == is_get)
  { /*Get traces on the right*/

    if (LineTeacking_Read_Right)
    {
      //Serial.print("{true}");
      Serial.print('{' + CommandSerialNumber + "_true}");
    }
    else
    {
      //Serial.print("{false}");
      Serial.print('{' + CommandSerialNumber + "_false}");
    }
  }
}

/*
  N1:command
  DIY modeSport mode <motor control> Control motor by app
  Inputuint8_t is_MotorSelection,  Motor selection   1left  2right  0all
        uint8_t is_MotorDirection,   Motor steering  1Forward  2Reverse 0stop
        uint8_t is_MotorSpeed,       Motor speed   0-250   
*/
void DIY_MotorControl_Plus(uint8_t is_MotorSelection, uint8_t is_MotorDirection, uint8_t is_MotorSpeed)
{
  static boolean MotorControl = false;

  if (func_mode == DIY_MotorControl) //Motor control mode
  {
    MotorControl = true;
    if (is_MotorSelection == 1 || is_MotorSelection == 0) //Left motor
    {
      if (is_MotorDirection == 1) //Positive rotation
      {
        analogWrite(ENA, is_MotorSpeed);
        digitalWrite(IN1, HIGH);
        digitalWrite(IN2, LOW);
      }
      else if (is_MotorDirection == 2) //Reverse
      {
        analogWrite(ENA, is_MotorSpeed);
        digitalWrite(IN1, LOW);
        digitalWrite(IN2, HIGH);
      }
      else if (is_MotorDirection == 0) 
      {
        digitalWrite(ENA, LOW); //Turn off the motor enable pin
      }
    }
    if (is_MotorSelection == 2 || is_MotorSelection == 0) //Right motor
    {
      if (is_MotorDirection == 1) //Positive rotation
      {
        analogWrite(ENB, is_MotorSpeed);
        digitalWrite(IN3, LOW);
        digitalWrite(IN4, HIGH);
      }
      else if (is_MotorDirection == 2) //Reverse
      {
        analogWrite(ENB, is_MotorSpeed);
        digitalWrite(IN3, HIGH);
        digitalWrite(IN4, LOW);
      }
      else if (is_MotorDirection == 0) 
      {
        digitalWrite(ENB, LOW); //Turn off the motor enable pin
      }
    }
  }
  else
  {
    if (MotorControl == true)
    {
      MotorControl = false;
      digitalWrite(ENA, LOW); //Turn off the motor enable pin
      digitalWrite(ENB, LOW);
    }
  }
}

/*
  N4command
  DIY mode<Car control> APP control car
  Time limited
*/
void DIY_CarControl_Plus(uint8_t is_CarDirection, uint8_t is_CarSpeed, uint8_t is_Timer)
{
  static boolean CarControl = false;

  static boolean CarControl_TE = false; //Have time to spend
  static boolean CarControl_return = false;
  if (func_mode == DIY_CarControl) //Car Control Mode
  {
    CarControl = true;
    if (is_Timer != 0) //Setting time cannot be empty
    {
      if ((millis() - DIY_CarControl_Millis) > (is_Timer * 1000)) //check the time
      {
        CarControl_TE = true;
        digitalWrite(ENA, LOW); //Turn off the motor enable pin
        digitalWrite(ENB, LOW);

        if (CarControl_return == false)
        {

          Serial.print('{' + CommandSerialNumber + "_ok}");
          CarControl_return = true;
        }
      }
      else
      {
        CarControl_TE = false; //Have time to spend
        CarControl_return = false;
      }
    }
    if (CarControl_TE == false)
    {
      switch (is_CarDirection)
      {
      case 1: /*Left-Forward Motion Mode*/
        left(false, is_CarSpeed);
        break;
      case 2: /*Right-Forward Motion Mode*/
        right(false, is_CarSpeed);
        break;
      case 3: /*Sport mode forward*/
        forward(false, is_CarSpeed);
        break;
      case 4: /*Sport mode back*/
        back(false, is_CarSpeed);
        break;
      default:
        break;
      }
    }
  }
  else
  {
    if (CarControl == true)
    {
      CarControl_return = false;
      CarControl = false;
      digitalWrite(ENA, LOW); //Turn off the motor enable pin
      digitalWrite(ENB, LOW);
      DIY_CarControl_Millis = 0;
    }
  }
}

/*
  N40command
  DIY mode<Car control> APP control car
  No time limit
*/
void DIY_CarControl_Plusxxx(uint8_t is_CarDirection, uint8_t is_CarSpeed)
{
  static boolean CarControl = false;
  if (func_mode == DIY_CarControlxxx) //Car Control Mode
  {
    CarControl = true;
    switch (is_CarDirection)
    {
    case 1: /*Left-Forward Motion Mode*/
      left(false, is_CarSpeed);
      break;
    case 2: /*Right-Forward Motion Mode*/
      right(false, is_CarSpeed);
      break;
    case 3: /*Sport mode forward*/
      forward(false, is_CarSpeed);
      break;
    case 4: /*Sport mode back*/
      back(false, is_CarSpeed);
      break;
    default:
      break;
    }
  }
  else
  {
    if (CarControl == true)
    {
      CarControl = false;
      digitalWrite(ENA, LOW); //Turn off the motor enable pin
      digitalWrite(ENB, LOW);
    }
  }
}

/*
  N5:command
  DIY modeClear all features
*/
void DIY_ClearAllFunctionsXXX(void)
{
  if (func_mode == DIY_ClearAllFunctions)
  {

    mov_mode = STOP;
    func_mode = IDLE;
    digitalWrite(ENA, LOW); //Turn off the motor enable pin
    digitalWrite(ENB, LOW);

    /*DIY_MotorControl:Motor Control Motor SpeedMotor DirectionMotor Time*/
    DIY_MotorSelection = NULL;
    DIY_MotorDirection = NULL;

    DIY_MotorSpeed = NULL;
    DIY_leftMotorControl_Millis = NULL;
    DIY_rightMotorControl_Millis = NULL;

    /*DIY_CarControl:Car ControlCar moving directionCar SpeedCar moving time*/
    DIY_CarDirection = NULL;
    DIY_CarSpeed = NULL;
    DIY_CarTimer = NULL;
    DIY_CarControl_Millis = NULL;
  }
}

void getDistance_xx(void)
{
  DIY_Distance = getDistance(); //Ultrasonic measurement distance
}
//                                                    ************************** state def **********************
void stateChange(){
  state = !state;   //state variable changed STATUS
  // ******* Attention: status of variable
  digitalWrite(LED_Pin, state);
   //delay(1000);
  //Serial.println("Light");  
}

void stateSwitch(){
 //state variable STATUS set LED Pin
  
  digitalWrite(LED_Pin, state);
   delay(300);
  //Serial.println("Light");  
}
...

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Credits

Kenan Paralija

8 projects • 8 followers

I started my career by designing analog and digital circuits, moved to telecommunication and finally as a IT/TK lecturer.

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New functions to delivered ELEGOO Robot CarV3.0

Things used in this project

Hardware components

Software apps and online services

Story

About this project

How to do that

Conclusion

Schematics

SCHEMATICS

Code

2PN_NoviSmartCar_Core

Credits

Kenan Paralija

Comments

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New functions to delivered ELEGOO Robot CarV3.0

New functions to delivered ELEGOO Robot CarV3.0

Things used in this project

Hardware components

Software apps and online services

Story

About this project

How to do that

Conclusion

Schematics

SCHEMATICS

Code

2PN_NoviSmartCar_Core

Credits

Kenan Paralija

Comments

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