Matthew Hallberg
Published © CC BY-NC-SA

ROOM MAPPING Arduino Robot With Unity 3D

This project uses Arduino to drive around an iPhone running an Augmented Reality SDK for object tracking and room mapping.

IntermediateFull instructions provided2 hours108
ROOM MAPPING Arduino Robot With Unity 3D

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Code

Code snippet #1

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#include <SoftwareSerial.h> 
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>

int incomingByte = 0;  

int speed = 1023;//0 to 1023

int enA = 16;//d0
int in1 = 5;//d1
int in2 = 4;//d2

int enB = 14;//d5
int in3 = 0;//d3
int in4 = 2;//d4

//wifi stuff
const char* ssid     = "***********************"; // wifi network name
const char* password = "*****************"; // wifi network password

WiFiUDP Udp;
unsigned int localUdpPort = 1998;
char incomingPacket[255];
     
void setup(){
Serial.begin(115200);
delay(10);
Serial.println("Motor test!");

// We start by connecting to a WiFi network
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
}
Serial.println("WiFi connected"); 
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
Serial.println("Starting UDP");
Udp.begin(localUdpPort);  

pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
}
void right()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);

  analogWrite(enA, speed);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);

  analogWrite(enB, speed);
}

void left()
{

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);

  analogWrite(enA, speed);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);

  analogWrite(enB, speed);
}

void forward()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);

  analogWrite(enA, speed);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);

  analogWrite(enB, speed);
}

void backward()
{

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);

  analogWrite(enA, speed);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);

  analogWrite(enB, speed);
}

void stop()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}

void ListenPacketRoutine(){
  //listen for packets
  int packetSize = Udp.parsePacket();
  if (packetSize){
    int len = Udp.read(incomingPacket, 255);
    Serial.printf("UDP packet contents: %s\n", incomingPacket);
    if (incomingPacket[0] == 'f'){
        forward();
    } else if (incomingPacket[0] == 'b'){
        backward();
    } else if (incomingPacket[0] == 'l'){
        left();
    } else if (incomingPacket[0] == 'r'){
        right();
    } else if (incomingPacket[0] == 's'){
        stop();
    }
  }
}

void ListenKeyboardRoutine(){

 if (Serial.available() > 0) {
    incomingByte = Serial.read();
    }
  
 switch(incomingByte)
  {
     case 's': 
      { stop();
       Serial.println("Stop\n"); 
       incomingByte='*';}
      
     break;
     
     case 'f':
     {  forward(); 
       
       Serial.println("Forward\n");
       incomingByte='*';}
     break;
    
      case 'b':  
    {   backward();
       
       Serial.println("Backward\n");
       incomingByte='*';}
     break;
     
     case 'r':
     {  
       right(); 
       Serial.println("Rotate Right\n");
       incomingByte='*';}
     break;

       case 'l':
      { 
       left();    
       Serial.println("Rotate Left\n");
       incomingByte='*';}
     break;       
  }
}

void loop()
{
    ListenPacketRoutine();
    ListenKeyboardRoutine();
}

Github

https://github.com/MatthewHallberg/AR_Robot

Credits

Matthew Hallberg
8 projects • 55 followers
My name is Matthew and I attend the University of Pittsburgh for Info Sci and CS. I need motivated friends, serious inquiries send me an email.
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