The Ultimate Offroad RC Rover

/*
 Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
 
 This program is free software; you can redistribute it and/or
 modify it under the terms of the GNU General Public License
 version 2 as published by the Free Software Foundation.
 */
 
/**
 * @file printf.h
 *
 * Setup necessary to direct stdout to the Arduino Serial library, which
 * enables 'printf'
 */

#ifndef __PRINTF_H__
#define __PRINTF_H__

#ifdef ARDUINO

int serial_putc( char c, FILE * ) 
{
  Serial.write( c );

  return c;
} 

void printf_begin(void)
{
  fdevopen( &serial_putc, 0 );
}

#else
#error This example is only for use on Arduino.
#endif // ARDUINO

#endif // __PRINTF_H__

#include <Servo.h> 
//Constants and variable
int stop1=2;
int stop2=4;
int back1=5;
int back2=7;

int pwm1=6;
int pwm2=3;

char dataIn = 'S';
char determinant;
char det;
int vel = 255; //Bluetooth Stuff


void setup() {
  Serial.begin(9600); // set up Serial library at 9600 bps

  pinMode(6, OUTPUT);
  pinMode(3, OUTPUT);
  
  pinMode(stop1, OUTPUT); 
  pinMode(stop2, OUTPUT); 
  pinMode(back1, OUTPUT); 
  pinMode(back2, OUTPUT); 
  
  //Initalization messages
  Serial.println("ArduinoBymyself - ROVERBot");
  Serial.println("     AF Motor test!");
 
}

void loop() {

  det = check(); //call check() subrotine to get the serial code
  
  //serial code analysis
  switch (det){
    case 'F': // F, move forward
  analogWrite(pwm1,vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 

  analogWrite(pwm2, vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
    det = check();
    break;
   //------- 

    case 'B': // B, move back
  analogWrite(pwm1, vel);
  digitalWrite(back1, HIGH);
   
  analogWrite(pwm2, vel);
  digitalWrite(back2, HIGH); 
    det = check();
    break;
    
//-----    
    case 'L':// L, move wheels left
    analogWrite(pwm1,vel);
    digitalWrite(back1, LOW);
    analogWrite(pwm2, vel);
    digitalWrite(back2, HIGH); 
    det = check();
    break;
//----------
    
    case 'R': // R, move wheels right
    analogWrite(pwm2, vel);
    digitalWrite(back2, LOW); 
    analogWrite(pwm1, vel);
    digitalWrite(back1, HIGH); 
    det = check();
    break;
  //-----


   case 'I': // I, turn right forward
    analogWrite(pwm1,0);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 

    analogWrite(pwm2, vel);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 
    det = check();
    break;
    
    case 'J': // J, turn right back
  analogWrite(pwm1,vel);
  digitalWrite(back1, HIGH);

  analogWrite(pwm2,0);
  digitalWrite(back2, HIGH); 
    det = check();
    break;
    
    case 'G': // G, turn left forward
  analogWrite(pwm1,vel);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 

  analogWrite(pwm2,0);
  digitalWrite(back1, LOW);
  digitalWrite(back2, LOW); 
    det = check();
    break;
    
    case 'H': // H, turn left back
  analogWrite(pwm1,0);
  digitalWrite(back1, HIGH);

  analogWrite(pwm2, vel);
  digitalWrite(back2, HIGH);
    det = check();
    break;


  case 'S': // R, move wheels right
    analogWrite(pwm1, 0);
    analogWrite(pwm2, 0);
    digitalWrite(back1, LOW);
    digitalWrite(back2, LOW); 
    det = check();
    break;
    
  }
}
    

//get bluetooth code received from serial port
int check(){
  if (Serial.available() > 0){// if there is valid data in the serial port
    dataIn = Serial.read();// stores data into a varialbe

    //check the code
    if (dataIn == 'F'){//Forward
      determinant = 'F';
    }
    else if (dataIn == 'B'){//Backward
      determinant = 'B';
    }
    else if (dataIn == 'L'){//Left
      determinant = 'L';
    }
    else if (dataIn == 'R'){//Right
      determinant = 'R';
    }
    else if (dataIn == 'I'){//Froward Right
      determinant = 'I';
    }
    else if (dataIn == 'J'){//Backward Right
      determinant = 'J';
    }
    else if (dataIn == 'G'){//Forward Left
      determinant = 'G';
    }    
    else if (dataIn == 'H'){//Backward Left
      determinant = 'H';
    }
    else if (dataIn == 'S'){//Stop
      determinant = 'S';
    }
    else if (dataIn == '0'){//Speed 0
      vel = 0;
    }
    else if (dataIn == '1'){//Speed 25
      vel = 25;
    }
    else if (dataIn == '2'){//Speed 50
      vel = 50;
    }
    else if (dataIn == '3'){//Speed 75
      vel = 75;
    }
    else if (dataIn == '4'){//Speed 100
      vel = 100;
    }
    else if (dataIn == '5'){//Speed 125
      vel = 125;
    }
    else if (dataIn == '6'){//Speed 150
      vel = 150;
    }
    else if (dataIn == '7'){//Speed 175
      vel = 175;
    }
    else if (dataIn == '8'){//Speed 200
      vel = 200;
    }
    else if (dataIn == '9'){//Speed 225
      vel = 225;
    }
    else if (dataIn == 'A'){//Speed 255
      vel = 255;
    }
    else if (dataIn == 'X'){//Extra On
      determinant = 'X';
    }
    }
  return determinant;
}