Gesture Controlled Omnidirectional Robot

Summer 2024/Gesture Controlled Omnidirectional Robot/Control Robot using Arduino Bluetooth/Bluetooth_control_using_phone.ino

@@ -0,0 +1,291 @@
+//Send "f" for forward
+//Send "b" for backward
+//Send "r" for rightward
+//Send "l" for leftward
+//Send "c" for clockwise
+//Send "a" for anticlockwise
+//Send "1" for backward left
+//Send "3" for backward right
+//Send "7" for forward left
+//Send "9" for forward right
+//Connent bluetooth of Arduino BlueControl App with robot receiver esp32 and sent data in Terminal of that App.
+
+# define M1_PWM 4
+# define M1_IN1 22
+# define M1_IN2 23
+# define M2_PWM 15
+# define M2_IN1 19
+# define M2_IN2 18
+# define M3_PWM 12
+# define M3_IN1 32
+# define M3_IN2 33
+# define M4_PWM 13
+# define M4_IN1 25
+# define M4_IN2 26
+# include <BluetoothSerial.h>
+
+BluetoothSerial SerialBT;
+int receivedspeed=255;
+void Forward(){
+  Serial.println("Forward Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, HIGH);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, HIGH);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, HIGH);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, HIGH);
+  digitalWrite(M4_IN2, LOW);
+}
+void Backward(){
+  Serial.println("Backward Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, HIGH);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, HIGH);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, HIGH);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, HIGH);
+}
+void Leftward(){
+  Serial.println("Leftward Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, HIGH);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, HIGH);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, HIGH);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, HIGH);
+  digitalWrite(M4_IN2, LOW);
+}
+void Rightward(){
+  Serial.println("Rightward Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, HIGH);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, HIGH);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, HIGH);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, HIGH);
+}
+void Anticlockwise(){
+  Serial.println("Anticlockwise Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, HIGH);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, HIGH);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, HIGH);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, HIGH);
+}
+void Clockwise(){
+  Serial.println("Clockwise Motion");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, HIGH);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, HIGH);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, HIGH);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, HIGH);
+  digitalWrite(M4_IN2, LOW);
+}
+void Forward_left(){
+  Serial.println("Forward_left");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, HIGH);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, HIGH);
+  digitalWrite(M4_IN2, LOW);
+}
+void Forward_right(){
+  Serial.println("Forward_right");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, HIGH);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, HIGH);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, LOW);
+}
+void Backward_left(){
+  Serial.println("Backward_left");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, HIGH);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, HIGH);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, LOW);
+}
+void Backward_right(){
+  Serial.println("Backward_right");
+  analogWrite(M1_PWM, receivedspeed);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, receivedspeed);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, HIGH);
+
+  analogWrite(M3_PWM, receivedspeed);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, receivedspeed);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, HIGH);
+}
+void Stop(){
+  Serial.println("Stop");
+  analogWrite(M1_PWM, 0);
+  digitalWrite(M1_IN1, LOW);
+  digitalWrite(M1_IN2, LOW);
+
+  analogWrite(M2_PWM, 0);
+  digitalWrite(M2_IN1, LOW);
+  digitalWrite(M2_IN2, LOW);
+
+  analogWrite(M3_PWM, 0);
+  digitalWrite(M3_IN1, LOW);
+  digitalWrite(M3_IN2, LOW);
+
+  analogWrite(M4_PWM, 0);
+  digitalWrite(M4_IN1, LOW);
+  digitalWrite(M4_IN2, LOW);
+}
+void setup() {
+  Serial.begin(115200);
+  SerialBT.begin("Omni_directional_robot");
+  Serial.println("Bluetooth initialized. Ready to pair.");
+  pinMode(M1_PWM, OUTPUT);
+  pinMode(M1_IN1, OUTPUT);
+  pinMode(M1_IN2, OUTPUT);
+  pinMode(M2_PWM, OUTPUT);
+  pinMode(M2_IN1, OUTPUT);
+  pinMode(M2_IN2, OUTPUT);
+  pinMode(M3_PWM, OUTPUT);
+  pinMode(M3_IN1, OUTPUT);
+  pinMode(M3_IN2, OUTPUT);
+  pinMode(M4_PWM, OUTPUT);
+  pinMode(M4_IN1, OUTPUT);
+  pinMode(M4_IN2, OUTPUT);
+}
+
+void loop() {
+  if(SerialBT.available()){
+    char c= char(SerialBT.read()); //Read data
+    Serial.print("Received: ");
+    Serial.println(c);
+    //For Forward Motion
+    if(c=='f'){
+      Forward();
+    }
+    //For Backward Motion
+    else if(c=='b'){
+      Backward();
+    }
+    //For Leftward Motion
+    else if(c=='l'){
+      Leftward();
+    }
+    //For Rightward Motion
+    else if(c=='r'){
+      Rightward();
+    }
+    //For Anti-Clockwise Motion
+    else if(c=='a'){
+      Anticlockwise();
+    }
+    //For Clockwise Motion
+    else if(c=='c'){
+      Clockwise();
+    }
+    //For Diagonal Motion
+    else if(c=='7'){
+      Forward_left();
+    }
+    else if(c=='9'){
+      Forward_right();
+    }
+    else if(c=='1'){
+      Backward_left();
+    }
+    else if(c=='3'){
+      Backward_right();
+    }
+    else{
+      Stop();
+    }
+  }
+}