1 files changed, 128 insertions, 0 deletions
diff --git a/arduino/arduino.ino b/arduino/arduino.ino
new file mode 100644
index 0000000..b02fd48
--- /dev/null
+++ b/arduino/arduino.ino
@@ -0,0 +1,128 @@
+#include <LiquidCrystal_I2C.h>
+
+// To H-bridges
+const int D1 = 10;
+const int D2 = 11;
+const int D3 = 6;
+const int D4 = 5;
+
+// UART communication
+char c;
+String received = "";
+
+// LCD
+LiquidCrystal_I2C lcd(0x27, 20, 4);
+
+int emptySpace = 0;
+
+void setup() {
+  pinMode(D1, OUTPUT);
+  pinMode(D2, OUTPUT);
+  pinMode(D3, OUTPUT);
+  pinMode(D4, OUTPUT);
+  digitalWrite(D1, LOW);
+  digitalWrite(D2, LOW);
+  digitalWrite(D3, LOW);
+  digitalWrite(D4, LOW);
+
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, LOW);
+
+  Serial.begin(9600);
+
+  lcd.init();
+  lcd.backlight();
+  lcd.setCursor(2, 0);
+  lcd.print("AGV booting!");
+  received = "Dot dot dot dot";
+}
+
+void loop() {
+  if (Serial.available() > 0) {
+    received = Serial.readStringUntil('\n');
+    //Serial.println(received);
+  }
+
+  if (received.indexOf("Bluetooth up") >= 0) {
+    lcd.clear();
+    lcd.setCursor(2, 0);
+    lcd.print("Bluetooth up");
+    lcd.setCursor(6, 1);
+    lcd.print("....");
+    emptySpace = 0;
+    received = "Dot dot dot dot"; // Reset received message so that LCD does not clear and rewrite every tick
+  }
+
+  if (received.indexOf("Dot dot dot dot") >= 0) {
+    String dot;
+    for (int i = 0;i < 4;i++) {
+      if (i == emptySpace) {
+        dot = " ";
+      } else {
+        dot = ".";
+      }
+      lcd.setCursor(6 + i, 1);
+      lcd.print(dot);
+    }
+    emptySpace++;
+    if (emptySpace > 3) {
+      emptySpace = 0;
+    }
+    delay(500);
+  }
+
+  if (received.indexOf("Bluetooth connected") >= 0) {
+    lcd.clear();
+    lcd.setCursor(2, 0);
+    lcd.print("Connected to");
+    lcd.setCursor(2, 1);
+    lcd.print(received.substring(20, 32)); // Message as 'Bluetooth connected XXXXXXXXXXXX' with MAC-address.
+    received = "";
+    delay(2000);
+    lcd.clear();
+  }
+
+  if (received.indexOf("Closing down") >= 0) {
+    lcd.clear();
+    lcd.setCursor(2, 0);
+    lcd.print("AGV booting!");
+    received = "Dot dot dot dot";
+
+    Serial.end();
+
+    delay(5000);
+
+    Serial.begin(9600);
+  }
+
+  if (received.indexOf("Forward") >= 0) { // Forward
+    digitalWrite(D1, HIGH);
+    digitalWrite(D2, LOW);
+    digitalWrite(D3, HIGH);
+    digitalWrite(D4, LOW);
+  }
+  else if (received.indexOf("Backward") >= 0) { // Backward
+    digitalWrite(D1, LOW);
+    digitalWrite(D2, HIGH);
+    digitalWrite(D3, LOW);
+    digitalWrite(D4, HIGH);
+  }
+  else if (received.indexOf("Right") >= 0) { // Right
+    digitalWrite(D1, HIGH);
+    digitalWrite(D2, LOW);
+    digitalWrite(D3, LOW);
+    digitalWrite(D4, HIGH);
+  }
+  else if (received.indexOf("Left") >= 0) { // Left
+    digitalWrite(D1, LOW);
+    digitalWrite(D2, HIGH);
+    digitalWrite(D3, HIGH);
+    digitalWrite(D4, LOW);
+  }
+  else {
+    digitalWrite(D1, LOW);
+    digitalWrite(D2, LOW);
+    digitalWrite(D3, LOW);
+    digitalWrite(D4, LOW);
+  }
+}