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#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <VL53L0X.h>
// To H-bridges
const int D1 = 9;
const int D2 = 3;
const int D3 = 6;
const int D4 = 5;
// UART communication
char c;
String received = "";
// LCD
LiquidCrystal_I2C lcd(0x27, 20, 4);
int emptySpace = 0;
// TOF
VL53L0X sensor;
int dist = 0;
// IR
const int LIR = 10;
const int RIR = 11;
void setup() {
pinMode(D1, OUTPUT);
pinMode(D2, OUTPUT);
pinMode(D3, OUTPUT);
pinMode(D4, OUTPUT);
pinMode(LIR, INPUT);
pinMode(RIR, INPUT);
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
Serial.begin(115200);
Wire.begin();
sensor.init();
sensor.setMeasurementTimingBudget(10000);
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(1, 0);
lcd.print("Shutting down!");
received = "Dot dot dot dot";
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
}
if (received.indexOf("Forward") >= 0) { // Forward
analogWrite(D1, 150);
digitalWrite(D2, LOW);
analogWrite(D3, 150);
digitalWrite(D4, LOW);
}
else if (received.indexOf("Backward") >= 0) { // Backward
digitalWrite(D1, LOW);
analogWrite(D2, 150);
digitalWrite(D3, LOW);
analogWrite(D4, 150);
}
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 if (received.indexOf("Goal") >= 0) { // Pair with goal
dist = sensor.readRangeSingleMillimeters();
if (dist < 50) {
Serial.println("Something in front!");
received = "Check1";
analogWrite(D1, 255);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 255);
delay(100);
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(500);
}
else if (digitalRead(RIR)) {
delay(50);
analogWrite(D1, 255);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 255);
delay(100);
}
else if (digitalRead(LIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 255);
analogWrite(D3, 255);
digitalWrite(D4, LOW);
delay(100);
}
else {
analogWrite(D1, 50);
digitalWrite(D2, LOW);
analogWrite(D3, 50);
digitalWrite(D4, LOW);
}
}
else if (received.indexOf("Check1") >= 0) {
received = "Check2";
digitalWrite(D1, LOW);
analogWrite(D2, 100);
analogWrite(D3, 100);
digitalWrite(D4, LOW);
delay(100 + i);
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(500);
i += 10;
}
else if (received.indexOf("Check2") >= 0) {
received = "Check1";
analogWrite(D1, 100);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 100);
delay(100 + i);
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(500);
i += 10;
}
else {
i = 0;
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
}
if (i > 100) {
received = "Stop";
}
}
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