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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 and
char c;
String received = "";
String hostAddr = "";
String xstatus = "0000";
String ystatus = "0000";
String dir = "000";
enum statusDialog { booting, btUp, btConnected, shutDown, startingGoal, foundGoal, currentStatus, obstruction };
enum availCommand { forward, backward, right, left, goal, checkRight, checkLeft, stop };
statusDialog status;
availCommand command;
// LCD
LiquidCrystal_I2C lcd(0x27, 20, 4);
int emptySpace = 0;
int i = 0;
bool dots = false;
// TOF
VL53L0X sensor;
int dist = 0;
// IR
const int FLIR = 7;
const int LIR = 10;
const int RIR = 11;
const int FRIR = 8;
void setup() {
pinMode(D1, OUTPUT);
pinMode(D2, OUTPUT);
pinMode(D3, OUTPUT);
pinMode(D4, OUTPUT);
pinMode(FLIR, INPUT);
pinMode(LIR, INPUT);
pinMode(RIR, INPUT);
pinMode(FRIR, INPUT);
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
Serial.begin(115200);
while (!Serial) { ; }
Wire.begin();
sensor.init();
sensor.setMeasurementTimingBudget(100);
lcd.init();
lcd.backlight();
lcd.clear();
lcd.setCursor(2, 0);
lcd.print("AGV booting!");
dots = true;
status = booting;
command = stop;
}
void loop() {
if (Serial.available() > 0) {
received = Serial.readStringUntil('\n');
// Serial.println(received);
}
// Status states handling
if (received == "Bluetooth up") {
status = btUp;
dots = true;
lcd.clear();
lcd.setCursor(2, 0);
lcd.print("Bluetooth up");
lcd.setCursor(6, 1);
}
else if (received.indexOf("Bluetooth connected") >= 0) {
status = btConnected;
hostAddr = received.substring(20, 32);
dots = false;
lcd.clear();
lcd.setCursor(2, 0);
lcd.print("Connected to");
lcd.setCursor(2, 1);
lcd.print(hostAddr); // Message as 'Bluetooth connected XXXXXXXXXXXX' with MAC-address.
}
else if (received == "Closing down") {
status = shutDown;
dots = true;
lcd.clear();
lcd.setCursor(1, 0);
lcd.print("Shutting down!");
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(5000);
lcd.clear();
lcd.setCursor(2, 0);
lcd.print("AGV booting!");
}
else if (received == "Start goal") {
status = startingGoal;
dots = true;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Looking for goal");
}
else if (received == "Found goal") {
status = foundGoal;
dots = false;
lcd.clear();
lcd.setCursor(3, 0);
lcd.print("Found goal");
}
else if (received.indexOf("Current status") >= 0) {
status = currentStatus;
xstatus = received.substring(15, 19);
ystatus = received.substring(20, 24);
dir = received.substring(25, 28);
dots = false;
lcd.clear();
lcd.setCursor(0, 0);
// lcd.print("Status");
switch (command) {
case forward:
lcd.print("Forward");
break;
case backward:
lcd.print("Backward");
break;
case left:
lcd.print("Left");
break;
case right:
lcd.print("Right");
break;
case stop:
lcd.print("Stop");
break;
}
lcd.setCursor(13, 0);
lcd.print(dir);
lcd.setCursor(1, 1);
lcd.print("x:");
lcd.print(xstatus);
lcd.print(", y:");
lcd.print(ystatus);
}
else if (received == "Obstruction found") {
status = obstruction;
dots = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Obstruction");
}
// Command state handling
if (received == "Forward") {
command = forward;
}
else if (received == "Backward") {
command = backward;
}
else if (received == "Right") {
command = right;
}
else if (received == "Left") {
command = left;
}
else if (received == "Stop") {
command = stop;
}
else if (received == "Start goal") {
command = goal;
}
else if (received == "Found goal") {
command = stop;
}
received = "";
// Command state logic
switch (command) {
case forward:
analogWrite(D1, 150);
digitalWrite(D2, LOW);
analogWrite(D3, 150);
digitalWrite(D4, LOW);
break;
case backward:
digitalWrite(D1, LOW);
analogWrite(D2, 150);
digitalWrite(D3, LOW);
analogWrite(D4, 150);
break;
case right:
digitalWrite(D1, HIGH);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, HIGH);
break;
case left:
digitalWrite(D1, LOW);
digitalWrite(D2, HIGH);
digitalWrite(D3, HIGH);
digitalWrite(D4, LOW);
break;
case goal:
// Get TOF sensor reading in front of AGV
dist = sensor.readRangeSingleMillimeters();
if (dist < 60) {
Serial.println("Something in front!");
command = checkLeft;
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);
i = 0;
}
else if (digitalRead(RIR)) {
delay(50);
analogWrite(D1, 100);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 150);
delay(100);
}
else if (digitalRead(LIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 150);
analogWrite(D3, 100);
digitalWrite(D4, LOW);
delay(100);
}
else if (digitalRead(FRIR)) {
delay(50);
analogWrite(D1, 200);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 255);
delay(150);
}
else if (digitalRead(FLIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 255);
analogWrite(D3, 200);
digitalWrite(D4, LOW);
delay(150);
}
else {
analogWrite(D1, 50);
digitalWrite(D2, LOW);
analogWrite(D3, 50);
digitalWrite(D4, LOW);
}
break;
case checkRight:
command = checkLeft;
if (digitalRead(RIR)) {
delay(50);
analogWrite(D1, 150);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 150);
delay(100);
}
else if (digitalRead(LIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 150);
analogWrite(D3, 150);
digitalWrite(D4, LOW);
delay(100);
}
else if (digitalRead(FRIR)) {
delay(50);
analogWrite(D1, 255);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 255);
delay(150);
}
else if (digitalRead(FLIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 255);
analogWrite(D3, 255);
digitalWrite(D4, LOW);
delay(150);
}
else {
analogWrite(D1, 100);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 100);
delay(100 + i);
i += 10;
}
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(200);
break;
case checkLeft:
command = checkRight;
if (digitalRead(RIR)) {
delay(50);
analogWrite(D1, 150);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 150);
delay(100);
}
else if (digitalRead(LIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 150);
analogWrite(D3, 150);
digitalWrite(D4, LOW);
delay(100);
}
else if (digitalRead(FRIR)) {
delay(50);
analogWrite(D1, 255);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
analogWrite(D4, 255);
delay(150);
}
else if (digitalRead(FLIR)) {
delay(50);
digitalWrite(D1, LOW);
analogWrite(D2, 255);
analogWrite(D3, 255);
digitalWrite(D4, LOW);
delay(150);
}
else {
digitalWrite(D1, LOW);
analogWrite(D2, 100);
analogWrite(D3, 100);
digitalWrite(D4, LOW);
delay(100 + i);
i += 10;
}
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
delay(500);
break;
default:
digitalWrite(D1, LOW);
digitalWrite(D2, LOW);
digitalWrite(D3, LOW);
digitalWrite(D4, LOW);
break;
}
// Print dots waiting for next command
if (dots == true) {
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);
}
}
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