lobotomi's

LEGO Wall-E Motorized using Arduino

controlling by iPhone

기말고사 기간에 레고 월E 출시 발견. 이어서, 마인드스톰 추가 구성해서 움직이게 한거 보고 넋이 나감. 

그래서 겨울 방학때 아래의 미션하에 프로젝트를 진행하였다:

1. 레고 월E 굴러가게 하기.

2. 무조건 내 핸드폰 앱으로 컨트롤 가능해야 함. 적외선 컨트롤러 이딴거 난 안쓴다.

3. 블루투스 구성 위한 마인드스톰 오지게 비쌈. 아두이노 사용해서 경비절감.

그리하여 아래와 같이 완성!

* 외국 친구들한테도 페북 공유하려다보니 못난 영작이 함께 들어갑니다. 리딩 흐름에 방해가 되더라도 양해 부탁드립니다.

During the last final's week, I found the LEGO's brand-new Wall E model. And soon after that, I found another Youtube video Wall-E motorized with LEGO mind storm. It was totally mind blowing work!! So, of course, I've done this project during my winter break. My missions were:

1. LEGO Wall-E Motorized

2. It has to be controlled by my iPhone. I don't wanna talk about the stupid infrared controller at all. :P

3. But, mind storm for bluetooth is freakin' expensive. Use Arduino.

At the end, voila.

* 기타 제작 과정에서 도움 받은 참고 자료 및 사이트 Additional useful references. 

LEGO Wall-E 21303 Motorized with Power Functions https://youtu.be/3_9q6RjB5nM

Controlling LEGO DC motor with an Arduino https://youtu.be/PtinpaVpHeo

IPhone to Arduino using Bluetooth 4.0 http://www.instructables.com/id/IPhone-to-Arduino-using-Bluetooth-40-/

Core Bluetooth Programming Guide https://developer.apple.com/library/...

Bluetooth 4.0 datasheet http://www.pridopia.co.uk/pi-doc/BT4.0-HM-10-Serial_Port_BLE_Module_Master_Slave.pdf

* 아두이노 모터 제어 코드 Arduino motor control code.

Note 1:  모든 DC 모터는 조금씩 베이스 속도가 다르다. 이를 동일하게 맞추려면 휴리스틱한 방법으로, 두 모터의 속도 스케일 차이를 파악한 후 속도를 조정해야 한다. 뭔 말이냐면, 1번과 2번 모터를 모두 속도 10으로 맞추었는데, 육안으로 봤을때 2번 모터가 1번보다 3배 빠르게 돌아가고 있다면, 구동전에 1번 모터 속도를 30으로 2번 모터 속도를 10으로 맞추고 구동을 한다는 말이다. 

Note 2: 레고 모터는 AFMotor 라이브러리를 이용한 속도 세팅 시, 90 이하의 속도 세팅에서는 아예 구동하지 않는다.

#include <SoftwareSerial.h>

#include <AFMotor.h>

#define SPD1  100                    // Motor1 base speed.

#define SPD2  165                    // Motor2 base speed.

AF_DCMotor motor1(1);            // Motor1 is connected to slot 1.

AF_DCMotor motor2(4);          // Moter2 is connected to slot 4. 

SoftwareSerial BTSerial(3, 2);  // Pin3 is for TX, and Pin 2 is for RX.

int cmd1 = RELEASE;

int cmd2 = RELEASE;

int unavailableCount = 0;

String cmds = "";

void setup()

{

  Serial.begin(9600);

  BTSerial.begin(9600);

  Serial.println("Jisun's Wall-E world!!");

  motor1.setSpeed(SPD1);

  motor2.setSpeed(SPD2);

}

void loop()

{

  if(BTSerial.available())

  {

    char cmd = BTSerial.read();

    cmds = cmds + cmd;

    unavailableCount = 0;

  }

  else

  {

    unavailableCount = unavailableCount + 1;

  }

  if ( unavailableCount > 10 && cmds.length() > 0 )

  {

    int spd1 = SPD1;

    int spd2 = SPD2;

    String dbgstr = "";

    if ( cmds.indexOf("speed") >=0 )

    {

      int spdlv = 1;

      if ( cmds == "speed1") spdlv = 1;

      else if ( cmds == "speed2") spdlv = 2;

      else if ( cmds == "speed3") spdlv = 3;

      spd1 = spd1 + spdlv * 25;

      spd2 = spd2 + spdlv * 20;

      dbgstr = "Set speed level: " + String(spdlv);

      motor1.setSpeed(spd1);

      motor2.setSpeed(spd2);

    }

    else if ( cmds == "forward" )

    {

      dbgstr = "Move forward";

      cmd1 = FORWARD; cmd2 = FORWARD;

    }

    else if ( cmds == "backward" )

    {

      dbgstr = "Move backward";

      cmd1 = BACKWARD; cmd2 = BACKWARD;

    }

    else if ( cmds == "left")

    {

      dbgstr = "Turn left";

      cmd1 = RELEASE; cmd2 = FORWARD;

    }

    else if ( cmds == "right")

    {

      dbgstr = "Turn right";

      cmd1 = FORWARD; cmd2 = RELEASE;

    }

    else if ( cmds == "leftback")

    {

      dbgstr = "Turn left backward";

      cmd1 = RELEASE; cmd2 = BACKWARD;

    }

    else if ( cmds == "rightback")

    {

      dbgstr = "Turn right backward";

      cmd1 = BACKWARD; cmd2 = RELEASE;

    }

    else if ( cmds == "release" )

    {

      dbgstr = "Release";

      cmd1 = RELEASE; cmd2 = RELEASE;

    }

    if ( dbgstr.length() > 0 )

    {

      dbgstr += "(" + String(spd1) + "/" + String(spd2) + ")";

      Serial.println(dbgstr);

      motor1.run(cmd1);

      motor2.run(cmd2);

    }

    else

    {

      Serial.println(cmds);

    }

    cmds = "";

    unavailableCount = 0;

  }

  if(Serial.available())

  {

    char cmd = Serial.read();

    BTSerial.write(cmd);

  }

}

* 아이폰 블루투스 컨트롤러 코드 iPhone bluetooth controller code

ViewController.h

//

//  ViewController.h

//  WallEController

//

//  Created by Jisun Kang on 1/10/16.

//  Copyright © 2016 ___JSK___. All rights reserved.

//

#import <UIKit/UIKit.h>

#import <CoreBluetooth/CoreBluetooth.h>

@interface ViewController : UIViewController <CBCentralManagerDelegate>

@property (nonatomic, strong) CBCentralManager *centralManager;

@property (nonatomic, strong) CBPeripheral *peripheral;

@property (nonatomic, strong) CBCharacteristic *currentcharacteristic;

-(IBAction) goToSecondView:(id)sender;

-(IBAction) cancelConnection:(id)sender;

@end

@interface SecondViewController : UIViewController

@property (nonatomic, strong) CBCentralManager *centralManager;

@property (nonatomic, strong) CBPeripheral *peripheral;

@property (nonatomic, strong) CBCharacteristic *currentcharacteristic;

-(IBAction) pressButtons:(UIButton *)sender;

@end

ViewController.m

//

//  ViewController.m

//  WallEController

//

//  Created by Jisun Kang on 1/10/16.

//  Copyright © 2016 ___JSK___. All rights reserved.

//

#import "ViewController.h"

// this is for various device screen size.

#define SCREEN_WIDTH [[UIScreen mainScreen] bounds].size.width

#define SCREEN_HEIGHT [[UIScreen mainScreen] bounds].size.height

@interface ViewController () <UITableViewDataSource, UITableViewDelegate>

{

    NSMutableArray* cbArray;

}

@property (strong, nonatomic) IBOutlet UITableView *mainTableView;

@property (strong, nonatomic) IBOutlet UILabel *mainLabel;

@end

@implementation ViewController

- (void)viewDidLoad {

    [super viewDidLoad];

    // initializing UITableView

    cbArray = [NSMutableArray array];

    _mainTableView.delegate = self;

    _mainTableView.dataSource = self;

    _mainTableView.backgroundColor = [UIColor colorWithRed:236.0/255.0 green:236/255.0 blue:236.0/255.0 alpha:0.7];

    _mainTableView.backgroundView = nil;

    _mainTableView.allowsMultipleSelectionDuringEditing = NO;

    _mainTableView.separatorStyle = UITableViewCellSeparatorStyleSingleLineEtched;

    _mainTableView.autoresizingMask = UIViewAutoresizingNone;

    self.centralManager = [[CBCentralManager alloc] initWithDelegate:self queue:nil];

    self.peripheral.delegate = self;

}

- (void)viewDidAppear:(BOOL)animated {

    [super viewDidAppear: true];

    _mainLabel.text = @"";

}

- (void)didReceiveMemoryWarning {

    [super didReceiveMemoryWarning];

}

- (void)dealloc

{

    [self.centralManager stopScan];

}

- (IBAction)goToSecondView:(id)sender {

    UIStoryboard *mainStoryboard = [UIStoryboard storyboardWithName: @"Main" bundle:nil];

    SecondViewController* secVC = [mainStoryboard instantiateViewControllerWithIdentifier:@"SecondView"];

    secVC.centralManager = self.centralManager;

    secVC.peripheral = self.peripheral;

    secVC.currentcharacteristic = self.currentcharacteristic;

    [self presentViewController:secVC animated:YES completion:nil];

}

- (IBAction)cancelConnection:(id)sender {

    if ( self.peripheral == nil )

        return;

    _mainLabel.text = @"Cancel connection.";

    [self.centralManager cancelPeripheralConnection:self.peripheral];

    self.peripheral = nil;

    [self.centralManager scanForPeripheralsWithServices:nil options:nil];

}

// =========================================

// CB Central Manager

// =========================================

// Invoked when the central manager’s state is updated.

- (void)centralManagerDidUpdateState:(CBCentralManager *)central

{

    switch (central.state) {

        case CBCentralManagerStatePoweredOn:

            NSLog(@"CoreBluetooth BLE hardware is powered on and ready");

            _mainLabel.text = @"Scanning...";

            [self.centralManager scanForPeripheralsWithServices:nil options:nil]; //@{CBCentralManagerScanOptionAllowDuplicatesKey:@YES}];

            break;

        case CBCentralManagerStatePoweredOff:

        case CBCentralManagerStateResetting:

        case CBCentralManagerStateUnauthorized:

        case CBCentralManagerStateUnknown:

        case CBCentralManagerStateUnsupported:

        default:

            NSLog(@"CoreBluetooth BLE hardware is powered off or not initialized.");

            break;

    }

}

// add the device to our array and reload the table view.

- (void)centralManager:(CBCentralManager *)central didDiscoverPeripheral:(CBPeripheral *)peripheral advertisementData:(NSDictionary *)advertisementData RSSI:(NSNumber *)RSSI

{

    CBPeripheral* currentPer = peripheral;

    if(![cbArray containsObject:currentPer])

    {

        [cbArray addObject:currentPer];

    }

    [_mainTableView reloadData];

}

- (void)centralManager:(CBCentralManager *)central didConnectPeripheral:(CBPeripheral *)peripheral

{

    NSLog(@"Success to connect.: %@",peripheral);

    _mainLabel.text = @"Success to connect.";

    peripheral.delegate = self;

    if (peripheral.services) {

        [self peripheral:peripheral didDiscoverServices:nil];

    } else {

        [peripheral discoverServices:nil];

    }

    self.peripheral = peripheral;

}

- (void)centralManager:(CBCentralManager *)central didDisconnectPeripheral:(CBPeripheral *)peripheral error:(NSError *)error {

    NSLog(@"Disconnected with peripheral: %@",peripheral);

    _mainLabel.text = @"Disconnected and scanning...";

    self.peripheral = nil;

    [self.centralManager scanForPeripheralsWithServices:nil options:nil];

    NSLog(@"The error is: %@", error.localizedDescription);

}

- (void)centralManager:(CBCentralManager *)central didFailToConnectPeripheral:(CBPeripheral *)peripheral error:(NSError *)error

{

    NSLog(@"Connection failed to peripheral: %@",peripheral);

    _mainLabel.text = @"Fail to connect.";

}

- (void)peripheral:(CBPeripheral *)peripheral didDiscoverServices:(NSError *)error

{

    for (CBService *service in peripheral.services)

    {

        NSLog(@"Discovered service %@", service);

        _mainLabel.text = @"Discovered service.";

        [peripheral discoverCharacteristics:nil forService:service];

    }

}

- (void)peripheral:(CBPeripheral *)peripheral didDiscoverCharacteristicsForService:(CBService *)service error:(NSError *)error

{

    NSLog(@"Looking for Characteristic...");

    for (CBCharacteristic *characteristic in service.characteristics)

    {

        if ( characteristic.properties & CBCharacteristicPropertyWriteWithoutResponse )

        {

            NSLog(@"Find Characteristic!!");

            self.currentcharacteristic = characteristic;

            [peripheral setNotifyValue:YES forCharacteristic:characteristic];

            [self goToSecondView:nil];

        }

    }

}

- (void)peripheral:(CBPeripheral *)peripheral didWriteValueForCharacteristic:(CBCharacteristic *)characteristic error:(NSError *)error

{

    if (error) {

        NSLog(@"Error writing characteristic value: %@",

              [error localizedDescription]);

    }

}

// =========================================

// TableView delegates

// =========================================

#pragma mark UITableView Delegate

// reload the table view when a new peripheral device is found and write their name list.

- (UITableViewCell *)tableView:(UITableView *)tableView cellForRowAtIndexPath:(NSIndexPath *)indexPath

{

    static NSString *cellIdentifier = @"Cell";

    UITableViewCell *cell = [tableView dequeueReusableCellWithIdentifier:cellIdentifier];

    if (cell == nil) {

        cell = [[UITableViewCell alloc] initWithStyle:UITableViewCellStyleSubtitle reuseIdentifier:cellIdentifier];

    }

    cell.backgroundColor = [UIColor clearColor];

    cell.selectionStyle = UITableViewCellSelectionStyleDefault;

    CBPeripheral* currentPer = [cbArray objectAtIndex:indexPath.row];

    cell.textLabel.text = (currentPer.name ? currentPer.name : @"Not available");

    return cell;

}

- (void)tableView:(UITableView *)tableView didSelectRowAtIndexPath:(NSIndexPath *)indexPath

{

    [tableView deselectRowAtIndexPath:indexPath animated:YES];

    _mainLabel.text = @"Trying to connect...";

    CBPeripheral* currentPer = [cbArray objectAtIndex:indexPath.row];

    if ( self.peripheral != nil )

    {

        [self.centralManager cancelPeripheralConnection:self.peripheral];

    }

    currentPer.delegate = self;

    self.peripheral = currentPer;

    [self.centralManager connectPeripheral:currentPer options:nil];

    [self.centralManager stopScan];

}

- (NSString *)tableView:(UITableView *)tableView titleForHeaderInSection:(NSInteger)section {

    return [NSString stringWithFormat:@"Total count %lu",(unsigned long)cbArray.count];

}

- (CGFloat)tableView:(UITableView *)tableView heightForHeaderInSection:(NSInteger)section

{

    return 40;

}

#pragma mark UITableView Datasource

- (CGFloat)tableView:(UITableView *)tableView heightForRowAtIndexPath:(NSIndexPath *)indexPath

{

    return 50;

}

- (NSInteger)tableView:(UITableView *)tableView numberOfRowsInSection:(NSInteger)sectionIndex

{

    return cbArray.count;

}

@end

// =========================================

// SecondViewController

// =========================================

@interface SecondViewController ()

{

}

@property (strong, nonatomic) IBOutlet UILabel *secondLabel;

@end

@implementation SecondViewController

- (void)viewDidLoad {

    [super viewDidLoad];

}

- (void)viewDidAppear:(BOOL)animated {

    [super viewDidAppear: true];

    _secondLabel.text = @"";

}

- (void)didReceiveMemoryWarning {

    [super didReceiveMemoryWarning];

}

- (IBAction)pressButtons:(UIButton *)sender {

    _secondLabel.text = @"";

    NSString *buttonTag = [NSString stringWithFormat:@"%d", (int)sender.tag];

    NSString *data = @"";

    switch (sender.tag) {

        case 1:

            _secondLabel.text = @"Turn left";

            data = @"left";

            break;

        case 2:

            _secondLabel.text = @"Go forward";

            data = @"forward";

            break;

        case 3:

            _secondLabel.text = @"Turn right";

            data = @"right";

            break;

        case 4:

            _secondLabel.text = @"Turn left backword";

            data = @"leftback";

            break;

        case 5:

            _secondLabel.text = @"Move backward";

            data = @"backward";

            break;

        case 6:

            _secondLabel.text = @"Turn right backword";

            data = @"rightback";

            break;

        case 0:

            _secondLabel.text = @"Stop";

            data = @"release";

            break;

        case 11:

            _secondLabel.text = @"Slow speed";

            data = @"speed1";

            break;

        case 12:

            _secondLabel.text = @"Normal speed";

            data = @"speed2";

            break;

        case 13:

            _secondLabel.text = @"fast speed";

            data = @"speed3";

            break;

        default:

            break;

    }

    NSLog(_secondLabel.text);

    if ( self.currentcharacteristic != nil )

    {

        NSLog(@"Write value to peripheral");

        NSData *encodingdata = [data dataUsingEncoding:NSUTF8StringEncoding];

        [self.peripheral writeValue:encodingdata forCharacteristic:self.currentcharacteristic type:CBCharacteristicWriteWithoutResponse];

    }

}

@end