// MCU BASIC: https://www.basic4mcu.com
// DateTime : 2018-10-17 오후 6:27:53
// by Ok-Hyun Park
이번에 RC카를 만들게 됐는데
RC카에 적외선 감지센서를 달아 RC카 구동중에 센서에 물체가 감지가 되면 우회전을 하게 할려고 했습니다
근데 생각보다 너무 어렵네요 ㅠㅠ 빨간색으로 표시한게 제가 추가한 코딩입니다 ㅠㅠ
제가 초보자라 아직 많이 모릅니다 전문가분들의 도움이 절실합니다 ㅠㅠ
//
/*명령
*1.블루투스 g->Go 전진 명령
*2.블루투스 b->Back 후진 명령
*3.블루투스 l->left 좌회전 명령
*4.블루투스 r->right 우회전 명령
*5.블루투스 s->stop 정지 명령
*
*/
#include <SoftwareSerial.h>              // 시리얼 통신을 위한 라이브러리 선언
#define BT_RXD  3                        // 아두이노의 4번핀을 RX(받는 핀)로 설정
#define BT_TXD  4                        // 아두이노 3번핀을 TX(보내는 핀)로 설정
SoftwareSerial bluetooth(BT_RXD,BT_TXD); // 블루투스 통신을 위한 설정
//
#define CAR_DIR_FW  1 // 전진.
#define CAR_DIR_BW  2 // 후진.
#define CAR_DIR_LF  3 // 좌회전.
#define CAR_DIR_RF  4 // 우회전
#define CAR_DIR_ST  5 // 정지.
//
char E_carDir=0;
int  Edu_count=0;
//
int RmEN=5,Rm1_pin= 8,Rm2_pin= 9; // 오른쪽 모터 제어선 IN2
int LmEN=6,Lm3_pin=10,Lm4_pin=11; // 왼쪽 모터의 Enable&PWM
int Gled=12,Yled=7,Rled=13;
int sensorpin=2;
int Speed=153;               // 최대 속도의  60%
int pSpeed=0;
//
void SmartCar_Stop(){ // 정지
  if(E_carDir==CAR_DIR_FW||E_carDir==CAR_DIR_LF||E_carDir==CAR_DIR_RF){
    for(int i=Speed; i>=0; i=i-5){ analogWrite(RmEN,i); analogWrite(LmEN,i); delay(20); }
  }
  else if(E_carDir==CAR_DIR_BW){
    for(int i=Speed; i>=0; i=i-5){ analogWrite(RmEN,i); analogWrite(LmEN,i); delay(20); }
  }
  digitalWrite(Gled,LOW); digitalWrite(Rled,HIGH); digitalWrite(Yled,LOW);
  digitalWrite(RmEN,LOW); digitalWrite(LmEN,LOW); // 정지
}
//
void SmartCar_Go(){ // 전진
  digitalWrite(Rm1_pin,HIGH); digitalWrite(Rm2_pin,LOW);
  digitalWrite(Lm3_pin,HIGH); digitalWrite(Lm4_pin,LOW);
  for(int i=pSpeed; i<=Speed; i=i+5){ analogWrite(RmEN,i); analogWrite(LmEN,i); delay(20); }
  digitalWrite(Gled,HIGH); digitalWrite(Rled,LOW); digitalWrite(Yled,LOW);
  pSpeed=Speed;
}
//
void SmartCar_Back(){ // 후진
  digitalWrite(Rm1_pin,LOW); digitalWrite(Rm2_pin,HIGH);
  digitalWrite(Lm3_pin,LOW); digitalWrite(Lm4_pin,HIGH);
  for(int i=pSpeed;i<=Speed;i=i+5){ analogWrite(RmEN,i); analogWrite(LmEN,i); delay(20); }
  digitalWrite(Gled,HIGH); digitalWrite(Rled,LOW); digitalWrite(Yled,HIGH);
  pSpeed=Speed;
}
//
void SmartCar_Left(){ // 좌회전
  digitalWrite(Rm1_pin,HIGH); digitalWrite(Rm2_pin,LOW);
  digitalWrite(Lm3_pin,HIGH); digitalWrite(Lm4_pin,LOW);
  for(int i=pSpeed;i<=Speed;i=i+5){ analogWrite(RmEN,i*1.4); analogWrite(LmEN,i*0.2); delay(50); } // 140%// 20%
  digitalWrite(Gled,LOW); digitalWrite(Rled,LOW); digitalWrite(Yled,HIGH);
  pSpeed=Speed;
}
//
void SmartCar_Right(){ // 우회전
  digitalWrite(Rm1_pin,HIGH); digitalWrite(Rm2_pin,LOW);
  digitalWrite(Lm3_pin,HIGH); digitalWrite(Lm4_pin,LOW);
  for(int i=pSpeed;i<=Speed;i=i+5){ analogWrite(RmEN,i*0.2); analogWrite(LmEN,i*1.4); delay(50); } // 20%// 140%
  digitalWrite(Gled,LOW); digitalWrite(Rled,LOW); digitalWrite(Yled,HIGH);
  pSpeed=Speed;
}
// 제어명령을 실제로 수행하는 함수
void controllerByBTCommand(char szBTCmd){
  if(szBTCmd=='+'){ // 모터의 speed up
    pSpeed=Speed; Speed+=20; Speed=min(Speed,255); Serial.print("Speed Up "); Serial.println(Speed);
  }
  else if(szBTCmd=='-'){ // 모터의 speed down
    pSpeed=Speed; Speed-=20; Speed=max(Speed,50); Serial.print("Speed down "); Serial.println(Speed);
  }
  else if(szBTCmd=='g')E_carDir=CAR_DIR_FW; // 전진
  else if(szBTCmd=='s')E_carDir=CAR_DIR_ST; // 정지
  else if(szBTCmd=='b')E_carDir=CAR_DIR_BW; // 후진
  else if(szBTCmd=='l')E_carDir=CAR_DIR_LF; // 좌회전
  else if(szBTCmd=='r')E_carDir=CAR_DIR_RF; // 우회전
}
// 방향 전환에 따른 동작 명령 함수
//
void Sensor(){
  int state=digitalRead(sensorpin); Serial.print("sensorpin="); Serial.println(state);
  if(state==0){ E_carDir=CAR_DIR_RF; }
  Serial.println("Warning");
  pSpeed=Speed;
}
//
void SmartCar_Update(){
  Sensor();
  if     (E_carDir==CAR_DIR_FW)SmartCar_Go();    // 전진
  else if(E_carDir==CAR_DIR_BW)SmartCar_Back();  // 후진
  else if(E_carDir==CAR_DIR_LF)SmartCar_Left();  // 좌회전
  else if(E_carDir==CAR_DIR_RF)SmartCar_Right(); // 우회전
  else if(E_carDir==CAR_DIR_ST)SmartCar_Stop();  // 정지.
}
//
void setup(){
  // declare the ledPin as an OUTPUT:
  pinMode(RmEN,OUTPUT); pinMode(Rm1_pin,OUTPUT); pinMode(Rm2_pin,OUTPUT);
  pinMode(LmEN,OUTPUT); pinMode(Lm3_pin,OUTPUT); pinMode(Lm4_pin,OUTPUT);
  pinMode(Gled,OUTPUT); pinMode(Yled,OUTPUT);    pinMode(Rled,OUTPUT);
  pinMode(sensorpin,INPUT);
  Serial.begin(9600);       // PC와 아두이노간 시리얼 통신속도를 9600bps로 설정
  bluetooth.begin(9600);    // 블루투스와 아두이노간 시리얼 통신속도를 9600bps로 설정
  digitalWrite(RmEN,HIGH);  // 오른쪽 모터의 Enable 핀 활성화
  digitalWrite(LmEN,HIGH);  // 왼쪽 모터의 Enable 핀 활성화
}
//
void loop(){
  char szRecvCmd=bluetooth.read(); // 블루투스 통신을 통한 명령 받기
  controllerByBTCommand(szRecvCmd);
  SmartCar_Update();               // 스마트카 상태 업데이트
  if     ((Edu_count%20)==0){ Edu_count=0; delay(10); }
  else if((Edu_count%10)==0){ delay(10); }
  Edu_count++;
}