Autor: Andrei Diaconu

Proiectul are ca scop construirea unui scaun cu rotile controlat prin bluetooth de pe un telefon cu sistem de operare Android.

Utilizatorul va controla scaunul cu o aplicatie instalata pe un telefon cu Android. Acesta va avea un senzor cu ajutorul caruia vor fi evitate coliziunile, atunci cand scaunul se apropie de un obstacol acesta se va opri si nu va mai putea inainta. Scaunul este echipat si cu un claxon care va fi actionat prin apasarea unui buton.

• Arduino UNO
• Breadboard
• Modul Bluetooth
• Cabluri
• LED
• Buzzer
• Baterie
• 2 Motoare DC
• Butoane
• Senzor ultrasonic
• Modul driver motoare
• Roti

http://ocw.cs.pub.ro/courses/pm/prj2021/avaduva/bluetoothwheelchair

1. Am folosit libraria SoftwareSerial.h pentru modulul bluetooth
2. Folosesc functia de setup pentru a seta pinii de output
3. Folosesc o functie de loop in care preiau comenzile din bluetooth si verific ce comanda am, calculez distanta masurata de senzorul ultrasonic, aprind si sting becul si activez buzzer-ul la apasarea unui buton din telefon.

https://www.youtube.com/watch?v=5PakJnpXK68&ab_channel=AndreiDiaconu

#include <SoftwareSerial.h> SoftwareSerial hc05(0, 1);

int motorLeft1 = 2; int motorLeft2 = 3; int motorRight1 = 4; int motorRight2 = 5;

int trigPin = 9; Trig Pin int echoPin = 8; Echo Pin int distance; long duration; int light = 6; int led = 0; int buzzer = 7; char cmd;

void setup() {

Serial.begin(9600);
hc05.begin(9600);
pinMode(motorLeft1, OUTPUT);
pinMode(motorLeft2, OUTPUT);
pinMode(motorRight1, OUTPUT);
pinMode(motorRight2, OUTPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(10, OUTPUT); 
pinMode(11, OUTPUT);
pinMode(light, OUTPUT);
pinMode(buzzer, OUTPUT); 

}

void loop() {

if (led == 0) {
  digitalWrite(light, HIGH);
  led = 1;
  delay(1000);
}
else if (led == 1) {
  digitalWrite(light, LOW);
  led = 0;
  delay(1000);
}
if(hc05.available() > 0){
  cmd = hc05.read();
  Serial.write(Serial.read());
}
else {
  cmd = 'x';
}
  if(cmd == 'Y'){
      tone(buzzer, 1000);
      delay(1000);
      noTone(buzzer);
 }
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance = duration * 0.034 / 2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
if (distance <= 20 ) {
    if (cmd == 'B') {
      digitalWrite(motorLeft1, HIGH);
      digitalWrite(motorLeft2, LOW);      
      digitalWrite(motorRight1, LOW);
      digitalWrite(motorRight2, HIGH);       
      analogWrite(10, 200); //ENA pin
      analogWrite(11, 200); //ENB pin  
    }
      if (cmd == 'S') {
        digitalWrite(motorLeft1, LOW);
        digitalWrite(motorLeft2, LOW);        
        digitalWrite(motorRight1, LOW);
        digitalWrite(motorRight2, LOW);     
        analogWrite(10, 0); //ENA pin
        analogWrite(11, 0); //ENB pin
  }
}
else{
if (cmd == 'F') {
  digitalWrite(motorLeft1, LOW);
  digitalWrite(motorLeft2, HIGH);  
  digitalWrite(motorRight1, HIGH);
  digitalWrite(motorRight2, LOW);    
  analogWrite(10, 200); //ENA pin
  analogWrite(11, 200); //ENB pin
}
if (cmd == 'B') {
  digitalWrite(motorLeft1, HIGH);
  digitalWrite(motorLeft2, LOW);  
  digitalWrite(motorRight1, LOW);
  digitalWrite(motorRight2, HIGH);    
  analogWrite(10, 200); //ENA pin
  analogWrite(11, 200); //ENB pin
}

if (cmd == 'L') {
  digitalWrite(motorLeft1, LOW);
  digitalWrite(motorLeft2, HIGH); 
  digitalWrite(motorRight1, LOW);
  digitalWrite(motorRight2, LOW);
  analogWrite(10, 200); //ENA pin
  analogWrite(11, 200); //ENB pin
}
if (cmd == 'R') {

  digitalWrite(motorLeft1, LOW);
  digitalWrite(motorLeft2, LOW);
  digitalWrite(motorRight1, HIGH);
  digitalWrite(motorRight2, LOW);
  analogWrite(10, 200); //ENA pin
  analogWrite(11, 200); //ENB pin
}

if (cmd == 'S') {
  digitalWrite(motorLeft1, LOW);
  digitalWrite(motorLeft2, LOW);
  digitalWrite(motorRight1, LOW);
  digitalWrite(motorRight2, LOW);
  analogWrite(10, 0); //ENA pin
  analogWrite(11, 0); //ENB pin
}
}

}