View source for Base robot LynxMotion A4WD1 Aluminium

[[Image:LynxMotion_A4WD1_arduino-final.jpg|thumb|right|200px|Base robot LynxMotion A4WD1 with Arduino]]
[[Image:LynxMotion_A4WD1_arduino-inside.jpg|thumb|right|200px|Base robot LynxMotion A4WD1 with Arduino]]
[[Image:LynxMotion_A4WD1_arduino_120542.jpg|thumb|right|200px|Base robot LynxMotion A4WD1 with Arduino]]
[[Image:LynxMotionA4WD1a.jpg|thumb|right|200px|Base robot LynxMotion A4WD1]]
[[Image:LynxMotionA4WD1b.jpg|thumb|right|200px|Base robot LynxMotion A4WD1]]
[[Image:LynxMotionA4WD1c.jpg|thumb|right|200px|Base robot LynxMotion A4WD1]]


Nu sans carte de contrôle des moteurs : http://www.robotshop.com/eu/robot-kit-aluminium-4wd1.html
<br>(possibilité de mettre un STM32Discovery + une [[L298N Stepper Motor Driver Controller Board for Arduino|carte L298]]


Avec carte de contrôle des moteurs (Basic) et le pont [[Sabertooth]] mais sans batterie : http://www.robotshop.com/eu/productinfo.aspx?pc=RB-Lyn-400&lang=fr-CA



Guides LynxMotion
* http://www.lynxmotion.com/s-4-electronics-guides.aspx



==Bluetooth Controller==

# Add [[JY-MCU Arduino Bluetooth Wireless Serial Port Module]] to the pins 10 and 11 of the Arduino board
# Allumez l'arduino : la led du module clignote
# appariez le device BT (le nom par défaut est "RobairBT" ou "linvor") sur votre téléphone Android : la clé par défaut est "1234" : la led rouge du module est fixe (on)
# utilisez l'application [http://pymasde.es/blueterm/ BlueTerm] disponible sur l'Android Market Google Play
# connectez vous au device
# tapez 'h' pour la liste des commandes de pilotage


<pre>
// Bluetooth Robot Controller
// @author: Didier Donsez, 2013

// see http://arduino.cc/en/Reference/SoftwareSerial
#include <SoftwareSerial.h>

SoftwareSerial mySerial(10, 11); // RX, TX

//-- MOTEUR A --
int ENA=5; //Connecté à Arduino pin 5(sortie pwm)
int IN1=2; //Connecté à Arduino pin 2
int IN2=3; //Connecté à Arduino pin 3

//-- MOTEUR B --
int ENB=6; //Connecté à Arduino pin 6(Sortie pwm)
int IN3=4; //Connecté à Arduino pin 4
int IN4=7; //Connecté à Arduino pin 7


int curDirA=0; // 1=forward, -1=reverse
int curSpeedA=0;
int curDirB=0; // 1=forward, -1=reverse
int curSpeedB=0; 
int batteryLevel;
int batteryNominalLevel=111; // 11.1V
int MAX_SPEED=255; // 160 (=255*72/111) for an 7.2V DC motors
int curAccelerationStep=32;
int defaultSpeed=MAX_SPEED/2;

void setup() {
  configAB();
  
  // initialize serial communication:
  Serial.begin(9600);
  mySerial.begin(9600);
  delay(500);
  mySerial.print("AT+NAMERobairBT"); // Set the name to RobairBT
  //usage();
}

void loop() {
  if (mySerial.available() > 0) {
    int inByte = mySerial.read();
  
    Serial.write(inByte);
    mySerial.write(inByte);
    
    switch (inByte) {
    case ' ': // stop     
    case 'g': // stop    
      stopAB();
      break;
    case 't': // forward
      forwardA();
      forwardB();
      speedAB(defaultSpeed);
      break;
    case 'v': // reverse
      reverseA();
      reverseB();
      speedAB(defaultSpeed);
      break;
    case 'y': // forward right
      forwardA();
      forwardB();
      speedA(defaultSpeed);
      speedB((defaultSpeed/2));
      break;
    case 'r': // forward left
      forwardA();
      forwardB();
      speedB(defaultSpeed);
      speedA((defaultSpeed/2));
      break;
    case 'c': // reverse right
      reverseA();
      reverseB();
      speedA(defaultSpeed);
      speedB((defaultSpeed/2));
      break;
    case 'b': // reverse left
      reverseA();
      reverseB();
      speedB(defaultSpeed);
      speedA((defaultSpeed/2));
      break;
    case 's': // rotate
      forwardA();
      reverseB();
      speedA(defaultSpeed);
      speedB(defaultSpeed);
      break;
    case 'd': // antirotate
      reverseA();
      forwardB();
      speedA(defaultSpeed);
      speedB(defaultSpeed);
      break;
    case '1':
      defaultSpeed=MAX_SPEED/9;
      break;
    case '2':
      defaultSpeed=(MAX_SPEED/9)*2;
      break;
    case '3':
      defaultSpeed=(MAX_SPEED/9)*3;
      break;
    case '4':
      defaultSpeed=(MAX_SPEED/9)*4;
      break;
    case '5':
      defaultSpeed=(MAX_SPEED/9)*5;
      break;
    case '6':
      defaultSpeed=(MAX_SPEED/9)*6;
      break;
    case '7':
      defaultSpeed=(MAX_SPEED/9)*7;
      break;
    case '8':
      defaultSpeed=(MAX_SPEED/9)*8;
      break;
    case '9':
      defaultSpeed=MAX_SPEED;
      break;
    case 'h': // help
    case 'u': // help
      usage();
      break;
    default:
      break;
    
    }
    inByte=0;
  }
}

void configAB() {
 pinMode(ENA,OUTPUT);
 pinMode(ENB,OUTPUT);
 pinMode(IN1,OUTPUT);
 pinMode(IN2,OUTPUT);
 pinMode(IN3,OUTPUT);
 pinMode(IN4,OUTPUT);
}

void stopA() {
  digitalWrite(ENA,LOW);// Moteur A - Ne pas tourner (désactivation moteur)
}

void stopB() {
  digitalWrite(ENB,LOW);// Moteur B - Ne pas tourner (désactivation moteur) 
}

void stopAB() {
  stopA();
  stopB();
  //delay(??);
}


void forwardA() {
 if(curDirA==1) return;
 
 stopA();
 curDirA=1;
 digitalWrite(IN1,LOW); 
 digitalWrite(IN2,HIGH);
}

void reverseA() {
 if(curDirA==-1) return;
 
 stopA();
 curDirA=-1;
 digitalWrite(IN1,HIGH); 
 digitalWrite(IN2,LOW);
}

void forwardB() {
 if(curDirB==1) return;
 
 stopB();
 curDirB=1;
 digitalWrite(IN3,LOW); 
 digitalWrite(IN4,HIGH);
}

void reverseB() {
 if(curDirB==-1) return;
 
 stopB();
 curDirB=-1;
 digitalWrite(IN3,HIGH); 
 digitalWrite(IN4,LOW);
}

void speedA(int speed) {
  if(curDirA==0) return;
  curSpeedA=(speed>=MAX_SPEED)?MAX_SPEED:speed;
  analogWrite(ENA,curSpeedA);
}

void speedB(int speed) {
  if(curDirB==0) return;
  curSpeedB=(speed>=MAX_SPEED)?MAX_SPEED:speed;
  analogWrite(ENB,curSpeedB);
}

void speedAB(int speed) {
  speedA(speed);
  speedB(speed);
}

void rotate() {
  forwardA();
  reverseB();
}

void antirotate() {
  forwardB();
  reverseA();
}


void usage() {
  mySerial.print("Enter keys for drive control \n");
  mySerial.print("t = Forward \n");
  mySerial.print("v = Backward \n");
  mySerial.print("y = Right Forward\n");
  mySerial.print("r = Left Forward\n");
  mySerial.print("y = Right Backward\n");
  mySerial.print("r = Left Backward\n");
  mySerial.print("r = Rotate\n");
  mySerial.print("d = Antirotate\n");
  mySerial.print("1 .. 9 = default speed\n");
  mySerial.print("g = Stop \n");
  mySerial.print("  = Stop \n");
  mySerial.print("(c) Didier Donsez, 2013."); 
}

</pre>




==Liens==
* http://www.cellbots.com/
* http://www.instructables.com/id/Android-RC-Car/?ALLSTEPS