Initial software release

.gitignore

@@ -1,5 +1,11 @@
+# KDE
 .directory
 
+# Personal files
 TODO.txt
 
+# VSCode configuration files
+.vscode/
+
+# Compiled files
 build/

README.md

@@ -1,14 +1,21 @@
 # arduino-robot-car
-Repository for a 4-wheel robot car based on Arduino for the "Elegoo Smart Robot Car Kit V3.0 Plus" and similar ones.
+Source code to control a 4-wheel robot car based on Arduino Uno. The code has been tested for the "Elegoo Smart Robot Car Kit V3.0 Plus", but can be easily adatped for other similar ones.
 
-## Requirements
+The robot consists of a 4 DC motors driven by a H-Bridge with dual output, connecting the two left wheels and the two right ones to its outputs. The car is remotely controlled either by Bluetooth, through the Elegoo Tool app, or by infrared. An ultrasonic sensor attached to a servo motor measures the front distance to objects. A line tracking sensor on the base, with 3 pairs of LED + photoresistors, allows to follow a line drawn on the floor.
+Some functionalities have been added in the software to the official Elegoo release.
 
+## Requirements
+Apart from the standard Arduino libraries, some other ones must be installed:
+- ArduinoJson: https://arduinojson.org
+- IRRemote: https://github.com/z3t0/Arduino-IRremote
+- Servo: https://www.arduino.cc/reference/en/libraries/servo/
 
 ## Installation
-
+1. Install the required libraries.
+2. Download the repository and flash the Arduino. For VSCode, modify the includePath to use the downloaded libraries; if using the Arduino IDE, change the name of the src folder to something appropriate.
 
 ## Usage
-
+The oficial Elegoo Tool application for Android must be downloaded to interact with the robot. Nevertheless, changing the initial robot mode will allow you to use it without the app.
 
 ## Contributing
 Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

src/IRreceiver.cpp

@@ -0,0 +1,61 @@
+/**
+ * @file IRreceiver.cpp
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Library for receiving data from the IR sensor.
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#include "constants.h"
+#include "IRreceiver.h"
+
+IRreceiver::IRreceiver(): m_irrecv{ Constants::IRPin }, m_isEnabled{ false }, 
+m_previousKey{ 0xFFFFFFFF }  // Member initializer lists; it can't go inside the constructor
+{
+}
+
+IRreceiver::~IRreceiver()
+{
+}
+
+void IRreceiver::enable()
+{
+    if (!m_isEnabled)
+    {
+        m_irrecv.enableIRIn();
+        m_irrecv.blink13(false);  // Disable blinking the LED 13 during reception
+        m_isEnabled = true;
+    }
+}
+
+RemoteOrder IRreceiver::decodeIR()
+{
+    if (m_irrecv.decode(&m_results))
+    {
+        unsigned long pressedKey = m_results.value;
+        m_irrecv.resume();
+
+        if (pressedKey == 0xFFFFFFFF)  // Repeat previous key
+            pressedKey = m_previousKey;
+        else
+            m_previousKey = pressedKey;  // Update previous key to current key
+
+        switch (pressedKey)
+        {
+            case Constants::okKey:
+                return RemoteOrder::STOP;
+            case Constants::upKey:
+                return RemoteOrder::FORWARD;
+            case Constants::downKey:
+                return RemoteOrder::BACKWARD;
+            case Constants::leftKey:
+                return RemoteOrder::ROTATELEFT;
+            case Constants::rightKey:
+                return RemoteOrder::ROTATERIGHT;
+            default:
+                return RemoteOrder::UNKNOWN;                
+        }        
+    }
+    return RemoteOrder::UNKNOWN;
+}

src/IRreceiver.h

@@ -0,0 +1,37 @@
+/**
+ * @file IRreceiver.h
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Library for receiving data from the IR sensor.
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#ifndef IRRECEIVER_H
+#define IRRECEIVER_H
+
+// To avoid using old versions of Arduino IDE, which used WPProgram.h instead or Arduino.h
+// Also possible #define IRPRONTO
+#ifndef ARDUINO
+    #define ARDUINO 108012  // Arduino IDE version used when writing the program
+#endif
+
+#include "constants.h"
+#include <IRremote.h>
+
+class IRreceiver
+{
+    private:
+        IRrecv m_irrecv;  // Receiver object
+        bool m_isEnabled;
+        decode_results m_results;  // Struct to store the received information
+        unsigned long m_previousKey;  // Store previous order for repeating key
+
+    public:
+        IRreceiver();
+        ~IRreceiver();
+        void enable();
+        RemoteOrder decodeIR();
+};
+
+#endif

src/constants.cpp

@@ -0,0 +1,11 @@
+/**
+ * @file constants.cpp
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Constants used along the program.
+ * This file is only used because if not, program doesn't compile (it can't find constants.h)
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#include "constants.h"  // A code file should #include its paired header file (if it exists)

src/constants.h

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+/**
+ * @file constants.h
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Constants used along the program
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+#include <Arduino.h>
+
+namespace Constants
+{
+    // MOTORS
+    // Right motors pins
+    const uint8_t motorsEnA(6);
+    const uint8_t motorsIn1(11);
+    const uint8_t motorsIn2(9);
+    // Left motors pins
+    const uint8_t motorsEnB(5);
+    const uint8_t motorsIn3(8);
+    const uint8_t motorsIn4(7);
+    // Motors min speed (measured)
+    const uint8_t crankSpeed(140);  // Around 120 @ full battery
+    const uint8_t idleSpeed(90);
+
+    // DEFAULT speeds
+    const uint8_t moveSpeed(170);
+    const uint8_t rotateSpeed(150);
+    const uint16_t rotate90Time(650);  // Time to rotate 90deg @ moveSpeed @ full battery
+    const uint16_t rotate180Time(1200);  // Time to rotate 180deg @ rotateSpeed @ full battery
+
+    // OBSTACLEAVOIDANCE constants
+    const uint16_t updateInterval(250);  // Default update time for states
+    const uint16_t minDistance(30);
+
+    // LINETRACKING constants
+    const uint8_t ltLeftPin(2);
+    const uint8_t ltMidPin(4);
+    const uint8_t ltRightPin(10);
+    const uint16_t minDetourDistance(10);  // Distance to keep with the obstacle
+    const uint16_t updateUltrasonicInterval(20);
+    const uint16_t extraTime(100);  // Extra time to keep moving the robot to pass the object
+    const uint16_t extraTimeLine(50);  // Extra time to pass the line
+    const uint16_t timeUntilLost(1000);  // Wait time until LOSTLINE and turn back
+    const uint16_t timeLost(5000);  // Time lost to find a new line
+    const uint8_t marginObject(1);  // Margin +- distance to the object
+
+    // PARK mode constants
+    const uint16_t timeMoving(500);
+    const uint16_t timeMoveAway(150);
+
+    // SERVO
+    // Servo pin
+    const uint8_t servoPin(3);
+    // 0deg and 180deg PWM positions
+    const uint16_t servo0(500);  // Calibration 450, default 544
+    const uint16_t servo180(2400);  // Calibration 2430, default 2400
+
+    // ULTRASONIC SENSOR
+    const uint8_t trigPin(A5);  // Pin 19
+    const uint8_t echoPin(A4);  // Pin 18
+    const float soundSpeed(0.0343);  // cm/s
+    const uint16_t maxDistance(250);  // Maximun distance to meassure in cm
+    const uint16_t maxDistanceLineTracking(100);  // Maximun distance to meassure in cm to be used in the linetraking mode
+
+    // IRCONTROL constants
+    const uint8_t IRPin(12);
+    const unsigned long okKey(0xFF02FD);
+    const unsigned long upKey(0xFF629D);
+    const unsigned long downKey(0xFFA857);
+    const unsigned long leftKey(0xFF22DD);
+    const unsigned long rightKey(0xFFC23D);
+    const uint16_t IRMovingInterval(500);  // Default time for moving in IR
+}
+
+/**
+ * @brief Different modes for the robot
+ */
+enum class RobotMode
+{
+    REMOTECONTROL,
+    IRCONTROL,
+    OBSTACLEAVOIDANCE,
+    LINETRACKING,
+    PARK,
+    CUSTOM,
+};
+
+/**
+ * @brief Orders for the RemoteControl and IRControl modes
+ */
+enum class RemoteOrder
+{
+    STOP,
+    FORWARD,
+    BACKWARD,
+    ROTATELEFT,
+    ROTATERIGHT,
+    UNKNOWN,
+};
+
+/**
+ * @brief States for the different Robotmode
+ */
+enum class RobotModeState 
+{
+    START,
+    FORWARD,
+    OBSTACLE,
+    ROTATE,
+    BLOCKED,
+    LINELOST,  // Only used in linetracking   
+};
+
+#endif

src/linetracking.cpp

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+/**
+ * @file linetracking.cpp
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Library to handle the linketracking sensors.
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#include "constants.h"
+#include "linetracking.h"
+
+LineTracking::LineTracking()
+{
+    pinMode(Constants::ltLeftPin, INPUT);
+    pinMode(Constants::ltMidPin, INPUT);
+    pinMode(Constants::ltRightPin, INPUT);
+}
+
+LineTracking::~LineTracking()
+{
+}
+
+bool LineTracking::leftLine()
+{
+    return !digitalRead(Constants::ltLeftPin);
+}
+
+bool LineTracking::midLine()
+{
+    return !digitalRead(Constants::ltMidPin);
+}
+
+bool LineTracking::rightLine()
+{
+    return !digitalRead(Constants::ltRightPin);
+}
+
+bool LineTracking::anyLine()
+{
+    return (leftLine() || midLine() || rightLine());
+}
+
+bool LineTracking::allLines()
+{
+    return (leftLine() && midLine() && rightLine());
+}
+
+void LineTracking::printLines()
+{
+    Serial.print(leftLine());
+    Serial.print(" ");
+    Serial.print(midLine());
+    Serial.print(" ");
+    Serial.print(rightLine());
+    Serial.println();
+}

src/linetracking.h

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+/**
+ * @file linetracking.h
+ * @author José Ángel Sánchez (https://github.com/gelanchez)
+ * @brief Library to handle the linketracking sensors.
+ * @version 1.0.0
+ * @date 2020-08-22
+ * @copyright GPL-3.0
+ */
+
+#ifndef LINETRACKING_H
+#define LINETRACKING_H
+
+class LineTracking
+{
+    private:
+
+    public:
+        LineTracking();
+        ~LineTracking();
+        bool leftLine();
+        bool midLine();
+        bool rightLine();
+        bool anyLine();
+        bool allLines();
+        void printLines();
+};
+
+
+#endif