Created
July 25, 2015 16:13
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BLE Microbot
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| #include <Servo.h> | |
| #include "GoBLE.h" | |
| #include "Metro.h" | |
| Metro servoMove(50); | |
| Servo myservoLF; | |
| Servo myservoLR; | |
| Servo myservoRF; | |
| Servo myservoRR; | |
| int center = 82; | |
| int minSpeed = 5; | |
| int fullSpeed = 30; | |
| int attached = 0; | |
| int pinLED = 13; | |
| GoBLE Goble(Serial);// init the bluetooth Serial port | |
| int joystickX, joystickY; | |
| int buttonState[7]; | |
| int speedL, speedR; | |
| void attach() { | |
| attached = 1; | |
| myservoLF.attach(5); | |
| myservoLR.attach(2); | |
| myservoRF.attach(4); | |
| myservoRR.attach(3); | |
| digitalWrite(pinLED, HIGH); | |
| } | |
| void detach() { | |
| attached = 0; | |
| myservoLF.write(center); | |
| myservoLR.write(center); | |
| myservoRF.write(center); | |
| myservoRR.write(center); | |
| myservoLF.detach(); | |
| myservoLR.detach(); | |
| myservoRF.detach(); | |
| myservoRR.detach(); | |
| digitalWrite(pinLED, LOW); | |
| } | |
| void setup(){ | |
| Goble.begin();// init Goble and default baudrate is 9600 bps!!! | |
| Serial.begin(9600); // 115200 when powered by battery | |
| pinMode(pinLED, OUTPUT); | |
| } | |
| void loop (){ | |
| if(Goble.available()){ | |
| joystickX = Goble.readJoystickY() - 128; | |
| joystickY = Goble.readJoystickX() - 128; | |
| buttonState[SWITCH_UP] = Goble.readSwitchUp(); | |
| buttonState[SWITCH_LEFT] = Goble.readSwitchLeft(); | |
| buttonState[SWITCH_RIGHT] = Goble.readSwitchRight(); | |
| buttonState[SWITCH_DOWN] = Goble.readSwitchDown(); | |
| buttonState[SWITCH_SELECT] = Goble.readSwitchSelect(); | |
| buttonState[SWITCH_START] = Goble.readSwitchStart(); | |
| speedL = (joystickY + joystickX) / (255 / fullSpeed); | |
| speedR = (joystickY - joystickX) / (255 / fullSpeed); | |
| } | |
| if (abs(speedL) < minSpeed) { | |
| speedL = 0; | |
| } | |
| if (abs(speedR) < minSpeed) { | |
| speedR = 0; | |
| } | |
| if (servoMove.check()) { | |
| if (speedL == 0 && speedR == 0) { | |
| if (attached) { | |
| detach(); | |
| } | |
| } else { | |
| if (!attached) { | |
| attach(); | |
| } | |
| myservoLF.write(center - speedL); | |
| myservoLR.write(center - speedL); | |
| myservoRF.write(center + speedR); | |
| myservoRR.write(center + speedR); | |
| } | |
| } | |
| } |
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It shows me an error message...
'GoBLE' does not name a type
And this is the line underlined by red...
GoBLE Goble(Serial);// init the bluetooth Serial port