Example Code for Arduino-GoBLE Control

Hardware Preparation

Software Preparation

• Development Tool: Arduino IDE (version 1.8.x or later)
  • Download link: Arduino IDE
• Libraries:
  • GoBLE Library (download link: GitHub)
  • QueueArray, Servo, Metro libraries (included with GoBLE)
• Mobile App: GoBLE (available on the App Store).

Other Preparation Work

1. Install the GoBLE app on your iPhone.
2. Upload the sample code to the Arduino UNO.
3. Pair your iPhone with the GoBLE module via Bluetooth.

Sample Code

/*
# Edited: Richard/Matt
# Date: 2016.03.11
# Product: Devastator Tank Mobile Platform DC Motor Metal Gear
# SKU: ROB0128
# GoBLE library available at: https://github.com/CainZ/GoBle/
*/

//include libraries
#include <GoBLE.h>
#include <QueueArray.h>
#include <Servo.h>
#include <Metro.h>

//assign motor pins and direction pins
int speedPin_M1 = 5;     //M1 Speed Control
int speedPin_M2 = 6;     //Speed Control
int directionPin_M1 = 4;     //Direction Control
int directionPin_M2 = 7;     //M1 Direction Control

int joystickX, joystickY; //create joystick variables for goble

void setup() {   //the setup function runs once

  Goble.begin(); //begin GoBLE
  Serial.begin(115200); //serial communication speed
}

void loop() {  //the main loop runs forever (or until you power off the microcontroller or a component fails)

  if (Goble.available()) { //check for a bluetooth connection to goBLE

    joystickX = Goble.readJoystickX(); //read joystick x value
    joystickY = Goble.readJoystickY(); //read joystick y value

    //use the serial monitor to debug
    //(x and y joystick values are from 0 - 255)


    //    Serial.print("Joystick Value: ");
    //    Serial.print(joystickX);
    //    Serial.print("  ");
    //    Serial.println(joystickY);

    if (joystickY > 196) { //if joystick y > 196 then turn right at speed 250
      Serial.println("turn right");
      carTurnRight(250, 250);
    }
    else if (joystickY < 64) { // //if joystick y < 64 then turn left at speed 250
      Serial.println("turn left");
      carTurnLeft(250, 250);
    }
    else if (joystickX > 196) { //if joystick x > 196 then go forward at speed 500
      Serial.println("move forward");
      carAdvance(500, 500);
    }
    else if (joystickX < 64) { //if joystick x <64 then go backward at speed 500
      Serial.println("move backward");
      carBack(500, 500);
    }
    else {
      carStop(); //or else stop
    }
  }
}

//tank movement functions

void carStop() {                //  Motor Stop
  digitalWrite(speedPin_M2, 0);
  digitalWrite(directionPin_M1, LOW);
  digitalWrite(speedPin_M1, 0);
  digitalWrite(directionPin_M2, LOW);
}

void carTurnLeft(int leftSpeed, int rightSpeed) {       //Turn Left
  analogWrite (speedPin_M2, leftSpeed);             //PWM Speed Control
  digitalWrite(directionPin_M1, HIGH);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, LOW);
}

void carTurnRight(int leftSpeed, int rightSpeed) {     //Turn Right
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, LOW);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, HIGH);
}

void carBack(int leftSpeed, int rightSpeed) {           //Move backward
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, LOW);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, LOW);
}
void carAdvance(int leftSpeed, int rightSpeed) {         //Move forward
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, HIGH);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, HIGH);
}