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Chatgpt 2

This code controls a mecanum wheel robot using an ESP32, motor shield, and Bluetooth communication. It initializes the motor shield in setup() and enters a loop() that reads Bluetooth data from a PS4 controller. Based on the data value, it sets the motor speeds accordingly to move the robot forward, backward, turn left, turn right, or stop.

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Georgi
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118 views2 pages

Chatgpt 2

This code controls a mecanum wheel robot using an ESP32, motor shield, and Bluetooth communication. It initializes the motor shield in setup() and enters a loop() that reads Bluetooth data from a PS4 controller. Based on the data value, it sets the motor speeds accordingly to move the robot forward, backward, turn left, turn right, or stop.

Uploaded by

Georgi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <WiFi.

h>
#include <BluetoothSerial.h>
#include <ArduinoMotorShield.h>
ArduinoMotorShield motorShield;
BluetoothSerial serialBT;
const char* deviceName = "ESP32 Mecanum Car";
const int speed = 255;
const int turnSpeed = 150;
void setup() {
motorShield.init();
motorShield.setBrake(0, BRAKE);
motorShield.setBrake(1, BRAKE);
motorShield.setBrake(2, BRAKE);
motorShield.setBrake(3, BRAKE);
serialBT.begin(deviceName);
}
void loop() {
if (serialBT.available()) {
uint8_t data = serialBT.read();
switch (data) {
case 0x01:
motorShield.setSpeed(0, speed);
motorShield.setSpeed(1, speed);
motorShield.setSpeed(2, speed);
motorShield.setSpeed(3, speed);
motorShield.run(FORWARD);
break;
case 0x02:
motorShield.setSpeed(0, speed);
motorShield.setSpeed(1, speed);
motorShield.setSpeed(2, speed);
motorShield.setSpeed(3, speed);
motorShield.run(BACKWARD);
break;
case 0x03:
motorShield.setSpeed(0, turnSpeed);
motorShield.setSpeed(1, turnSpeed);
motorShield.run(BACKWARD);
break;
case 0x04:
motorShield.setSpeed(2, turnSpeed);
motorShield.setSpeed(3, turnSpeed);
motorShield.run(BACKWARD);
break;
default:
motorShield.setSpeed(0, 0);
motorShield.setSpeed(1, 0);
motorShield.setSpeed(2, 0);
motorShield.setSpeed(3, 0);
motorShield.run(RELEASE);
break;
}
}
}
This code uses the Arduino Motor Shield library to control the motors of the
mecanum car, and the BluetoothSerial library to communicate with the PS4 controller
via Bluetooth. The setup() function initializes the motor shield and starts the
Bluetooth serial port, and the loop() function reads incoming data from the PS4
controller and determines the appropriate movement based on the data.
To use this code, you will need to include the necessary libraries at the top of
the sketch (e.g. WiFi.h, BluetoothSerial.h, and ArduinoMotorShield.h). You will
also need to make sure that the ESP32 board is connected to the motor shield and
configured correctly, and that the PS4 controller is paired with the ESP32 board
via Bluetooth.

I hope this helps! Please let me know if you have any additional questions or need
further assistance.

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