Código Fonte do Programa

Abaixo segue o código fonte utilizado no projeto:
#include <SoftwareSerial.h>
#include <Servo.h>
#include <AFMotor.h>
AF_DCMotor motor(1);
#define SERVO 10

Servo s;
int bluetoothTx = A0;
int bluetoothRx = A1;
int R1 = 0;
int pos;
int vel = 0;
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
void setup()
{
bluetooth.begin(9600);
s.attach(SERVO);
Serial.begin(9600);
s.write(90);
}

void loop()
{
if(bluetooth.available())
{
char letra = bluetooth.read();
Serial.println(letra);
switch(letra)
{
case ‘S’:
motor.setSpeed(0);
s.write(90);
break;
case ‘F’:
motor.setSpeed(vel);
motor.run(FORWARD);
break;
case ‘B’:
motor.setSpeed(vel);
motor.run(BACKWARD);
break;
case ‘L’:
for(pos = 90; pos <= 135; pos++)
{
s.write(pos);
}
break;
case ‘R’:
for(pos = 90; pos >= 20; pos–)
{
s.write(pos);
}
break;
case ‘G’://FL
motor.setSpeed(vel);
motor.run(FORWARD);
break;
for(pos = 90; pos <= 135; pos++)
{
s.write(pos);
}
case ‘I’://FR
motor.setSpeed(vel);
motor.run(FORWARD);
break;
case ‘H’://BL
motor.setSpeed(vel);
motor.run(BACKWARD);
for(pos = 90; pos <= 135; pos++)
{
s.write(pos);
}
break;
case ‘J’://BR
motor.setSpeed(vel);
motor.run(BACKWARD);
for(pos = 90; pos >= 20; pos–)
{
s.write(pos);
}
break;
case ‘1’:
vel = 0;
break;
case ‘2’:
vel = 100;
break;
case ‘3’:
vel = 300;
break;
case ‘4’:
vel = 400;
break;
case ‘5’:
vel = 500;
break;
case ‘6’:
vel = 600;
break;
case ‘7’:
vel = 700;
break;
case ‘8’:
vel = 800;
break;
case ‘9’:
vel = 1000;
break;
}
}
}