Arduino Bluetooth QuickBot

This is the QuickBot implementation on the Arduino platform.

Instead of BeagleBone Black i use Arduino UNO.
Instead of WiFi module i use Bluetooth module HC-06.

It uses the same commands as original QuickBot, but instead of TCP/IP connection
it uses serial connection.

Robot is based on SparkFun RedBot Kit
https://www.sparkfun.com/products/12697.
Mainboard is SparkFun RedBot Mainboard (Arduino UNO compatible)
https://www.sparkfun.com/products/12097.

Android Bluetooth Joystick application to handle QuickBot via Bluetooth module:
https://github.com/altexdim/android-bluetooth-joystick

QuickBot originated from coursera course "Control of Mobile Robots":
https://www.coursera.org/course/conrob
Original QuickBot site and repository:
http://o-botics.org/robots/quickbot/mooc/v2/

Photos and video

Photos are in the folder /photos of this repository.

Video of the robot moving around while i'm controlling it with
Android Bluetooth Joystick application:
https://drive.google.com/file/d/0B4F2-uZsSusnc2JXcFBnS0lNSzg

Credits and links

• CMake project for Arduino (original project):
  https://github.com/queezythegreat/arduino-cmake
  Mozilla Public License, v. 2.0 http://mozilla.org/MPL/2.0/

• CMake project for Arduino 1.6+ (fork):
  https://github.com/altexdim/arduino-cmake

• Coursera course "Control of Mobile Robots":
  https://www.coursera.org/course/conrob

• Original QuickBot site:
  http://o-botics.org/robots/quickbot/mooc/v2/

• QuickBot repository:
  https://github.com/o-botics

• Android Bluetooth Joystick application:
  https://github.com/altexdim/android-bluetooth-joystick

Commands

• $CHECK*
  OUTPUT: Hello from QuickBot
  Check (ping)

• $RESET*
  OUTPUT: Encoder values reset to [0, 0]
  Reset counter

• $IRVAL?*
  OUTPUT: [100, 150, 200, 250, 300]
  Get IR sensor values

• $ENVAL?*
  OUTPUT: [-5, 10]
  Get encoders values

• $ENVEL?*
  OUTPUT: [-15, 20]
  Get encoders velocities

• $PWM=0,0*
  OUTPUT: None
  Stops motors

• $PWM=12,23*
  OUTPUT: None
  Set pwm values to motors drivers

• $PWM?*
  OUTPUT: [55, 80]
  Get last set pwm values

• $DEBUG=1*
  OUTPUT: Debug set to 1
  Enable debug mode
  If enabled, prints debug info every second to the communication connection

• $DEBUG=0*
  OUTPUT: Debug set to 0
  Disable debug mode

• $PERF?*
  OUTPUT: Performance = 1850
  Get performance counter value.
  This value means how many loops the program runs in one second.