Arduino Bluetooth

bluetooth.ino

#include <NewPing.h>
#include <Servo.h>
#include <SoftwareSerial.h>
#include <SPI.h>
#include <MFRC522.h>

#define SS_PIN 53
#define RST_PIN 5
 
MFRC522 rfid(SS_PIN, RST_PIN); // Instance of the class

SoftwareSerial BT1(11, 10); // RX | TX

#define START_CMD_CHAR '*'
#define END_CMD_CHAR '#'
#define DIV_CMD_CHAR '|'
#define CMD_DIGITALWRITE 10
#define CMD_ANALOGWRITE 11
#define CMD_TEXT 12
#define CMD_READ_ARDUDROID 13
#define MAX_COMMAND 20  // max command number code. used for error checking.
#define MIN_COMMAND 10  // minimum command number code. used for error checking. 
#define IN_STRING_LENGHT 40
#define MAX_ANALOGWRITE 255
#define PIN_HIGH 3
#define PIN_LOW 2

String inText;
Servo myservo;
NewPing sonar1(32, 3, 40);
NewPing sonar2(22, 2, 40);
NewPing sonarFloor(42, 4, 15);
bool barrierOpened = true;
bool lastFloorCheck = false;

void setup()
{
  Serial.begin(9600);
  BT1.begin(9600);
  myservo.attach(9);
  SPI.begin(); // Init SPI bus
  rfid.PCD_Init(); // Init MFRC522 
}

void loop() {
  /*
       if (BT1.available())
              Serial.write(BT1.read());
        if (Serial.available())
              BT1.write(Serial.read());
    return;             */
  // ............................................
  //  Serial.flush();
  int ard_command = 0;
  int pin_num = 0;
  int pin_value = 0;

  char get_char = ' ';  // Para leer BT1
  if (BT1.available()){ 
    get_char = BT1.read();
    //        Serial.println(get_char);
    delay(25);

    if (get_char != START_CMD_CHAR)
      return; // Si no hay comando, vuelta a empezar

    ard_command = BT1.parseInt(); // Leemos la orden
    pin_num = BT1.parseInt();     // Leemos el pin
    pin_value = BT1.parseInt();   // Leemos valor

    Serial.print("Comando disponible ");       // Hay comandos disponibles
    Serial.println(ard_command);

    if (ard_command == CMD_TEXT)     // Si el comando es de texto:
    { //processInText();
      String s = GetLine();
      Serial.println(s);
    }
    if (ard_command == CMD_READ_ARDUDROID) {
//      BT1.print("{\"est1\":");
      BT1.print("1: ");
      BT1.print(readUltrasonic(sonar1));
      BT1.print(" 2: ");
//      BT1.print(", \"est2\":");
      BT1.println(readUltrasonic(sonar2));
//      BT1.println("}");
      return;  // Done. return to loop();
    }
    if (ard_command == CMD_DIGITALWRITE) {
      Serial.println(pin_value);
      //      processDW(pin_num, pin_value);
      bool prevState = barrierOpened;
      if(pin_value == 2){
//        barrierOpened=true;
         closeBarrier();
      }else{
//        barrierOpened=false;
         openBarrier();
      }
      barrierOpened = prevState;
      return;
    }

    if (ard_command == CMD_ANALOGWRITE)
    {
      //            analogWrite(  pin_num, pin_value );
//      Serial.println((((double)pin_value / 255) * 180));
//      BT1.println((((double)pin_value / 255) * 180));
//      myservo.write((int)(((double)pin_value / 255) * 180));
      // add your code here
      return;  // De vuelta alloop();
    }
  }
  int floorPing = sonarFloor.ping_median(10);
  Serial.print("Floor ping: ");
  Serial.println(floorPing);
  if(floorPing > 0 && floorPing < 600){
    if(lastFloorCheck){
      openBarrier();
    }
    lastFloorCheck = true;
  }else{
    lastFloorCheck = false;
    closeBarrier();
  }

  if ( rfid.PICC_IsNewCardPresent() && rfid.PICC_ReadCardSerial()){
    Serial.print("RFID Card read");
    printHex(rfid.uid.uidByte, rfid.uid.size);
    Serial.println();
    openBarrier();
  }
  
  delay(100);
}

void processDW(int pin_num, int pin_value) {
  if (pin_value == PIN_LOW)
    pin_value = LOW;
  else if (pin_value == PIN_HIGH)
    pin_value = HIGH;
  else
    return; // error in pin value. return.

  Serial.println(pin_value);
  Serial.println(pin_num);
  digitalWrite( pin_num,  pin_value);
  return;
}

String readUltrasonic(NewPing sonar) {
  if (sonar.ping_cm() > 7) {
    return "Libre";
  } else if (sonar.ping_cm() > 0){
    return "Ocup.";
  }
  return "Libre";
}


void closeBarrier(){
  if(!barrierOpened) return;
  barrierOpened = false;
  delay(800);
  for (int pos = 95; pos <= 180; pos += 2) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(10);                       // waits 15ms for the servo to reach the position
  }
}

void openBarrier(){
  if(barrierOpened) return;
  barrierOpened = true;
  for (int pos = 180; pos >= 95; pos -= 2) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(10);                       // waits 15ms for the servo to reach the position
  }
}

String GetLine() {
  String S = "" ;
  if (BT1.available())
  { char c = BT1.read(); ;
    while ( c != END_CMD_CHAR)            //Hasta que el caracter sea END_CMD_CHAR
    { S = S + c ;
      delay(25) ;
      c = BT1.read();
    }
    return ( S ) ;
  }
}

void printHex(byte *buffer, byte bufferSize) {
  for (byte i = 0; i < bufferSize; i++) {
    Serial.print(buffer[i] < 0x10 ? " 0" : " ");
    Serial.print(buffer[i], HEX);
  }
}