2019麗山FRC7589新生營藍牙接收模組

bluetooth.cpp

#include "bluetooth.h"

BluetoothHandler::BluetoothHandler(HardwareSerial *s, int baudRate):input(s), lSpd(0), rSpd(0), svoDeg(0), state(false){
	input->begin(baudRate);
}
BluetoothHandler::BluetoothHandler(HardwareSerial *s){
	BluetoothHandler(s, 9600);
}

void BluetoothHandler::receive(){
	if(input->available() > 0){
		String s = input->readString();
		buf += s;
		int state = 0, tail = 0;
		bool mul = 1;
		for(int i = 0; i < buf.length() ; ++i){
			unsigned char raw = buf[i];
			if(!state){
				switch(raw){
					//Left Wheel
					case 'M':
					case 'm':
						mul = -1; // negtive
					case 'L':
					case 'l':
						state = 1;
						break;

					// Right Wheel
					case 'S':
					case 's':
						mul = -1; // negtive
					case 'R':
					case 'r':
						state = 2;
						break;

					//Servo
					case 'H':
					case 'h':
						state = 3;
						break;
					// on off autonomous mode
					case 'a':
						state = true;
						++tail;
						break;
					case 'A':
						++tail;
						state = false;
						break;
					default:
						++tail;
						break;
				}
			}
			else{
				switch(state){
					case 1:
						lSpd = int(raw) * mul;
						break;
					case 2:
						rSpd = int(raw) * mul;
						break;
					case 3:
						svoDeg = max(0, min(180, int(raw)));
						break;
					default:
						break;
				}
				state = 0;
				mul = 1;
				tail += 2;
			}
		}
		buf = buf.substring(tail);
	}
}

bluetooth.h

#ifndef BLUETOOTH_H
#define BLUETOOTH_H
#include "Arduino.h"
class BluetoothHandler{
private:
	HardwareSerial *input;
	int lSpd, rSpd, svoDeg;
	bool state;
	String buf;
public:
	BluetoothHandler(HardwareSerial *s, int baudRate);
	BluetoothHandler(HardwareSerial *s);
	// Must call receive first to get latest info from serial
	void receive();
	// true = remote control, false = autonomous
	bool getState(){return state;}
	int getLeft(){return lSpd;}
	int getRight(){return rSpd;}
	int getServo(){return svoDeg;}
};
#endif