//2nd Msp for Bluetooth Task int GoForward=0; //Initialize Integers for specific task int Left=0; int Stop=0; int Right=0; int GoBackward=0; #define LED RED_LED #define LEDgreen GREEN_LED #define check P9_4 void setup() { pinMode(31,INPUT); //Inputs to 2nd Msp from 1st Msp outputs pinMode(32,INPUT); // All are GPIO pins pinMode(33,INPUT); pinMode(34,INPUT); pinMode(35,INPUT); pinMode(LED,OUTPUT); //setu up led's for testing pinMode(LEDgreen,OUTPUT); pinMode(P9_4,OUTPUT); // to see the boards are working when put in box Serial.begin(57600); //initialize serial communication at 9600 bits per second: for HC-06 Bluetooth Module Serial.print(char(128)); // START delay(50); Serial.print(char(131)); // CONTROL delay(50); int GoForward=0; //make sure every thing is LOW int Left=0; int Stop=0; int Right=0; int GoBackward=0; } void loop() { int GoForward=0; GoForward=digitalRead(31); //Read 31 input pin to GoForward delay(100); Serial.println(GoForward); if(GoForward==HIGH) //IF GoForward is High then Roomba moves forward { Serial.print(char(137)); //Op Code for moving left 137 0 100 128 0 Serial.print(char(0)); Serial.print(char(100)); Serial.print(char(128)); Serial.print(char(0)); digitalWrite(LEDgreen,HIGH); // glow on board to make sure every thing is working delay(100); digitalWrite(LEDgreen,LOW); delay(100); digitalWrite(P9_4,HIGH); //to glow led which is out side of box delay(100); digitalWrite(P9_4,LOW); delay(100); } int Left=0; Left=digitalRead(32); //Read 32 input pin to GoForward delay(100); if(Left==HIGH) //IF Left is High then Roomba spins left { digitalWrite(LEDgreen,HIGH); // glow on board to make sure every thing is working delay(100); digitalWrite(LEDgreen,LOW); delay(100); digitalWrite(P9_4,HIGH); //to glow led which is out side of box delay(100); digitalWrite(P9_4,LOW); delay(100); Serial.print(char(137)); //Op Code for moving left 137 0 200 0 1 Serial.print(char(0)); Serial.print(char(200)); Serial.print(char(0)); Serial.print(char(1)); delay(2000); // return 0; } int Stop=0; Stop=digitalRead(33); //Read 33 input pin to Stop delay(100); if(Stop==HIGH) //IF Stop is High then Roomba stops moving { digitalWrite(LEDgreen,HIGH); // glow on board to make sure every thing is working digitalWrite(LED,HIGH); delay(100); digitalWrite(LED,LOW); digitalWrite(LEDgreen,LOW); delay(100); Serial.print(char(137)); // Op Code for Stop 137 0 0 128 0 Serial.print(char(0)); Serial.print(char(0)); Serial.print(char(128)); Serial.print(char(0)); } int Right=0; //Read 34 input pin to Right Right=digitalRead(35); delay(100); if(Right==HIGH) //IF Stop is High then Roomba spins Right { digitalWrite(LEDgreen,HIGH); // glow on board to make sure every thing is working delay(100); digitalWrite(LEDgreen,LOW); delay(100); digitalWrite(P9_4,HIGH); //to glow led which is out side of box delay(100); digitalWrite(P9_4,LOW); delay(100); Serial.print(char(137)); // Op Code for Stop 137 0 200 255 255 Serial.print(char(0)); Serial.print(char(200)); Serial.print(char(255)); Serial.print(char(255)); delay(2000); //return 0; } int GoBackward=0; GoBackward=digitalRead(34); //Read 35 input pin to GoBackward delay(100); if(GoBackward==HIGH) //IF Stop is High then Roomba stops moving { digitalWrite(LEDgreen,HIGH); // glow on board to make sure every thing is working delay(100); digitalWrite(LEDgreen,LOW); delay(100); digitalWrite(P9_4,HIGH); //to glow led which is out side of box delay(100); digitalWrite(P9_4,LOW); delay(100); Serial.print(char(137)); // Op Code for Stop 137 255 156 180 0 Serial.print(char(255)); Serial.print(char(156)); Serial.print(char(180)); Serial.print(char(0)); } }