1. #include "BLEDevice.h"
3. #define FR_MotorIN1 0 // (ch）
4. #define FR_MotorIN2 1
5. #define RR_MotorIN3 2
6. #define RR_MotorIN4 3
7. #define FL_MotorIN1 4
8. #define FL_MotorIN2 5
9. #define RL_MotorIN3 6
10. #define RL_MotorIN4 7
11. #define connect_LED 13
13. char* data;
14. int number, r_val, pwm_val;
15. int pwm = 70; // 起動時のスピードを設定
17. // Online UUID Generator https://www.uuidgenerator.net/     ＊こちらでUUIDを取得します。
18. #define SERVICE_UUID "********-4458-11e9-b210-************"
19. #define CHARACTERISTIC_UUID "********-4458-11e9-b210-************"
20. #define SERVER_NAME "ESP32_BLE"
22. static BLEUUID serviceUUID(SERVICE_UUID);
23. static BLEUUID charUUID(CHARACTERISTIC_UUID);
24. static BLEAddress *pServerAddress;
25. static boolean doConnect = false;
26. static boolean connected = false;
27. static BLERemoteCharacteristic* pRemoteCharacteristic;
28. static void notifyCallback(
29.   BLERemoteCharacteristic* pBLERemoteCharacteristic,
30.   uint8_t* pData,
31.   size_t length,
32.   bool isNotify) {
33. }
35. class MyClientCallback : public BLEClientCallbacks {
36.     void onConnect(BLEClient* pclient) {
37.     }
38.     void onDisconnect(BLEClient* pclient) {
39.       connected = false;
40.       Serial.println("onDisconnect");
41.     }
42. };
44. bool connectToServer(BLEAddress pAddress) {
45.   Serial.print("Forming a connection to ");
46.   Serial.println(pAddress.toString().c_str());
47.   BLEClient* pClient = BLEDevice::createClient();
48.   Serial.println(" - Created client");
50.   pClient->setClientCallbacks(new MyClientCallback());
52.   // Connect to the remove BLE Server.
53.   pClient->connect(pAddress);
54.   Serial.println(" - Connected to server");
55.   pClient->setMTU(517); //set client to request maximum MTU from server
57.   BLERemoteService* pRemoteService = pClient->getService(serviceUUID);
58.   Serial.print(" - Connected to server :");
59.   Serial.println(serviceUUID.toString().c_str());
60.   if (pRemoteService == nullptr) {
61.     Serial.print("Failed to find our service UUID: ");
62.     Serial.println(serviceUUID.toString().c_str());
63.     pClient->disconnect();
64.     return false;
65.   }
67.   pRemoteCharacteristic = pRemoteService->getCharacteristic(charUUID);
68.   if (pRemoteCharacteristic == nullptr) {
69.     Serial.print("Failed to find characteristic UUID: ");
70.     Serial.println(charUUID.toString().c_str());
71.     pClient->disconnect();
72.     return false;
73.   }
74.   Serial.print(" - Found characteristic UUID: ");
75.   Serial.println(charUUID.toString().c_str());
76.   // Read the value of the characteristic.
77.   if (pRemoteCharacteristic->canRead()) {
78.     std::string value = pRemoteCharacteristic->readValue();
79.     Serial.print("The characteristic value was: ");
80.     Serial.println(value.c_str());
81.   }
82.   return true;
83. }
85. class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {
86.     void onResult(BLEAdvertisedDevice advertisedDevice) {
87.       Serial.print("BLE Advertised Device found: ");
88.       Serial.println(advertisedDevice.toString().c_str());
89.       Serial.println(advertisedDevice.getName().c_str());
91.       if (advertisedDevice.getName() == SERVER_NAME) {
92.         Serial.println(advertisedDevice.getAddress().toString().c_str());
93.         advertisedDevice.getScan()->stop();
94.         pServerAddress = new BLEAddress(advertisedDevice.getAddress());
95.         doConnect = true;
96.       }
97.     }
98. };
100. void get_scan() {
101.   BLEScan* pBLEScan = BLEDevice::getScan();
102.   Serial.println("getScan");
103.   pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
104.   Serial.println("setAdvertisedDeviceCallbacks");
105.   pBLEScan->setActiveScan(true);
106.   pBLEScan->start(10);
107.   Serial.println("");
108.   Serial.println("End of scan");
109. }
111. void setup() {
112.   Serial.begin(115200);
113.   BLEDevice::init(SERVER_NAME);
114.   BLEScan* pBLEScan = BLEDevice::getScan();
115.   Serial.println("getScan");
116.   pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
117.   Serial.println("setAdvertisedDeviceCallbacks");
118.   pBLEScan->setActiveScan(true);
119.   pBLEScan->start(10);
120.   Serial.println("");
121.   Serial.println("End of setup");
122.   delay(200);
123.   ledcSetup(FR_MotorIN1, 500, 8); // (ch、frequency(Hz)、duty(Bit)）
124.   ledcSetup(FR_MotorIN2, 500, 8);
125.   ledcSetup(RR_MotorIN3, 500, 8);
126.   ledcSetup(RR_MotorIN4, 500, 8);
127.   ledcSetup(FL_MotorIN1, 500, 8);
128.   ledcSetup(FL_MotorIN2, 500, 8);
129.   ledcSetup(RL_MotorIN3, 500, 8);
130.   ledcSetup(RL_MotorIN4, 500, 8);
131.   ledcAttachPin(26, FR_MotorIN1);
132.   ledcAttachPin(25, FR_MotorIN2);
133.   ledcAttachPin(33, RR_MotorIN3);
134.   ledcAttachPin(32, RR_MotorIN4);
135.   ledcAttachPin(19, FL_MotorIN1);
136.   ledcAttachPin(18, FL_MotorIN2);
137.   ledcAttachPin(17, RL_MotorIN3);
138.   ledcAttachPin(16, RL_MotorIN4);
139.   pinMode(connect_LED, OUTPUT);
140.   digitalWrite(connect_LED, LOW);
141. }
143. void loop() {
144.   if (doConnect == true) {
145.     if (connectToServer(*pServerAddress)) {
146.       connected = true;
147.     } else {
148.       connected = false;
149.     }
150.     doConnect = false;
151.   }
152.   if (connected) { // コネクトしたら受信を開始
153.     std::string value = pRemoteCharacteristic->readValue();
154.     String strVal = value.c_str();
155.     char strNum = strVal.toInt();
156.     data = new char[strVal.length() + 1];
157.     strcpy(data, value.c_str());
158.     if (sscanf(data, "%d,%d", &number, &pwm_val) == 2) {} // numberとpwm_valのデータを取り出す。
159.     Serial.println(data);
161.   switch (number) { // switch-caseによりデータの選別とモータドライブ関数の選択
162.     case '1':
163.       moveFrontleft();
164.       // Serial.println("moveFrontleft");　左斜め前方移動
165.       break;
166.     case '2': // moveForward
167.       moveForward();
168.       // Serial.println("moveForward");　前進
169.       break;
170.     case '3': // moveFrontright
171.       moveFrontright();
172.       // Serial.println("moveFrontright");　右斜め前方移動
173.       break;
174.     case '4': // moveLeft
175.       moveLeft();
176.       // Serial.println("moveLeft");　左横方向移動
177.       break;
178.     case '6': // moveRight
179.       moveRight();
180.       // Serial.println("moveRight");　右横方向移動
181.       break;
182.     case '7': // moveRearleft
183.       moveRearleft();
184.       // Serial.println("moveRearleft");　左斜め後方移動
185.       break;
186.     case '8': // moveBackward
187.       moveBackward();
188.       // Serial.println("moveBackward");　後進
189.       break;
190.     case '9': // moveRearright
191.       moveRearright();
192.       // Serial.println("moveRearright");　右斜め後方移動
193.       break;
194.     case '*': // turnLeft
195.       turnLeft();
196.       // Serial.println("turnLeft");　左旋回
197.       break;
198.     case '#': // turnRight
199.       turnRight();
200.       // Serial.println("turnRight");　右旋回
201.       break;
202.     case 'S': // Stop
203.       Stop();
204.       // Serial.println("Stop");　停止
205.       break;
206.     default:
207.       break;
208.   }
210.   switch (pwm_val) { // 選択した文字に対しPWM値を割り付ける。
211.     case 'A': // 低速
212.       pwm = 70;
213.       break;
214.     case 'B':
215.       pwm = 105;
216.       break;
217.     case 'C':
218.       pwm = 140;
219.       break;
220.     case 'D':
221.       pwm = 175;
222.       break;
223.     case 'E':
224.       pwm = 220;
225.       break;
226.     case 'F': // 高速
227.       pwm = 255;
228.       break;
229.     default:
230.       break;
231.   }
232.     digitalWrite(connect_LED, HIGH);
233.     //Serial.println("connected");
234.   } else {
235.     digitalWrite(connect_LED, LOW);
236.     //Serial.println("Not connected");
237.     doConnect = true;
238.     get_scan();
239.   }
240.   delay(10);
241. }
243. void moveForward() { // 前進
244.   ledcWrite(FR_MotorIN1, pwm);
245.   ledcWrite(FR_MotorIN2, 0);
246.   ledcWrite(RR_MotorIN3, pwm);
247.   ledcWrite(RR_MotorIN4, 0);
248.   ledcWrite(FL_MotorIN1, pwm);
249.   ledcWrite(FL_MotorIN2, 0);
250.   ledcWrite(RL_MotorIN3, pwm);
251.   ledcWrite(RL_MotorIN4, 0);
252. }
254. void moveBackward() { // 後進
255.   ledcWrite(FR_MotorIN1, 0);
256.   ledcWrite(FR_MotorIN2, pwm);
257.   ledcWrite(RR_MotorIN3, 0);
258.   ledcWrite(RR_MotorIN4, pwm);
259.   ledcWrite(FL_MotorIN1, 0);
260.   ledcWrite(FL_MotorIN2, pwm);
261.   ledcWrite(RL_MotorIN3, 0);
262.   ledcWrite(RL_MotorIN4, pwm);
263. }
265. void moveLeft() { // 左横方向移動
266.   ledcWrite(FR_MotorIN1, pwm);
267.   ledcWrite(FR_MotorIN2, 0);
268.   ledcWrite(RR_MotorIN3, 0);
269.   ledcWrite(RR_MotorIN4, pwm);
270.   ledcWrite(FL_MotorIN1, 0);
271.   ledcWrite(FL_MotorIN2, pwm);
272.   ledcWrite(RL_MotorIN3, pwm);
273.   ledcWrite(RL_MotorIN4, 0);
274. }
276. void moveRight() { // 右横方向移動
277.   ledcWrite(FR_MotorIN1, 0);
278.   ledcWrite(FR_MotorIN2, pwm);
279.   ledcWrite(RR_MotorIN3, pwm);
280.   ledcWrite(RR_MotorIN4, 0);
281.   ledcWrite(FL_MotorIN1, pwm);
282.   ledcWrite(FL_MotorIN2, 0);
283.   ledcWrite(RL_MotorIN3, 0);
284.   ledcWrite(RL_MotorIN4, pwm);
285. }
287. void moveFrontleft() { // 左斜め前方移動
288.   ledcWrite(FR_MotorIN1, pwm);
289.   ledcWrite(FR_MotorIN2, 0);
290.   ledcWrite(RR_MotorIN3, 0);
291.   ledcWrite(RR_MotorIN4, 0);
292.   ledcWrite(FL_MotorIN1, 0);
293.   ledcWrite(FL_MotorIN2, 0);
294.   ledcWrite(RL_MotorIN3, pwm);
295.   ledcWrite(RL_MotorIN4, 0);
296. }
298. void moveFrontright() { // 右斜め前方移動
299.   ledcWrite(FR_MotorIN1, 0);
300.   ledcWrite(FR_MotorIN2, 0);
301.   ledcWrite(RR_MotorIN3, pwm);
302.   ledcWrite(RR_MotorIN4, 0);
303.   ledcWrite(FL_MotorIN1, pwm);
304.   ledcWrite(FL_MotorIN2, 0);
305.   ledcWrite(RL_MotorIN3, 0);
306.   ledcWrite(RL_MotorIN4, 0);
307. }
309. void moveRearleft() { // 左斜め後方移動
310.   ledcWrite(FR_MotorIN1, 0);
311.   ledcWrite(FR_MotorIN2, 0);
312.   ledcWrite(RR_MotorIN3, 0);
313.   ledcWrite(RR_MotorIN4, pwm);
314.   ledcWrite(FL_MotorIN1, 0);
315.   ledcWrite(FL_MotorIN2, pwm);
316.   ledcWrite(RL_MotorIN3, 0);
317.   ledcWrite(RL_MotorIN4, 0);
318. }
320. void moveRearright() { // 右斜め後方移動
321.   ledcWrite(FR_MotorIN1, 0);
322.   ledcWrite(FR_MotorIN2, pwm);
323.   ledcWrite(RR_MotorIN3, 0);
324.   ledcWrite(RR_MotorIN4, 0);
325.   ledcWrite(FL_MotorIN1, 0);
326.   ledcWrite(FL_MotorIN2, 0);
327.   ledcWrite(RL_MotorIN3, 0);
328.   ledcWrite(RL_MotorIN4, pwm);
329. }
331. void turnRight() { // 左旋回
332.   ledcWrite(FR_MotorIN1, pwm);
333.   ledcWrite(FR_MotorIN2, 0);
334.   ledcWrite(RR_MotorIN3, pwm);
335.   ledcWrite(RR_MotorIN4, 0);
336.   ledcWrite(FL_MotorIN1, 0);
337.   ledcWrite(FL_MotorIN2, pwm);
338.   ledcWrite(RL_MotorIN3, 0);
339.   ledcWrite(RL_MotorIN4, pwm);
340. }
342. void turnLeft() { // 右旋回
343.   ledcWrite(FR_MotorIN1, 0);
344.   ledcWrite(FR_MotorIN2, pwm);
345.   ledcWrite(RR_MotorIN3, 0);
346.   ledcWrite(RR_MotorIN4, pwm);
347.   ledcWrite(FL_MotorIN1, pwm);
348.   ledcWrite(FL_MotorIN2, 0);
349.   ledcWrite(RL_MotorIN3, pwm);
350.   ledcWrite(RL_MotorIN4, 0);
351. }
353. void Stop() { // 停止
354.   ledcWrite(FR_MotorIN1, 0);
355.   ledcWrite(FR_MotorIN2, 0);
356.   ledcWrite(RR_MotorIN3, 0);
357.   ledcWrite(RR_MotorIN4, 0);
358.   ledcWrite(FL_MotorIN1, 0);
359.   ledcWrite(FL_MotorIN2, 0);
360.   ledcWrite(RL_MotorIN3, 0);
361.   ledcWrite(RL_MotorIN4, 0);
362. }