added function: bluetooth communication

Zumo32U4/Hauptprojekt/Hauptprojekt.ino

 int16_t   compassOffset;                
 uint16_t  compassLastUpdate;
 
-uint8_t   randy;                        //Richtungsauswahl Abbiegen geradeaus => 0
-bool      leftCode;                     //                          links => 1
-bool      rightCode;                    //                          rechts => 2
-
 int       maxSpeed = 200;               //Maximale Geschwindigkeit (möglich 400)
-char      dir = '0';                    //Fahrtrichtung, Ereignis
+char      dir = "0";                    //Fahrtrichtung, Ereignis
 char      report[200];                  //Ausgabe
+char      attention;                    //zeigt Überhol-/Abbiegevorgang an
 
 /*-----------------------------------------------------------------*/
 
 {
   //Initialisierung der Bluetoothverbindung
   Serial1.begin(9600);                                              
-  if(Serial1.available()) Serial1.println("bluetooth available");  
+  if(Serial1.available()) Serial1.println("Bluetooth verfügbar");  
 
   //Initialisierung und Kalibrierung der Sensoren
-  Serial1.println("sensor calibration, dont touch");   
+  Serial1.println("Sensorkalibrierung");   
   Wire.begin();                       
   delay(500);
   ProxSetup();
   CompassSetup();
   
   //Zumo bereit zu starten
-  Serial1.println("Zumo ready to start, press A");
+  Serial1.println("Zumo bereit, drücke A");
   ledGreen(1);
   buttonA.waitForButton();
   randomSeed(millis());
 void EncoderUpdate()
 {
   encoderCounts[0] = encoders.getCountsLeft();
-  driveRotation[0] = encoderCounts[0] / 910;                                //12cpr (Motorwelle) * 75,81:1 (Getriebe) = 909,7cpr (Antriebszahnrad)
+  driveRotation[0] = encoderCounts[0] / 910;                         //12cpr (Motorwelle) * 75,81:1 (Getriebe) = 909,7cpr (Antriebszahnrad)
   encoderCounts[1] = encoders.getCountsRight();
   driveRotation[1] = encoderCounts[1] / 910;
 }
  //Funktion Kollisionserkennung
 void CollisionDetection()                                            
 {
-  dir = 'X';
-  Serial1.println("impact detected");
+  dir = "X";
+  Serial1.println("Aufprall erkannt");
   ledRed(1);
 
   motors.setSpeeds(0, 0);
   delay(500);
   motors.setSpeeds(-maxSpeed/2, -maxSpeed/2);
-  delay(1000); 
+  delay(500); 
 }
 
 //Funktion Hindernisumfahrung
 void ObstacleAvoidance()                                              
 {
-  dir = 'U';
-  Serial1.println("obstacle avoidance");  
+  dir = "U";
+  Serial1.println("Überholen");  
   ledYellow(1);
 
   //Schritt 1: Spurwechsel links   
   if(proxValue[1] < 4 || proxValue[2] < 4)
   {
     //Schritt 2: Hindernis passieren
-    maxSpeed = 400;
     motors.setSpeeds(maxSpeed, maxSpeed);                    
     delay(1000);
     proxSensors.read();
       proxValue[3] = proxSensors.countsRightWithRightLeds();  
       TrackKeeper();
     }
-    maxSpeed = 200;
   }
   
   //Schritt 3: Spurwechsel rechts     
   }
   //geradeaus fahren
   motors.setSpeeds(maxSpeed, maxSpeed); 
+
+  Serial1.println("Überholen beendet");  
 }
 
 //Funktion Spurhalten
     motors.setSpeeds(maxSpeed, maxSpeed/2);
     ledYellow(1);
     delay(100);    
-    dir = 'R';
+    dir = "R";
   }
 
   //rechte Linie erreicht, nach links fahren
     motors.setSpeeds(maxSpeed/2, maxSpeed);  
     ledYellow(1); 
     delay(100); 
-    dir = 'L';     
+    dir = "L";     
   }
 
   //Linie überfahren, zurücksetzen
       motors.setSpeeds(-maxSpeed/2, -maxSpeed/2);
     }
     delay(500); 
-    dir = 'B';     
+    dir = "B";     
   }  
 
   //normale Fahrt
   {
     motors.setSpeeds(maxSpeed, maxSpeed);    
     ledGreen(1); 
-    dir = 'F';     
+    dir = "F";     
   }
 }
 
 void Crossroad()
 {
   ledYellow(1); 
-  dir = 'A';
+  dir = "A";
+  Serial1.println("Abbiegen");  
 
   //Kodierung analysieren
+  bool  leftCode;                                                         //links => 1
+  bool  rightCode;                                                        //rechts => 2
   if(lineValue[0] > 500 && lineValue[0] < 1500) leftCode = true;
   else leftCode = false;
   if(lineValue[2] > 500 && lineValue[2] < 1500) rightCode = true;
   else rightCode = false;
 
   //Zufallszahl erzeugen
+  uint8_t randy;                                                          //geradeaus => 0
   if(leftCode == true && rightCode == true) randy = random(1, 3);         //1, 2
   else if(leftCode == true && rightCode == false) randy = random(0, 2);   //0, 1
   else if(leftCode == false && rightCode == true)
 
   //nicht Abbiegen, geradeaus fahren
   else motors.setSpeeds(maxSpeed/2, maxSpeed/2); 
+
+  Serial1.println("Abbiegen beendet");  
 }
 
 //Funktion Serielle Ausgabe
   EncoderUpdate();
 
   //Funktionsauswahl
-  if(moveRate > 1000) CollisionDetection();         
-  else if(proxValue[0] == 6 || proxValue[1] == 6) motors.setSpeeds(0, 0);  
-  else if(proxValue[0] > 4 || proxValue[1] > 4) ObstacleAvoidance();
-  else if((lineValue[0] > 500 && lineValue[0] < 1500) || (lineValue[2] > 500 && lineValue[2] < 1500)) Crossroad();
-  else TrackKeeper();
+  attention = Serial1.read();
+  if(attention == "Überholen" || "Abbiegen") 
+  {
+    maxSpeed = 100;
+    if(moveRate > 1000 || proxValue[0] > 4 || proxValue[1] > 4 || lineValue[0] > 500 && lineValue[0] < 1500) || 
+    lineValue[2] > 500 && lineValue[2] < 1500) motors.setSpeeds(0, 0);  
+    else TrackKeeper();
+  }
+  else
+  {
+    if(moveRate > 1000) CollisionDetection();         
+    else if(proxValue[0] == 6 || proxValue[1] == 6) motors.setSpeeds(0, 0);  
+    else if(proxValue[0] > 4 || proxValue[1] > 4) ObstacleAvoidance();
+    else if((lineValue[0] > 500 && lineValue[0] < 1500) || (lineValue[2] > 500 && lineValue[2] < 1500)) Crossroad();
+    else TrackKeeper();
+  }
 
   //Ausgabe über Bluetoothverbindung
   SerialOutput();