AilgorRC : My first RC car with IOIO + L293D

I am novice in Java, IOIO and Robotic.

This is my First Robot : A car RC with IOIO-OTG Board and L293d to drive Motors

Platform :

• IOIO-OTG
• Bridge H : L293D
• 2 motors DC 6V
• Charger Module LiPo Pro POW12059P
• Accu Li-Ion 3,7 V 2000 mAh

Schema

And the code : https://github.com/ailgorbot/AilgorRC

4 buttons (left, right, up, down) to create in MainActivity (see file AndroidManifest.xml in GitHub)

 

package fr.ailgor.ailgorrc;

import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.Toast;
import android.widget.ToggleButton;

import ioio.lib.api.DigitalOutput;
import ioio.lib.api.PwmOutput;
import ioio.lib.api.exception.ConnectionLostException;
import ioio.lib.util.BaseIOIOLooper;
import ioio.lib.util.IOIOLooper;
import ioio.lib.util.android.IOIOActivity;


public class MainActivity extends IOIOActivity {

    private ToggleButton toggleButtonLedSTAT;
    protected Button buttonLeft;
    protected Button buttonRight;
    protected Button buttonUp;
    protected Button buttonDown;


    private boolean motorLeft=false;
    private boolean motorRight=false;
    private float speed = 0;
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        toggleButtonLedSTAT = (ToggleButton)findViewById(R.id.toggleButtonLedSTAT);

        buttonLeft = (Button) findViewById((R.id.buttonLeft));
        buttonRight = (Button) findViewById((R.id.buttonRight));
        buttonUp = (Button) findViewById((R.id.buttonUp));
        buttonDown = (Button) findViewById((R.id.buttonDown));

        enableUi(false);

        buttonLeft.setOnTouchListener(new View.OnTouchListener() {
            @Override
            public boolean onTouch(View v, MotionEvent event) {
                if ((event.getAction() == MotionEvent.ACTION_MOVE)||(event.getActionMasked()!=MotionEvent.ACTION_UP))
                {
                    motorLeft = false;
                    motorRight = false;
                    speed = (float)0.5;
                }
                else
                speed = 0;


                return false;
            }
        });

        buttonRight.setOnTouchListener(new View.OnTouchListener() {
            @Override
            public boolean onTouch(View v, MotionEvent event) {
                if ((event.getAction() == MotionEvent.ACTION_MOVE)||(event.getActionMasked()!=MotionEvent.ACTION_UP))
                {
                    motorLeft = true;
                    motorRight = true;
                    speed = (float)0.5;
                }
                else
                    speed = 0;


                return false;
            }
        });

        buttonUp.setOnTouchListener(new View.OnTouchListener() {
            @Override
            public boolean onTouch(View v, MotionEvent event) {
                if ((event.getAction() == MotionEvent.ACTION_MOVE)||(event.getActionMasked()!=MotionEvent.ACTION_UP))
                {
                    motorLeft = false;
                    motorRight = true;
                    speed = 1;
                }
                else
                    speed = 0;


                return false;
            }
        });


        buttonDown.setOnTouchListener(new View.OnTouchListener() {
            @Override
            public boolean onTouch(View v, MotionEvent event) {
                if ((event.getAction() == MotionEvent.ACTION_MOVE)||(event.getActionMasked()!=MotionEvent.ACTION_UP))
                {
                    motorLeft = true;
                    motorRight = false;
                    speed = (float)0.5;
                }
                else
                    speed = 0;


                return false;
            }
        });

    } // End onCreate

    private void enableUi(final boolean enable) {
        runOnUiThread(new Runnable() {
            @Override
            public void run() {

                toggleButtonLedSTAT.setEnabled(enable); // the toggleButton is disable
                toggleButtonLedSTAT.setChecked(enable); // switch on the toggleButton
                if (enable)
                    Toast.makeText(MainActivity.this, getString(R.string.IOIOConnected), Toast.LENGTH_LONG).show();
                else
                    Toast.makeText(MainActivity.this, getString(R.string.IOIODisconnected), Toast.LENGTH_LONG).show();

            }
        });
    } // End enableUi


    @Override
    protected IOIOLooper createIOIOLooper() {
        return new Looper();
    } // End IOIOLooper


    class Looper extends BaseIOIOLooper{

        // Declare PIN
        private DigitalOutput PinDO0; // LED STAT

        // Motor DC : Right
        private DigitalOutput PinDIO36; // L293D In 3
        private DigitalOutput PinDIO37; // L293D In 4
        private PwmOutput PinPWM38; // L293D Enable 2

        // Motor DC : Left
        private DigitalOutput PinDIO40; // L293D In 2
        private DigitalOutput PinDIO41; // L293D In 1
        private PwmOutput PinPWM39; // L293D Enable 1



        @Override
        protected void setup() throws ConnectionLostException, InterruptedException {
//            super.setup();
// Assign PIN
            // LED STAT
            PinDO0 = ioio_.openDigitalOutput(0, true);

            // Motor DC : Right
            PinDIO36 = ioio_.openDigitalOutput(36);
            PinDIO37 = ioio_.openDigitalOutput(37);
            PinPWM38 = ioio_.openPwmOutput(38,100);


            // Motor DC : Left
            PinDIO40 = ioio_.openDigitalOutput(40);
            PinDIO41 = ioio_.openDigitalOutput(41);
            PinPWM39 = ioio_.openPwmOutput(39,100);


            enableUi(true); // Start IOIO
        } // End setup

        @Override
        public void loop() throws ConnectionLostException, InterruptedException {
//            super.loop();


            PinDO0.write(!toggleButtonLedSTAT.isChecked());


                PinPWM39.setDutyCycle(speed);
                PinDIO41.write(motorLeft);
                PinDIO40.write(!motorLeft);

                PinPWM38.setDutyCycle(speed);
                PinDIO37.write(motorRight);
                PinDIO36.write(!motorRight);



            try {
                Thread.sleep(10);
            } catch (InterruptedException e)
            {
                e.printStackTrace();
            }

        } // End Loop



        @Override
        public void disconnected() {
//            super.disconnected();
            enableUi(false);
            toggleButtonLedSTAT.setEnabled(false); // the toggleButton is disable
            toggleButtonLedSTAT.setChecked(false); // switch off the toggleButton
            Toast.makeText(MainActivity.this,getString(R.string.IOIODisconnected),Toast.LENGTH_LONG).show();

        } // End disconnected
    } //End Looper


    @Override
    public boolean onCreateOptionsMenu(Menu menu) {
        getMenuInflater().inflate(R.menu.menu_main, menu);
        return true;
    } // End onCreateOptionsMenu

    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        int id = item.getItemId();

        //noinspection SimplifiableIfStatement
        if (id == R.id.action_settings) {
            return true;
        }

        return super.onOptionsItemSelected(item);
    } // End onOptionsItemSelected
}