As we saw in the previous article (Tutorial – How to control motor with The Tactigon – Part I – Hardware), The Tactigon can be connected to a serial motor control board. In this article we’ll look at how to handle it via software. The Tactigon will receive commands sent by the controller connected in BLE, and will communicate to the motor control board motor speeds.
|0||Both motors stop|
|1-127||Motor 1, 1 Full reverse, 127 Full forward, 64 stop|
|128-255||Motor 2, 128 Full reverse, 255 Full forward, 192 stop|
We prepare a callback to be triggered when the BLE Characteristic receives something:
In the setup() we initialize LEDs and turn them off, initialize the BLE Peripheral Mode, create the BLE Characteristic and its UUID, and assign the callbacks created.
Since callbacks handle serial communication, loop() will only cycle LEDs.