# Testando conexão (BLE+mRobots)

## Hardware necessário:

* mBattery
* mCookie Core+
* mCookie Hub
* LED colorido (qualquer cor)

Becoming a super hero is a fairly straight forward process:

```
$ give me super-powers
```

{% hint style="info" %}
 Super-powers are granted randomly so please submit an issue if you're not happy with yours.
{% endhint %}

Once you're strong enough, save the world:

```c
#include <Microduino_Protocol.h>
#include <Microduino_Motor.h>

#define _DEBUG  //DEBUG调试

#define BLE_SPEED 57600  //velocidade transmissão da porta
#define CHANNEL_NUM   8  //número de canais 
#define SAFE_TIME_OUT 250   //timeout de segurança
#define MAX_THROTTLE 255 //valor output acelerador < 255
#define MAX_STEERING 512 //valor máximo direção  < 512
#define CHANNEL_THROTTLE  1 //definir canal do acelerador
#define CHANNEL_STEERING  0 //definir canal da direção

Motor MotorLeft(MOTOR0_PINA, MOTOR0_PINB);
Motor MotorRight(MOTOR1_PINA, MOTOR1_PINB);

#define ProSerial Serial
ProtocolSer bleProtocol(&ProSerial, 16);  //utiliza ProSerial，protocol de 16 bytes

///////////////////////////////////////////////////////////
uint16_t channalData[CHANNEL_NUM]; //8 canais (ver define linha 7)
int16_t throttle = 0; //acelerador
int16_t steering = 0; //direção
unsigned long safe_ms = millis();

uint8_t recCmd;

void setup() {

  bleProtocol.begin(BLE_SPEED);
  pinMode(D6,OUTPUT);
  MotorLeft.begin();   //valor inicial motor esquerdo
  MotorRight.begin();  //valor inicial motor direito
}

void loop() {
  if (bleProtocol.available())
  {
    bleProtocol.readWords(&recCmd, channalData, 8);

    throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
    steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING);

    MotorLeft.setSpeed((throttle + steering / 2));
    MotorRight.setSpeed(-(throttle - steering / 2));

#ifdef _DEBUG
    Serial.print("DATA OK :[");
    for (int a = 0; a < CHANNEL_NUM; a++) {
      Serial.print(channalData[a]);
      Serial.print(" ");
    }
    Serial.print("],throttle:");
    Serial.print(throttle);  //+153
    Serial.print(",steering:");
    Serial.println(steering);
    if(abs(throttle)>128)
    {
      digitalWrite(D6,HIGH);
    }else
    {
      digitalWrite(D6,LOW);
    }
#endif
    safe_ms = millis();
  }

  if (safe_ms > millis()) safe_ms = millis();
  if (millis() - safe_ms > SAFE_TIME_OUT) {
    MotorLeft.setSpeed(FREE);  //definir a posição do motor esquerdo como livre，ou seja velocidade=0
    MotorRight.setSpeed(FREE); //definir a posição do motor direito como livre，ou seja velocidade=0
  }
}
```


---

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