Sketch to drive a robot with HUBee Wheels and Arduino.

You need to download the library from this page: and install it in the Arduino IDE.

To drive send these commands on the Ardunino serial port, followed by CR to confirm:

  eme:0 --> emergency stop

  dir:1 --> set direction, 1 forward, 0 backward
  
  dis:100 --> set distance, motor will go in the setup direction for 100 steps
  
  vel:0 --> set speed, 0 to stop, 255 for max speed
  
  rot:90 --> rotate clockwise 90 steps, with -90 rotate counterclockwise 90 steps

The robot sends back on the serial the status with a json string like this:

{"sx":{"speed":100,"counter":23,"direction":1},"dx":{"speed":100,"counter":23,"direction":1},"distanceleft":103.4}

When distanceleft equals 0, the robot has runned for the requested steps with dis command.

You can concatenate many commands in one line, examples:

• make 100 steps forward, max speed

  dir:1,dis:100,vel:255

• rotate by 90 steps on the right at speed 100

  rot:90;vel:100

Note: every time the robot is approaching the distanceleft 0 value, it sets automatically the speed to 50 to slow down (only if the speed is more than 50).

The hardware needed to start:

• Two HUB-ee wheels
• Two HUB-ee Open Collector break out board
• Two HUB-e cables
• One Arduino (tested on 2009, UNO is ok)
• USB Cable to connect Ardunino
• Some wires to connect the break out board with Arduino (and a few time to solder them), please refer to the code for the wiring