Controls

The videos below are demonstrations of the potentiometer and a few other commands.  The potentiometer controls the interval value when turned left or right (as does “i##”).  You can also see some examples of the other commands that Rocco accepts as input in the first video.  I am pasting a sequence of motion pre-sets while using the potentiometer to change his movement speed.

“[” or “]”   |   Increase/decrease servo speed – Rocco continues executing a motion every “servo_speed” milliseconds until motion is complete

“s###”   |   Set a three digit servo speed (default is 25ms, maximum 999ms)

Hardware potentiometer   |   Increase/decrease servo_interval – Rocco moves each servo “servo_interval” number of degrees until executed motion is complete

“i##”   |   Set a two digit servo interval (default is 32 which is the maximum value)

“p”   |   Toggle usage of potentiometer for reading the servo interval (potentiometer is used by default)

“j##”   |   Select a servo using a two digit servo number

“,” (the “<” key)   |   Select previous servo

“.” (the “>” key)   |   Select next servo

“k”   |   “Knock” selected servo (move +5 degrees then -5 degrees just to see which servo is selected)

“a###”   |   Set the angle of current servo, requires three digit angle (add leading zeros if necessary)

“g”   |   Get angle of selected servo

“m##” (00-08 currently)   |   Execute pre-coded motion

“+”   |   Selected servo plus 5 degrees

“-”   |   Selected servo minus 5 degrees

“d”   |   Disconnect selected servo (reset required to reconnect)

“r”   |   Reset

Connection

I am using an HC-06 Bluetooth serial module for wireless control.  It accepts 3.6 – 6V and I’m using 5V from the Arduino.

Module:
http://www.amazon.com/dp/B0093XAV4U/ref=pe_385040_127541860_TE_dp_1

The transmit/receive pins should be wired as follows:

Arduino “TX0” -> HC-06 “RXD”
Arduino “RX0” -> HC-06 “TXD”

Other markings on the module:  JY-MCU, BT_BOARD V1.06

The HC-06 is a slave device only and cannot start communication on its own (it cannot be paired with other Bluetooth modules, only “masters” like a computer or smart phone)

I am using the Real-Term application to connect to the module, which can be downloaded here:
http://realterm.sourceforge.net/

Real-Term is also referenced on the page below, which is a good source of information on serial communication in general:
https://learn.sparkfun.com/tutorials/terminal-basics/all

Below is an example of how to connect to the HC-06 module using Real-Term:

Baud: 9600 (this value should match what is coded in the Arduino)
Port: “6 = \BthModem0” (you can find which COM port HC-06 is using in Windows 7 by “Devices and Printers”, “HC-06”, “Hardware”)
Parity: None
Data Bits: 8
Stop Bits: 1
Hardware Flow Control: None
Press “Change” to connect

I am also able to connect to the Bluetooth module using my Nook tablet and the “Bluetooth Terminal” application.  Any Android tablet will work, but iPads and iPhones will not as they don’t support this kind of connection.

Additional links:
http://embeddedprogrammer.blogspot.co.uk/2012/06/ubuntu-hacking-hc-06-bluetooth-module.html
http://homepages.ihug.com.au/~npyner/Arduino/GUIDE_2BT.pdf
(if the link breaks just search for “a child’s guide to basic two way bluetooth” – that is how the document is titled)