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  <p><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Once the Bluetooth is tested and working and you have the motors wired and ready to go,</span></p><p><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">The &nbsp;Robo is ready to go wireless. This is a tutorial details how we go about it.</span><br /> <br /> <br /> <span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Connect the blue tooth to the Arduino board:</span></p><p><span style="font-size: 14px;">Before connecting the Bluetooth to the Arduino, you need to shutdown the Arduino IDE program (the program you use to write upload code to the Arduino). This is because the serial interface of the Arduino may not be shared between the Bluetooth and the PC at the same time, otherwise the Arduino IDE may crash. </span><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Or you can run into this <a href="slow-response-arduino-ide-in-windows" target="_blank">Slow Arduino IDE problem</a> if your Bluetooth is on. Connect the tx of the blue tooth module to the rx (pin0) on the Arduino board and the rx to the tx (pin1) as described in the table below.</span></p><div dir="ltr"><table style="border-collapse: collapse;"><colgroup> <col width="153" /> <col width="149" /> </colgroup><tbody><tr style="height: 0px;"><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Bluetooth</span></td><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Arduino</span></td></tr><tr style="height: 0px;"><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Vcc</span></td><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">3.3V</span></td></tr><tr style="height: 0px;"><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">GND</span></td><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">GND</span></td></tr><tr style="height: 0px;"><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">TXD</span></td><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">RXD</span></td></tr><tr style="height: 0px;"><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">RXD</span></td><td style="border: 1px dotted #aaaaaa; vertical-align: top; padding: 7px;"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">TXD</span></td></tr></tbody></table></div><p><br /> <img src="https://lh5.googleusercontent.com/UnYxcM_8wyiEWTSHf8i4yxeF_nW-5zmVzo3u1OZk57_1r0QhnJu3L6kiGRQL1_MO2kdsP__jrNx1Xszu0aEorxwqHqX2ZEDsAwQx0gbxbz6e79ehKxM" border="0" width="532px;" height="400px;" /><br /> <br /> <span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Once open up</span><a href="http://www.chiark.greenend.org.uk/%7Esgtatham/putty/download.html"><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="font-size: 11pt; font-family: Arial; color: #000099; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: underline; vertical-align: baseline;">puTTY</span></a><span style="font-size: 11pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">, and select the correct COM port, the blue tooth module’s LED should be changed from flashing to stays on, which indicates the connection is established. Now it's time to have some fun, key in 'e', 'c', 's', 'f', 'd' in puTTY to control your Rover!</span></p><p>&nbsp;</p><h2>Sprinkle some life into the ROBOT!!!</h2><p>&nbsp;</p><p><iframe width="425" height="349" allowfullscreen="" frameborder="0" src="http://www.youtube.com/embed/Bk9vieYOVOQ?rel=0"></iframe></p><p>&nbsp;</p><p><strong><span style="color: #006400;"><span style="font-size: 16px;"><a href="http://www.hobbyist.co.nz/?q=bluetooth-mars-rover">Get yourself this cool Robot!!</a></span></span></strong></p><div style="border-style: initial; border-color: initial; font-style: inherit; font-size: 12px; font-family: inherit; vertical-align: baseline; border-width: 0px; padding: 0px; margin: 0px;"><span style="color: #000000; font-size: xx-small;">&nbsp;<span class="Apple-style-span" style="border-style: initial; border-color: initial; font-weight: inherit; font-style: inherit; font-family: inherit; vertical-align: baseline; border-width: 0px; padding: 0px; margin: 0px;">tags: robotics, robot games, make a robot, build a robot, kid robot, mr robot, create a robot, robot wars</span></span></div><div><span class="Apple-style-span" style="border-style: initial; border-color: initial; font-weight: inherit; font-style: inherit; font-size: 12px; font-family: inherit; vertical-align: baseline; color: #ffffff; border-width: 0px; padding: 0px; margin: 0px;"><br /></span></div>


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  <p><strong><span style="font-size: 16px;">Bluetooth Module:</span></strong></p><p><img src="/sites/default/files/pictures/bluetooth/bluetooth_with_wires.jpg" border="0" width="400" height="300" /></p><p>Fig1: Bluetooth module</p><p><span style="font-size: 14px;"><span style="font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">This HC-06 Bluetooth module is the most economical and easiest way to go wireless.</span></span></p><p><span style="font-size: 14px;"><span style="font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">This module allows you to wirelessly extend your serial interface,&nbsp;</span>Hence any program running on your Laptop feels its controlling a local serial port (which is over a wireless bluetooth link )</span></p><p class="rteleft"><span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">The 4 pins are +5V, GND, TXD, RXD. Supply voltage should be 3.3 - 6 V. Absolute maximum is 7 V.</span></p><p class="rteleft"><span style="font-size: medium;"><em><span style="font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Default pairing code: 1234</span></em></span></p><p class="rteleft"><span style="font-size: medium;"><em><span style="font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Default baudrate: 9600</span></em></span></p><p class="rteleft"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">HC-04 is almost identical to HC-06. The only difference is that HC-04 is for industry and HC-06 is for civil. Other than that, they are the same. Please refer this<a href="http://www.hobbyist.co.nz/sites/default/files/Bluetooth_HC-06.pdf"> HC-04 Datasheet</a> for more technical information.</span></span></p><p class="rteleft"><span style="font-size: medium;"><em><span style="font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">The maximum baudrate can be configured to </span></em><span style="font-family: arial,helvetica,sans-serif;">1382400bps, but 115200bps is recommended for reliability purposes. The name and paring code can be re-configured by</span><span style="font-family: arial,helvetica,sans-serif;"> </span><span style="font-family: arial,helvetica,sans-serif;">a <a href="http://www.hobbyist.co.nz/?q=ftdi-usb-to-serial">USB to Serial converter</a></span></span><span style="font-family: arial,helvetica,sans-serif;"><a href="http://www.hobbyist.co.nz/?q=ftdi-usb-to-serial"></a></span><span style="font-family: arial,helvetica,sans-serif;"><span style="font-size: x-small;"><span style="font-size: small;">,</span><span style="font-size: small;"> t</span><span style="font-size: medium;">he steps for the configuration can be found</span></span></span><span style="font-size: medium;"><span style="font-family: arial,helvetica,sans-serif;"> <a href="http://www.hobbyist.co.nz/?q=bluetooth-module-configurations">here</a>.</span></span></p><p class="rteleft"><br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Below shows how the Bluetooth module is connected to the Arduino or other microcontroller device. The Bluetooth module also works in 3.3 V power supply</span></p><p class="rteleft"><span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;"><img src="sites/default/files/connection.jpg" border="0" alt="" /></span></p><p class="rteleft">Fig 2: Bluetooth module wiring</p><p class="rteleft"><img src="sites/default/files/wrong_connections.jpg" border="0" alt="" /></p><p class="rteleft"><br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Once the wires are connected, in the computer under the Bluetooth properties, select ‘Add a device’. The default device name of the Bluetooth module is ‘linvor’</span><img src="https://lh5.googleusercontent.com/d2tCf5BGov4qtZ3PpNPFRFhX8GnaNIPP9-KJ2_n-kjJVZG0eL-xYaMwsekvaA3mna6zXwlMwrtEagc-nT_PqlTV3ONWdCCyercVfec3U9U10wnf9dZQ" border="0" width="403px;" height="280px;" /></p><p class="rteleft">Fig3: Detecting the Bluetooth module<br /> <br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Double click ‘linvor’ and select the ‘Hardware’ tab, you can see which COM port the module is connected. In this example, it is connected to COM 21.</span><img src="https://lh4.googleusercontent.com/FoP-QPLF8b1NfM7yPvvV3-MGLu0OqbwspSb6MGR56TCrVY2ei6IyKY0SMKZ8mPQyJrBdy-rkeO8UHuSmGxr1RcRAPlpULdYif4cXOzhcWtXy_rFQWmM" border="0" width="442" height="543" /></p><p class="rteleft">Fig4: Finding the COM port associated with the bluetooth module<br /> <br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">You may use any terminal programs, or the open source terminal program </span><a href="http://www.chiark.greenend.org.uk/%7Esgtatham/putty/download.html"><span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: underline; vertical-align: baseline;">puTTY</span></a><span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">. Download it and double click on the putty.exe, select the ‘Serial’ radio button.</span></p><p class="rteleft"><span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;"></span><img src="https://lh4.googleusercontent.com/YU8nIBVKa5MmOEG4ur7RaZFpOYtr0fyTrnNUKCJD0UZXDsyu92l7cier8mTtsqTnOiRNXJC48qM2imlC69Vlg_2HtOrEG9vE2maAd2BK6WK7vpPwEN0" border="0" width="433px;" height="416px;" /></p><p class="rteleft">Fig 5: Connecting to the bluetooth module using Putty application</p><p class="rteleft"><br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Then type in the COM port number that the Bluetooth device is connecting to. The default baud rate is 9600. Click ‘Open’. And here you go, a new session pops up and if the Bluetooth module’s LED changed from flashing to always on, then it indicates the connection is established. </span><br /> <br /> <span style="font-size: 11pt; font-family: Arial; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Test the Bluetooth module : Loopback testing</span></p><p class="rteleft"><span style="font-size: 14px;"><font face="Arial">First test of the bluetooth module is call the the loopback test</font></span></p><ul><li class="rteleft"><p><span style="font-size: 14px;"><strong><font face="Arial">Wiring the Bluetooth to get power from the Arduino</font></strong></span></p></li></ul><p class="rteleft rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;"><span style="background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">To wire up the Bluetooth, power up the Arduino board (with usb or other power source), connect the +5 V and GND to the Arduino, then short circuit the rx and tx pin.</span><span style="background-color: transparent; font-weight: normal; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">&nbsp;</span></span></span></p><p class="rteleft rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">By doing this, you’ll receive exactly what you send.</span></span></p><ul><li class="rteleft"><p><strong><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">Bluetooth test from PC</span></span></strong></p></li></ul><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;"></span>In the Bluetooth device properties of your computer, add the Bluetooth device by selecting ‘add a device’.</span></p><p class="rteindent1"><span style="font-size: 14px;">The default device name is linvor, and default pairing code is 1234, default baud rate 9600.</span></p><p class="rteindent1"><span style="font-size: 14px;">The device doesn’t need any driver. Please ignore the ‘unknown device warning’ in the windows device manager.</span></p><p class="rteindent1"><span style="font-size: 14px;">In the Bluetooth connection property, you can found which COM port the Bluetooth module is connected to.</span></p><p class="rteindent1"><span style="font-size: 14px;"><em><strong>Note:</strong>&nbsp;Until now the LED on the Bluetooth module is still flashing. Launch puTTY, type in the correct COM port and start the session. Soon after the session started, the flashing should stop and the LED on the Bluetooth module should stay on, which indicates that the connection has been established. In default setting, puTTY doesn't echo what you type, and whatever you type in puTTY gets sent to the Bluetooth module. So if you can see what you type in the terminal (non-repeated), it means the Bluetooth received the character you typed and sent it back to puTTY. </em></span></p><p class="rteindent1">&nbsp;</p><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">For advance users who want to customize the settings of the Bluetooth module, see <a href="http://www.hobbyist.co.nz/?q=bluetooth-module-configurations">Bluetooth module configurations</a>. However, you are encouraged to skip this and continue to step3 to get your wireless rover working first!</span></span></p><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;"><br /></span></span></p><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;"><span style="font-size: medium; font-family: verdana,geneva;"><strong>Bluetooth module is not visible to Android phones and Android tablets?</strong></span><br />It is reported that Android has some issues with the </span></span><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">Bluetooth Serial Port Protocol (SPP). Installing TerminalBT app allows a pairing / connect to the Bluetooth module. This <a href="http://zornsoftware.codenature.info/blog/pairing-spp-bluetooth-devices-with-android-phones.html%20" target="_blank">link</a> explains it in a bit more detail.<br /></span></span></p><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;"><br /></span></span></p><p class="rteindent1"><strong><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">Slow response in Arduino IDE when Bluetooth is enabled</span></span></strong></p><p class="rteindent1"><span style="font-size: 14px;"><span style="font-family: arial,helvetica,sans-serif;">When the Bluetooth of a laptop is enabled, the Arduino IDE becomes painfully slow and it is unusable. This is due to the auto-scanning COM port feature of the IDE. This <a href="slow-response-arduino-ide-in-windows" target="_blank">link</a> explains how to resolve this problem.<br /></span></span></p><p><span style="font-size: 14px;"><a href="?q=bluetooth-robot">Step3: Combine Bluetooth with Motor Shield</a></span></p>


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  <p></p><p></p><h2><span style="font-size: medium;"><span style="font-family: arial,helvetica,sans-serif;"><strong>Arduino IDE TOOLS menu is very slow</strong></span><br /></span></h2><p class="MsoNormal"><span style="font-size: medium;"><br /></span></p><p class="MsoNormal"><span style="font-size: medium;">The following syndromes appear when using a computer with Bluetooth turned on:</span></p><ul><li><span style="font-size: medium;"> Arduino IDE takes 30 seconds to start up</span></li><li><span style="font-size: medium;"> While other menus are fine, clicking on the “TOOLS” menu, it hangs for another 20 seconds</span></li></ul><p></p><p class="MsoNormal"><span style="font-size: medium;">This problem is caused by the auto-scanning COM ports feature of the Arduino IDE. It gets confused when a Bluetooth COM port is present. To fix this problem, follow the steps below</span></p><p></p><p class="MsoNormal"><span style="font-size: medium;"><strong>1.</strong> Close all opened Arduino IDE</span></p><p></p><p class="MsoNormal"><span style="font-size: medium;"><strong>2.</strong> Go to the Arduino IDE directory, e.g. c:\arduino-1.0.1, instead of deleting the rxtxSerial.dll file, rename it to “rxtxSerial_original.dll”</span></p><p class="MsoNormal"><span style="font-size: medium;"><img src="data:image/png;base64,[encoded data, 193128 characters]" border="0" alt="" /></span></p><p></p><p class="MsoListParagraph"><span style="font-size: medium;"><span style="position: absolute; z-index: 1; left: 0px; margin-left: 202px; margin-top: 418px; width: 140px; height: 42px;"><img src="file:///C:\Users\King\AppData\Local\Temp\msohtmlclip1\01\clip_image001.gif" border="0" width="140" height="42" /></span></span></p><p class="MsoNormal"><span style="font-size: medium;"><strong>3.</strong> Download, unzip and place this <a href="/sites/default/files/docs/Bluttooth/slow%20Arduino%20IDE/rxtxSerial-2.2_fixed_2009-03-17.rar" target="_blank">rxtxSerial.dll file</a> to the directory</span></p><p></p><p><span style="font-size: medium;"><img src="data:image/png;base64,[encoded data, 204216 characters]" border="0" alt="" /></span></p><p><span style="font-size: medium;"><br /></span></p><p><span style="font-size: medium;">This is a common problem and it is discussed in this thread of the Arduino Forums. </span></p><p><span style="font-size: medium;">http://arduino.cc/forum/index.php/topic,46977.0.html<br /></span></p>


