Bluetooth

This website is still under construction.

In Save Slots and Toggle Behavior, we were using buttons from fingers to influence the behavior from Fursuiter but we may still want to influence it from the outside.
When you look at animatronics in films (from Behind The Scene), they use RC Transmitters to control Servos. For my purpose, RC Transmitter is too big with only few axis to use. So I decided on using My Own Remote Controller (softwre for Mobile phone).

For communication I want to use Bluetooth. It has limited range but is present in all modern phones.
There are different approaches to using Bluetooth from Arduino. I decided on using Serial communication (like here, here or here). For it, we will use HC-05 or HC-06 Bluetooth Module.

Changing PIN

Before using our Bluetooth module, we may want to change default PIN (1234 or 0000).
I do not have the module myself (right now) so I found this tutorial and will try to make mine shorter.

We need to connect RX and TX pins to the module (RX to TX, TX to RX). For setup of the module, we want to set Key pin of the module to HIGH (connect it to Vcc pin).

Communication Protocol

All commands are case sensitive and should end by enter or \r\n.

Test

Command: AT
OK

Reset

Command: AT+RESET
OK

Get Firmware Version

Command: AT+VERSION?

+VERSION:<version>
OK

Restore Defaults

Command: AT+ORGL
OK
Device type: 0
Inquire code: 0x009e8b33
Module work mode: Slave Mode
Connection mode: Connect to the Bluetooth device specified
Serial parameter: Baud rate: 38400 bits/s; Stop bit: 1 bit; Parity bit: None.
Passkey: “1234”
Device name: “H-C-2010-06-01”

Get Bluetooth Address

Command: AT+ADDR?

+ADDR:<address>
OK

The address will be in hexadecimal format: NAP:UAP:LAP

Set Name

Command: AT+NAME=<name>
OK

Get Name

Command: AT+NAME?

+NAME:<name>
OK

FAIL
Default: HC-05

Set Passkey

Command: AT+PSWD=<passkey>
OK

Get Passkey

Command: AT+PSWD?

+PSWD:<passkey>
OK

Default: 1234

Set Serial Communication

Command: AT+UART=<baud_rate>,<stop_bit>,<parity_bit>
OK
Baud rate:

4800
9600
19200
38400
57600
115200
230400
460800
921600
1382400

Stop bit:

0 ~ 1 bit
1 ~ 2 bits

Parity bit:

0 ~ None
1 ~ Odd parity
2 ~ Even parity

Get Serial Communication

Command: AT+UART?

+UART:<baud_rate>,<stop_bit>,<parity_bit>
OK

Default: 38400,0,0

Delete All Paired Devices

Command: AT+RMAAD
OK

Last Paired Device

Command: AT+MRAD?

+MRAD:<address>
OK

Default: 0:0:0

Get Status

Command: AT+STATE?

+STATE:<state>
OK

INITIALIZED
READY
PAIRABLE
PAIRED
INQUIRING
CONNECTING
CONNECTED
DISCONNECTED

You can find more commands here or here (both PDFs).

Changing Values

I expect you to use Arduino Leonardo or Micro because we want to have separated USB Serial and Pin 0/1 Serial.

I wrote this code to allow you read main info from the module (version, address, name and passkey) and change it (name and passkey).
It will also read current state every second for testing purpose.

void setup()
{
  Serial.begin(9600);

  delay(100);
  
  Serial1.begin(38400);
  // Check speed
  {
    Serial1.println("AT");
    
    while(Serial1.available() < 2)
      delayMicroseconds(100);//0.0001
    if(Serial1.read() != 'O' || Serial.read() != 'K')
    {
      while(true)
      {
        Serial.println("Module speed is not 38400.");
        delay(1000);
      }
    }
  }
  // Get version
  {
    Serial.print("Version: ");

    Serial1.write("AT+VERSION?");
    for(int i = 0; i < 9; i++)// +VERSION:
      Serial1.read();
    char c = 0;
    while(true)
    {
      c = Serial1.read();
      if(c == '\r')
        break;
      Serial.write(c);
    }
    Serial.println();
    Serial1.read();// \n
    Serial1.read();// O
    Serial1.read();// K
  }
  // Get address
  {
    Serial.print("Address: ");

    Serial1.write("AT+ADDR?");
    for(int i = 0; i < 6; i++)// +ADDR:
      Serial1.read();
    char c = 0;
    while(true)
    {
      c = Serial1.read();
      if(c == '\r')
        break;
      Serial.write(c);
    }
    Serial.println();
    Serial1.read();// \n
    Serial1.read();// O
    Serial1.read();// K
  }
  // Get name
  {
    Serial.print("Name: ");

    Serial1.write("AT+NAME?");
    for(int i = 0; i < 6; i++)// +NAME:
      Serial1.read();
    char c = 0;
    while(true)
    {
      c = Serial1.read();
      if(c == '\r')
        break;
      Serial.write(c);
    }
    Serial.println();
    Serial1.read();// \n
    Serial1.read();// O
    Serial1.read();// K
  }
  // Get passkey
  {
    Serial.print("Passkey: ");

    Serial1.write("AT+PSWD?");
    for(int i = 0; i < 6; i++)// +PSWD:
      Serial1.read();
    char c = 0;
    while(true)
    {
      c = Serial1.read();
      if(c == '\r')
        break;
      Serial.write(c);
    }
    Serial.println();
    Serial1.read();// \n
    Serial1.read();// O
    Serial1.read();// K
  }
  // Set name
  {
    Serial.print("New name: ");

    Serial1.print("AT+NAME=");

    char c = 0;
    while(true)
    {
      c = Serial.read();
      if(c == '\r' || c == '\n')
        break;
      Serial1.write(c);
    }

    Serial1.println();
  }
  // Set passkey
  {
    Serial.print("New passkey: ");

    Serial1.print("AT+PSWD=");

    char c = 0;
    while(true)
    {
      c = Serial.read();
      if(c == '\r' || c == '\n')
        break;
      Serial1.write(c);
    }

    Serial1.println();
  }
}

void loop() 
{
  delay(1000);
  Serial1.write("AT+STATE?");
  for(int i = 0; i < 7; i++)// +STATE:
    Serial1.read();
  char c = 0;
  while(true)
  {
    c = Serial1.read();
    if(c == '\r')
      break;
    Serial.write(c);
  }
  Serial.println();
  Serial1.read();// \n
  Serial1.read();// O
  Serial1.read();// K
}

Implementing Protocol

We have already prepared Communication Protocol outside of the Fursuit so we now only need to implement it.