Introduction
 Want to take a peep at your friend but feel lazy to go over? This devastator tank with camera is here to help!

You can even use it to explore places that people cannot go, such as.... the surface of Mars...lol

The Devastator tank mobile platform and Romeo BLE microcontroller provides the robot with excellent mobility.  With the universal Bluetooth 4.0 module integrated on the Romeo BLE microcontroller, there are tons of ways to customize your own controlling mechanism. Here I use the GoBLE iPhone App to control the robot. It’s free and easy to use. 

We have a 2DOF tilt'n turn camera mount installed on the top of the robot to control the orientation of the camera.
The Webcam I used on the robot connects to computer via Bluetooth. 

Wiring

#include <Servo.h>
#include <Metro.h>
#include "GoBLE.h"

int speedPin_M1 = 5;     
int speedPin_M2 = 6;     
int directionPin_M1 = 4;     
int directionPin_M2 = 7;     

Servo base;
Servo top; 

int basePosition = 90; 
int topPosition = 115;  
int joystickX, joystickY;
int buttonState[5];

void setup() {
  Goble.begin();
  Serial.begin(115200);
  top.attach(9);        
  base.attach(8);     
  top.write(topPosition);   
  base.write(basePosition); 

}

void loop() {

  if (Goble.available()) {

    joystickX = Goble.readJoystickX();
    joystickY = Goble.readJoystickY();

    buttonState[SWITCH_UP]     = Goble.readSwitchUp();
    buttonState[SWITCH_DOWN]   = Goble.readSwitchDown();
    buttonState[SWITCH_LEFT]   = Goble.readSwitchLeft();
    buttonState[SWITCH_RIGHT]  = Goble.readSwitchRight();

    //    Serial.print("Joystick Value: ");
    //    Serial.print(joystickX);
    //    Serial.print("  ");
    //    Serial.println(joystickY);

    if (joystickY > 196) {
      Serial.println("turn right");
      carTurnRight(250, 250);
    }
    else if (joystickY < 64) {
      Serial.println("turn left");
      carTurnLeft(250, 250);
    }
    else if (joystickX > 196) {
      Serial.println("move forward");
      carAdvance(500, 500);
    }
    else if (joystickX < 64) {
      Serial.println("move backward");
      carBack(500, 500);
    }
    else {
      carStop();
    }

    if (buttonState[SWITCH_LEFT] == PRESSED &&
        buttonState[SWITCH_RIGHT] == RELEASED) {
      Serial.println("servo left");
      Serial.println(basePosition);
      basePosition += 5;
      if (basePosition >= 180) {
        basePosition = 180;
      }
    }
    else if (buttonState[SWITCH_RIGHT] == PRESSED &&
             buttonState[SWITCH_LEFT] == RELEASED) {
      Serial.println("servo right");
      Serial.println(basePosition);
      basePosition -= 5;
      if (basePosition <= 0) {
        basePosition = 0;
      }
    }
    else if (buttonState[SWITCH_UP] == PRESSED &&
             buttonState[SWITCH_DOWN] == RELEASED) {
      Serial.println("servo forward");
      Serial.println(topPosition);
      topPosition -= 5;
      if (topPosition <= 70) {
        topPosition = 75;
      }
    }
    else if (buttonState[SWITCH_DOWN] == PRESSED &&
             buttonState[SWITCH_UP] == RELEASED) {
      Serial.println("servo back");
      Serial.println(topPosition);
      topPosition += 5;
      if (topPosition >= 160) {
        topPosition = 155;
      }
    }
    top.write(topPosition);
    base.write(basePosition);
  }

}

void carStop() {                //  Motor Stop
  digitalWrite(speedPin_M2, 0);
  digitalWrite(directionPin_M1, LOW);
  digitalWrite(speedPin_M1, 0);
  digitalWrite(directionPin_M2, LOW);
}

void carTurnLeft(int leftSpeed, int rightSpeed) {       //Turn Left
  analogWrite (speedPin_M2, leftSpeed);             //PWM Speed Control
  digitalWrite(directionPin_M1, HIGH);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, LOW);
}

void carTurnRight(int leftSpeed, int rightSpeed) {     //Turn Right
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, LOW);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, HIGH);
}

void carBack(int leftSpeed, int rightSpeed) {           //Move backward
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, LOW);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, LOW);
}
void carAdvance(int leftSpeed, int rightSpeed) {         //Move forward
  analogWrite (speedPin_M2, leftSpeed);
  digitalWrite(directionPin_M1, HIGH);
  analogWrite (speedPin_M1, rightSpeed);
  digitalWrite(directionPin_M2, HIGH);
}