基于android和arduino 的小车控制

基于android和arduino 的小车控制，小车部分采用的是 arduino 开源硬件实现，arduino 学起来比较简单，看看文档在看几个例子基本就会了。官网是http://arduino.cc/

我是在某宝上购买的一组套件，最终发现很多都没有用上，有点眼高手低。android 和 arduino 通信是通过蓝牙。小车控制比较简单，前、后、左、右、向左转圈、向右转圈。

以下是源码；

1：arduino 源码：

#include <BaseCar.h>// logconst boolean VERBOSE = true;const int SERIAL_SPEED = 9600;// for Car//1-okconst int MOTO1_PIN = 2;const int I11_PIN = 3;const int I12_PIN = 4;//2const int MOTO2_PIN = 5;const int I21_PIN = 6;const int I22_PIN = 7;//3-okconst int MOTO3_PIN = 8;const int I31_PIN = 9;const int I32_PIN =10;//4const int MOTO4_PIN = 11;const int I41_PIN = 12;const int I42_PIN = 13; // speedconst int SPEED_VAL =500;// delayconst int DELAY_TIME = 300;//bouttooth char RECEIVE_VALUE='q_z_1';// car controlBaseCar car(MOTO1_PIN, MOTO2_PIN, MOTO3_PIN, MOTO4_PIN,I11_PIN, I12_PIN, I21_PIN, I22_PIN,I31_PIN, I32_PIN, I41_PIN, I42_PIN);const int adj = 19; void setup() {  if (VERBOSE) {    Serial.begin(SERIAL_SPEED);  }}void loop() {  // RECEIVE_VALUE=Serial.read();  //Serial.println(RECEIVE_VALUE);   if(RECEIVE_VALUE=='q_z_1'){         // 左前一度      car.forward(SPEED_VAL, adj);   }else if(RECEIVE_VALUE=='q_z_2'){   // 左前二度      car.turnLeft(SPEED_VAL, adj);   }else if(RECEIVE_VALUE=='q_z_3'){   // 左前三度-向左旋转      car.rotateLeft(SPEED_VAL, adj);   }else if(RECEIVE_VALUE=='q_y_1'){   // 右前一度      car.forward(SPEED_VAL, adj);   }else if(RECEIVE_VALUE=='q_y_2'){   // 右前二度      car.turnRight(SPEED_VAL, adj);   }else if(RECEIVE_VALUE=='q_y_3'){   // 右前三度-向右旋转      car.rotateRight(SPEED_VAL, adj);   }else{   // 刹车     car.standBy();   }}

1.1 将 以下两个类放在libiriary 下 文件夹名命名为 car

#include "Arduino.h"#include "BaseCar.h"BaseCar::BaseCar(int left_back_speed, int left_forward_speed,int right_forward_speed, int right_back_speed, int left_back_1, int left_back_2, int left_forward_1, int left_forward_2,int right_forward_1, int right_forward_2,int right_back_1, int right_back_2){    _left_back_speed = left_back_speed;    _left_forward_speed = left_forward_speed;_right_forward_speed = right_forward_speed;_right_back_speed = right_back_speed;    pinMode(left_back_speed, OUTPUT);    pinMode(left_forward_speed, OUTPUT);pinMode(right_forward_speed, OUTPUT);    pinMode(right_back_speed, OUTPUT);    _left_back_1 = left_back_1;    _left_back_2 = left_back_2;    _left_forward_1 = left_forward_1;    _left_forward_2 = left_forward_2;_right_forward_1 = right_forward_1;    _right_forward_2 = right_forward_2;    _right_back_1 = right_back_1;    _right_back_2 = right_back_2;    pinMode(left_back_1, OUTPUT);    pinMode(left_back_2, OUTPUT);    pinMode(left_forward_1, OUTPUT);    pinMode(left_forward_2, OUTPUT);pinMode(right_forward_1, OUTPUT);    pinMode(right_forward_2, OUTPUT);    pinMode(right_back_1, OUTPUT);    pinMode(right_back_2, OUTPUT);}//停止void BaseCar::standBy() {    _status.left_back_speed_h = 0;    _status.left_forward_speed_h = 0;_status.right_forward_speed_h = 0;    _status.right_back_speed_h = 0;    _status.left_back_1_h = HIGH;    _status.left_back_2_h = HIGH;    _status.left_forward_1_h = HIGH;    _status.left_forward_2_h = HIGH;//_status.right_forward_1_h = HIGH;    _status.right_forward_2_h = HIGH;    _status.right_back_1_h = HIGH;    _status.right_back_2_h = HIGH;    _go();}//向前void BaseCar::forward(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed + adj;    _status.left_forward_speed_h = moto_speed + adj;_status.right_forward_speed_h = moto_speed + adj;    _status.right_back_speed_h = moto_speed + adj;    _status.left_back_1_h = LOW;    _status.left_back_2_h = HIGH;    _status.left_forward_1_h = LOW;    _status.left_forward_2_h = HIGH;     _status.right_forward_1_h = LOW;    _status.right_forward_2_h = HIGH;    _status.right_back_1_h = LOW;    _status.right_back_2_h = HIGH;    _status.adj = adj;    _go();}//向后void BaseCar::backward(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed + adj;    _status.left_forward_speed_h = moto_speed + adj;_status.right_forward_speed_h = moto_speed + adj;    _status.right_back_speed_h = moto_speed + adj;    _status.left_back_1_h = HIGH;    _status.left_back_2_h = LOW;    _status.left_forward_1_h = HIGH;    _status.left_forward_2_h = LOW; _status.right_forward_1_h = HIGH;    _status.right_forward_2_h = LOW;    _status.right_back_1_h = HIGH;    _status.right_back_2_h = LOW;    _status.adj = adj;    _go();}//左转void BaseCar::turnLeft(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed - adj;    _status.left_forward_speed_h = moto_speed - adj;_status.right_forward_speed_h = moto_speed + adj;    _status.right_back_speed_h = moto_speed + adj;    _status.left_back_1_h = LOW;    _status.left_back_2_h = HIGH;    _status.left_forward_1_h = LOW;    _status.left_forward_2_h = HIGH;_status.right_forward_1_h = LOW;    _status.right_forward_2_h = HIGH;    _status.right_back_1_h = LOW;    _status.right_back_2_h = HIGH;    _status.adj = adj;    _go();}//右转void BaseCar::turnRight(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed + adj;    _status.left_forward_speed_h = moto_speed + adj;_status.right_forward_speed_h = moto_speed - adj;    _status.right_back_speed_h = moto_speed - adj;    _status.left_back_1_h = LOW;    _status.left_back_2_h = HIGH;    _status.left_forward_1_h = LOW;    _status.left_forward_2_h = HIGH;_status.right_forward_1_h = LOW;    _status.right_forward_2_h = HIGH;    _status.right_back_1_h = LOW;    _status.right_back_2_h = HIGH;    _status.adj = adj;    _go();}//向左旋转(右边向前转，左边向后转)void BaseCar::rotateLeft(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed + adj;    _status.left_forward_speed_h = moto_speed + adj;_status.right_forward_speed_h = moto_speed + adj;    _status.right_back_speed_h = moto_speed + adj;    _status.left_back_1_h = HIGH;    _status.left_back_2_h = LOW;    _status.left_forward_1_h = HIGH;    _status.left_forward_2_h = LOW;_status.right_forward_1_h = LOW;    _status.right_forward_2_h = HIGH;    _status.right_back_1_h = LOW;    _status.right_back_2_h = HIGH;    _status.adj = adj;    _go();}//向右旋转void BaseCar::rotateRight(int moto_speed, int adj) {    _status.left_back_speed_h = moto_speed + adj;    _status.left_forward_speed_h = moto_speed + adj;_status.right_forward_speed_h = moto_speed + adj;    _status.right_back_speed_h = moto_speed + adj;    _status.left_back_1_h = LOW;    _status.left_back_2_h = HIGH;    _status.left_forward_1_h = LOW;    _status.left_forward_2_h = HIGH;_status.right_forward_1_h = HIGH;    _status.right_forward_2_h = LOW;    _status.right_back_1_h = HIGH;    _status.right_back_2_h = LOW;    _status.adj = adj;    _go();}void BaseCar::_go() {    digitalWrite(_left_back_1, _status.left_back_1_h);    digitalWrite(_left_back_2, _status.left_back_2_h);    digitalWrite(_left_forward_1, _status.left_forward_1_h);    digitalWrite(_left_forward_2, _status.left_forward_2_h);    digitalWrite(_right_forward_1, _status.right_forward_1_h);    digitalWrite(_right_forward_2, _status.right_forward_2_h);    digitalWrite(_right_back_1, _status.right_back_1_h);    digitalWrite(_right_back_2, _status.right_back_2_h);    analogWrite(_left_back_speed, _status.left_back_speed_h);    analogWrite(_left_forward_speed, _status.left_forward_speed_h);analogWrite(_right_forward_speed, _status.right_forward_speed_h);    analogWrite(_right_back_speed, _status.right_back_speed_h);}CarStatus BaseCar::getStatus() {    return _status;}

#ifndef BaseCar_h#define BaseCar_h#include "Arduino.h"struct CarStatus {     int left_back_1_h;    int left_back_2_h;    int left_forward_1_h;    int left_forward_2_h; int right_forward_1_h;    int right_forward_2_h;int right_back_1_h;    int right_back_2_h;    int left_back_speed_h;    int left_forward_speed_h;    int right_forward_speed_h;    int right_back_speed_h;    int adj;};class BaseCar {    public:        BaseCar(int left_back_speed, int left_forward_speed,int right_forward_speed, int right_back_speed, int left_back_1, int left_back_2, int left_forward_1, int left_forward_2,int right_forward_1, int right_forward_2,int right_back_1, int right_back_2);        void standBy();        void forward(int moto_speed, int adj);        void backward(int moto_speed, int adj);        void turnLeft(int moto_speed, int adj);        void turnRight(int moto_speed, int adj);        void rotateLeft(int moto_speed, int adj);        void rotateRight(int moto_speed, int adj);        CarStatus getStatus();    private:        int _left_back_speed;        int _left_forward_speed;        int _right_forward_speed;        int _right_back_speed;        int _left_back_1;        int _left_back_2;        int _left_forward_1;        int _left_forward_2;int _right_forward_1;        int _right_forward_2;        int _right_back_1;        int _right_back_2;        CarStatus _status;        void _go();};#endif

2：android 源码如下：

package com.robot;import java.io.IOException;import java.io.OutputStream;import java.util.UUID;import android.app.Activity;import android.bluetooth.BluetoothAdapter;import android.bluetooth.BluetoothDevice;import android.bluetooth.BluetoothSocket;import android.content.pm.ActivityInfo;import android.os.Bundle;import android.util.Log;import android.view.Gravity;import android.view.MotionEvent;import android.view.View;import android.view.View.OnTouchListener;import android.widget.CheckBox;import android.widget.CompoundButton;import android.widget.CompoundButton.OnCheckedChangeListener;import android.widget.ImageView;import android.widget.TextView;import android.widget.Toast;public class AAActivity extends Activity {private TextView state;private ImageView forward;private ImageView back;private ImageView left_2;private ImageView right_2;boolean isStart = false;private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");private static String address = "00:12:02:06:01:32";private static final String TAG = "THINBTCLIENT";private static final boolean D = true;private BluetoothAdapter mBluetoothAdapter = null;private BluetoothSocket btSocket = null;private OutputStream outStream = null;@Overridepublic void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.index);initUI();}@Overrideprotected void onStart() {super.onStart();}public void setValue(String message, final String text) {if (isStart) {state.setText(text);byte[] msgBuffer;try {outStream = btSocket.getOutputStream();} catch (IOException e) {Log.e(TAG, "ON RESUME: Output stream creation failed.", e);}msgBuffer = message.getBytes();try {outStream.write(msgBuffer);} catch (IOException e) {Log.e(TAG, "ON RESUME: Exception during write.", e);}} else {Toast.makeText(this, "请先选择开启！", Toast.LENGTH_SHORT).show();}}private void initUI() {state = (TextView) findViewById(R.id.state);CheckBox blueT = (CheckBox) findViewById(R.id.blueT);blueT.setOnCheckedChangeListener(new OnCheckedChangeListener() {public void onCheckedChanged(CompoundButton buttonView,boolean isChecked) {isStart = isChecked;}});forward = (ImageView) findViewById(R.id.forward);forward.setImageResource(R.drawable.forward);forward.setOnTouchListener(new OnTouchListener() {public boolean onTouch(View v, MotionEvent event) {if (event.getAction() == MotionEvent.ACTION_DOWN) {forward.setImageResource(R.drawable.forward_r);setValue("1", "直走");}if (event.getAction() == MotionEvent.ACTION_UP) {forward.setImageResource(R.drawable.forward);setValue("7", "刹车");}return true;}});back = (ImageView) findViewById(R.id.back);back.setImageResource(R.drawable.back);back.setOnTouchListener(new OnTouchListener() {public boolean onTouch(View v, MotionEvent event) {if (event.getAction() == MotionEvent.ACTION_DOWN) {back.setImageResource(R.drawable.back_r);setValue("6", "后退");}if (event.getAction() == MotionEvent.ACTION_UP) {back.setImageResource(R.drawable.back);setValue("7", "刹车");}return true;}});left_2 = (ImageView) findViewById(R.id.left_2);left_2.setImageResource(R.drawable.left_2);left_2.setOnTouchListener(new OnTouchListener() {public boolean onTouch(View v, MotionEvent event) {if (event.getAction() == MotionEvent.ACTION_DOWN) {left_2.setImageResource(R.drawable.left_2_r);setValue("3", "左前二度");}if (event.getAction() == MotionEvent.ACTION_UP) {left_2.setImageResource(R.drawable.left_2);setValue("7", "刹车");}return true;}});right_2 = (ImageView) findViewById(R.id.right_2);right_2.setImageResource(R.drawable.right_2);right_2.setOnTouchListener(new OnTouchListener() {public boolean onTouch(View v, MotionEvent event) {if (event.getAction() == MotionEvent.ACTION_DOWN) {right_2.setImageResource(R.drawable.right_2_r);setValue("5", "右前二度");}if (event.getAction() == MotionEvent.ACTION_UP) {right_2.setImageResource(R.drawable.right_2);setValue("7", "刹车");}return true;}});if (D)Log.e(TAG, "+++ ON CREATE +++");mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();if (mBluetoothAdapter == null) {Toast.makeText(this, "蓝牙设备不可用，请打开蓝牙！", Toast.LENGTH_LONG).show();finish();return;}if (!mBluetoothAdapter.isEnabled()) {Toast.makeText(this, "请打开蓝牙并重新运行程序！", Toast.LENGTH_LONG).show();finish();return;}if (D)Log.e(TAG, "+++ DONE IN ON CREATE, GOT LOCAL BT ADAPTER +++");}public void onPause() {if (getRequestedOrientation() != ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE) {setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);}super.onPause();if (D)Log.e(TAG, "- ON PAUSE -");if (outStream != null) {try {outStream.flush();} catch (IOException e) {Log.e(TAG, "ON PAUSE: Couldn't flush output stream.", e);}}try {btSocket.close();} catch (IOException e2) {DisplayToast("套接字关闭失败！");}}public void onStop() {super.onStop();if (D)Log.e(TAG, "-- ON STOP --");}public void onDestroy() {super.onDestroy();if (D)Log.e(TAG, "--- ON DESTROY ---");}public void DisplayToast(String str) {Toast toast = Toast.makeText(this, str, Toast.LENGTH_LONG);toast.setGravity(Gravity.TOP, 0, 220);toast.show();}public void onResume() {super.onResume();if (D) {Log.e(TAG, "+ ON RESUME +");Log.e(TAG, "+ ABOUT TO ATTEMPT CLIENT CONNECT +");}DisplayToast("正在尝试连接智能小车，请稍后····");BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);try {btSocket = device.createRfcommSocketToServiceRecord(MY_UUID);} catch (IOException e) {e.printStackTrace();DisplayToast("套接字创建失败！");}DisplayToast("成功连接智能小车！可以开始操控了~~~");mBluetoothAdapter.cancelDiscovery();try {btSocket.connect();DisplayToast("连接成功建立，数据连接打开！");} catch (IOException e) {try {btSocket.close();} catch (IOException e2) {DisplayToast("连接没有建立，无法关闭套接字！");}}if (D)Log.e(TAG, "+ ABOUT TO SAY SOMETHING TO SERVER +");}}

更多相关文章

随机推荐