基于android和arduino 的小车控制

迷南。 2022-08-26 11:10 670阅读 0赞

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：

  1. #include <BaseCar.h>
  4. // log
  5. const boolean VERBOSE = true;
  6. const int SERIAL_SPEED = 9600;
  8. // for Car
  9. //1-ok
  10. const int MOTO1_PIN = 2;
  11. const int I11_PIN = 3;
  12. const int I12_PIN = 4;
  13. //2
  14. const int MOTO2_PIN = 5;
  15. const int I21_PIN = 6;
  16. const int I22_PIN = 7;
  17. //3-ok
  18. const int MOTO3_PIN = 8;
  19. const int I31_PIN = 9;
  20. const int I32_PIN =10;
  21. //4
  22. const int MOTO4_PIN = 11;
  23. const int I41_PIN = 12;
  24. const int I42_PIN = 13;
  27. // speed
  28. const int SPEED_VAL =500;
  30. // delay
  31. const int DELAY_TIME = 300;
  33. //bouttooth
  34.  char RECEIVE_VALUE='q_z_1';
  35. // car control
  36. BaseCar 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);
  38. const int adj = 19;
  40. void setup() {
  41.   if (VERBOSE) {
  42.     Serial.begin(SERIAL_SPEED);
  43.   }
  44. }
  46. void loop() {
  47.   // RECEIVE_VALUE=Serial.read();
  48.   //Serial.println(RECEIVE_VALUE);
  49.    if(RECEIVE_VALUE=='q_z_1'){   
  50.       // 左前一度
  51.       car.forward(SPEED_VAL, adj);
  52.    }else if(RECEIVE_VALUE=='q_z_2'){
  53.    // 左前二度
  54.       car.turnLeft(SPEED_VAL, adj);
  55.    }else if(RECEIVE_VALUE=='q_z_3'){
  56.    // 左前三度-向左旋转
  57.       car.rotateLeft(SPEED_VAL, adj);
  58.    }else if(RECEIVE_VALUE=='q_y_1'){
  59.    // 右前一度
  60.       car.forward(SPEED_VAL, adj);
  61.    }else if(RECEIVE_VALUE=='q_y_2'){
  62.    // 右前二度
  63.       car.turnRight(SPEED_VAL, adj);
  64.    }else if(RECEIVE_VALUE=='q_y_3'){
  65.    // 右前三度-向右旋转
  66.       car.rotateRight(SPEED_VAL, adj);
  67.    }else{
  68.    // 刹车
  69.      car.standBy();
  70.    }
  71. }
  75. 1.1 将 以下两个类放在libiriary 下 文件夹名命名为 car
  77. #include "Arduino.h"
  78. #include "BaseCar.h"
  80. 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){
  82.     _left_back_speed = left_back_speed;
  83.     _left_forward_speed = left_forward_speed;
  84.     _right_forward_speed = right_forward_speed;
  85.     _right_back_speed = right_back_speed;
  87.     pinMode(left_back_speed, OUTPUT);
  88.     pinMode(left_forward_speed, OUTPUT);
  89.     pinMode(right_forward_speed, OUTPUT);
  90.     pinMode(right_back_speed, OUTPUT);
  92.     _left_back_1 = left_back_1;
  93.     _left_back_2 = left_back_2;
  94.     _left_forward_1 = left_forward_1;
  95.     _left_forward_2 = left_forward_2;
  96.     _right_forward_1 = right_forward_1;
  97.     _right_forward_2 = right_forward_2;
  98.     _right_back_1 = right_back_1;
  99.     _right_back_2 = right_back_2;
  101.     pinMode(left_back_1, OUTPUT);
  102.     pinMode(left_back_2, OUTPUT);
  103.     pinMode(left_forward_1, OUTPUT);
  104.     pinMode(left_forward_2, OUTPUT);
  105.     pinMode(right_forward_1, OUTPUT);
  106.     pinMode(right_forward_2, OUTPUT);
  107.     pinMode(right_back_1, OUTPUT);
  108.     pinMode(right_back_2, OUTPUT);
  109. }
  110. //停止
  111. void BaseCar::standBy() {
  112.     _status.left_back_speed_h = 0;
  113.     _status.left_forward_speed_h = 0;
  114.     _status.right_forward_speed_h = 0;
  115.     _status.right_back_speed_h = 0;
  116.     _status.left_back_1_h = HIGH;
  117.     _status.left_back_2_h = HIGH;
  118.     _status.left_forward_1_h = HIGH;
  119.     _status.left_forward_2_h = HIGH;
  120.     //
  121.     _status.right_forward_1_h = HIGH;
  122.     _status.right_forward_2_h = HIGH;
  123.     _status.right_back_1_h = HIGH;
  124.     _status.right_back_2_h = HIGH;
  125.     _go();
  126. }
  127. //向前
  128. void BaseCar::forward(int moto_speed, int adj) {
  129.     _status.left_back_speed_h = moto_speed + adj;
  130.     _status.left_forward_speed_h = moto_speed + adj;
  131.     _status.right_forward_speed_h = moto_speed + adj;
  132.     _status.right_back_speed_h = moto_speed + adj;
  134.     _status.left_back_1_h = LOW;
  135.     _status.left_back_2_h = HIGH;
  137.     _status.left_forward_1_h = LOW;
  138.     _status.left_forward_2_h = HIGH;
  140.     _status.right_forward_1_h = LOW;
  141.     _status.right_forward_2_h = HIGH;
  143.     _status.right_back_1_h = LOW;
  144.     _status.right_back_2_h = HIGH;
  145.     _status.adj = adj;
  146.     _go();
  147. }
  148. //向后
  149. void BaseCar::backward(int moto_speed, int adj) {
  150.     _status.left_back_speed_h = moto_speed + adj;
  151.     _status.left_forward_speed_h = moto_speed + adj;
  152.     _status.right_forward_speed_h = moto_speed + adj;
  153.     _status.right_back_speed_h = moto_speed + adj;
  155.     _status.left_back_1_h = HIGH;
  156.     _status.left_back_2_h = LOW;
  158.     _status.left_forward_1_h = HIGH;
  159.     _status.left_forward_2_h = LOW;
  161.     _status.right_forward_1_h = HIGH;
  162.     _status.right_forward_2_h = LOW;
  164.     _status.right_back_1_h = HIGH;
  165.     _status.right_back_2_h = LOW;
  167.     _status.adj = adj;
  168.     _go();
  169. }
  170. //左转
  171. void BaseCar::turnLeft(int moto_speed, int adj) {
  172.     _status.left_back_speed_h = moto_speed - adj;
  173.     _status.left_forward_speed_h = moto_speed - adj;
  175.     _status.right_forward_speed_h = moto_speed + adj;
  176.     _status.right_back_speed_h = moto_speed + adj;
  178.     _status.left_back_1_h = LOW;
  179.     _status.left_back_2_h = HIGH;
  181.     _status.left_forward_1_h = LOW;
  182.     _status.left_forward_2_h = HIGH;
  184.     _status.right_forward_1_h = LOW;
  185.     _status.right_forward_2_h = HIGH;
  187.     _status.right_back_1_h = LOW;
  188.     _status.right_back_2_h = HIGH;
  189.     _status.adj = adj;
  190.     _go();
  191. }
  192. //右转
  193. void BaseCar::turnRight(int moto_speed, int adj) {
  194.     _status.left_back_speed_h = moto_speed + adj;
  195.     _status.left_forward_speed_h = moto_speed + adj;
  197.     _status.right_forward_speed_h = moto_speed - adj;
  198.     _status.right_back_speed_h = moto_speed - adj;
  200.     _status.left_back_1_h = LOW;
  201.     _status.left_back_2_h = HIGH;
  203.     _status.left_forward_1_h = LOW;
  204.     _status.left_forward_2_h = HIGH;
  206.     _status.right_forward_1_h = LOW;
  207.     _status.right_forward_2_h = HIGH;
  209.     _status.right_back_1_h = LOW;
  210.     _status.right_back_2_h = HIGH;
  211.     _status.adj = adj;
  212.     _go();
  213. }
  214. //向左旋转(右边向前转，左边向后转)
  215. void BaseCar::rotateLeft(int moto_speed, int adj) {
  216.     _status.left_back_speed_h = moto_speed + adj;
  217.     _status.left_forward_speed_h = moto_speed + adj;
  219.     _status.right_forward_speed_h = moto_speed + adj;
  220.     _status.right_back_speed_h = moto_speed + adj;
  222.     _status.left_back_1_h = HIGH;
  223.     _status.left_back_2_h = LOW;
  225.     _status.left_forward_1_h = HIGH;
  226.     _status.left_forward_2_h = LOW;
  228.     _status.right_forward_1_h = LOW;
  229.     _status.right_forward_2_h = HIGH;
  231.     _status.right_back_1_h = LOW;
  232.     _status.right_back_2_h = HIGH;
  233.     _status.adj = adj;
  234.     _go();
  235. }
  236. //向右旋转
  237. void BaseCar::rotateRight(int moto_speed, int adj) {
  238.     _status.left_back_speed_h = moto_speed + adj;
  239.     _status.left_forward_speed_h = moto_speed + adj;
  241.     _status.right_forward_speed_h = moto_speed + adj;
  242.     _status.right_back_speed_h = moto_speed + adj;
  244.     _status.left_back_1_h = LOW;
  245.     _status.left_back_2_h = HIGH;
  247.     _status.left_forward_1_h = LOW;
  248.     _status.left_forward_2_h = HIGH;
  250.     _status.right_forward_1_h = HIGH;
  251.     _status.right_forward_2_h = LOW;
  253.     _status.right_back_1_h = HIGH;
  254.     _status.right_back_2_h = LOW;
  255.     _status.adj = adj;
  256.     _go();
  257. }
  259. void BaseCar::_go() {
  261.     digitalWrite(_left_back_1, _status.left_back_1_h);
  262.     digitalWrite(_left_back_2, _status.left_back_2_h);
  263.     digitalWrite(_left_forward_1, _status.left_forward_1_h);
  264.     digitalWrite(_left_forward_2, _status.left_forward_2_h);
  266.     digitalWrite(_right_forward_1, _status.right_forward_1_h);
  267.     digitalWrite(_right_forward_2, _status.right_forward_2_h);
  268.     digitalWrite(_right_back_1, _status.right_back_1_h);
  269.     digitalWrite(_right_back_2, _status.right_back_2_h);
  271.     analogWrite(_left_back_speed, _status.left_back_speed_h);
  272.     analogWrite(_left_forward_speed, _status.left_forward_speed_h);
  273.     analogWrite(_right_forward_speed, _status.right_forward_speed_h);
  274.     analogWrite(_right_back_speed, _status.right_back_speed_h);
  275. }
  277. CarStatus BaseCar::getStatus() {
  278.     return _status;
  279. }
  283. #ifndef BaseCar_h
  284. #define BaseCar_h
  285. #include "Arduino.h"
  287. struct CarStatus {
  289.     int left_back_1_h;
  290.     int left_back_2_h;
  291.     int left_forward_1_h;
  292.     int left_forward_2_h;
  294.     int right_forward_1_h;
  295.     int right_forward_2_h;
  296.     int right_back_1_h;
  297.     int right_back_2_h;
  298.     int left_back_speed_h;
  299.     int left_forward_speed_h;
  300.     int right_forward_speed_h;
  301.     int right_back_speed_h;
  302.     int adj;
  303. };
  305. class BaseCar {
  306.     public:
  307.         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);
  308.         void standBy();
  309.         void forward(int moto_speed, int adj);
  310.         void backward(int moto_speed, int adj);
  311.         void turnLeft(int moto_speed, int adj);
  312.         void turnRight(int moto_speed, int adj);
  313.         void rotateLeft(int moto_speed, int adj);
  314.         void rotateRight(int moto_speed, int adj);
  315.         CarStatus getStatus();
  316.     private:
  317.         int _left_back_speed;
  318.         int _left_forward_speed;
  319.         int _right_forward_speed;
  320.         int _right_back_speed;
  322.         int _left_back_1;
  323.         int _left_back_2;
  324.         int _left_forward_1;
  325.         int _left_forward_2;
  326.         int _right_forward_1;
  327.         int _right_forward_2;
  328.         int _right_back_1;
  329.         int _right_back_2;
  330.         CarStatus _status;
  331.         void _go();
  332. };
  333. #endif

2：android 源码如下：

  1. package com.robot;
  3. import java.io.IOException;
  4. import java.io.OutputStream;
  5. import java.util.UUID;
  7. import android.app.Activity;
  8. import android.bluetooth.BluetoothAdapter;
  9. import android.bluetooth.BluetoothDevice;
  10. import android.bluetooth.BluetoothSocket;
  11. import android.content.pm.ActivityInfo;
  12. import android.os.Bundle;
  13. import android.util.Log;
  14. import android.view.Gravity;
  15. import android.view.MotionEvent;
  16. import android.view.View;
  17. import android.view.View.OnTouchListener;
  18. import android.widget.CheckBox;
  19. import android.widget.CompoundButton;
  20. import android.widget.CompoundButton.OnCheckedChangeListener;
  21. import android.widget.ImageView;
  22. import android.widget.TextView;
  23. import android.widget.Toast;
  25. public class AAActivity extends Activity {
  26.     private TextView state;
  27.     private ImageView forward;
  28.     private ImageView back;
  29.     private ImageView left_2;
  30.     private ImageView right_2;
  31.     boolean isStart = false;
  32.     private static final UUID MY_UUID = UUID
  33.             .fromString("00001101-0000-1000-8000-00805F9B34FB");
  34.     private static String address = "00:12:02:06:01:32";
  35.     private static final String TAG = "THINBTCLIENT";
  36.     private static final boolean D = true;
  37.     private BluetoothAdapter mBluetoothAdapter = null;
  38.     private BluetoothSocket btSocket = null;
  39.     private OutputStream outStream = null;
  41.     @Override
  42.     public void onCreate(Bundle savedInstanceState) {
  43.         super.onCreate(savedInstanceState);
  44.         setContentView(R.layout.index);
  45.         initUI();
  46.     }
  48.     @Override
  49.     protected void onStart() {
  50.         super.onStart();
  51.     }
  53.     public void setValue(String message, final String text) {
  54.         if (isStart) {
  55.             state.setText(text);
  56.             byte[] msgBuffer;
  57.             try {
  58.                 outStream = btSocket.getOutputStream();
  59.             } catch (IOException e) {
  60.                 Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
  61.             }
  62.             msgBuffer = message.getBytes();
  63.             try {
  64.                 outStream.write(msgBuffer);
  65.             } catch (IOException e) {
  66.                 Log.e(TAG, "ON RESUME: Exception during write.", e);
  67.             }
  68.         } else {
  69.             Toast.makeText(this, "请先选择开启！", Toast.LENGTH_SHORT).show();
  70.         }
  71.     }
  73.     private void initUI() {
  74.         state = (TextView) findViewById(R.id.state);
  75.         CheckBox blueT = (CheckBox) findViewById(R.id.blueT);
  76.         blueT.setOnCheckedChangeListener(new OnCheckedChangeListener() {
  77.             public void onCheckedChanged(CompoundButton buttonView,
  78.                     boolean isChecked) {
  79.                 isStart = isChecked;
  80.             }
  81.         });
  82.         forward = (ImageView) findViewById(R.id.forward);
  83.         forward.setImageResource(R.drawable.forward);
  84.         forward.setOnTouchListener(new OnTouchListener() {
  85.             public boolean onTouch(View v, MotionEvent event) {
  86.                 if (event.getAction() == MotionEvent.ACTION_DOWN) {
  87.                     forward.setImageResource(R.drawable.forward_r);
  88.                     setValue("1", "直走");
  89.                 }
  90.                 if (event.getAction() == MotionEvent.ACTION_UP) {
  91.                     forward.setImageResource(R.drawable.forward);
  92.                     setValue("7", "刹车");
  93.                 }
  94.                 return true;
  95.             }
  96.         });
  98.         back = (ImageView) findViewById(R.id.back);
  99.         back.setImageResource(R.drawable.back);
  100.         back.setOnTouchListener(new OnTouchListener() {
  101.             public boolean onTouch(View v, MotionEvent event) {
  102.                 if (event.getAction() == MotionEvent.ACTION_DOWN) {
  103.                     back.setImageResource(R.drawable.back_r);
  104.                     setValue("6", "后退");
  105.                 }
  106.                 if (event.getAction() == MotionEvent.ACTION_UP) {
  107.                     back.setImageResource(R.drawable.back);
  108.                     setValue("7", "刹车");
  109.                 }
  110.                 return true;
  111.             }
  112.         });
  114.         left_2 = (ImageView) findViewById(R.id.left_2);
  115.         left_2.setImageResource(R.drawable.left_2);
  116.         left_2.setOnTouchListener(new OnTouchListener() {
  117.             public boolean onTouch(View v, MotionEvent event) {
  118.                 if (event.getAction() == MotionEvent.ACTION_DOWN) {
  119.                     left_2.setImageResource(R.drawable.left_2_r);
  120.                     setValue("3", "左前二度");
  121.                 }
  122.                 if (event.getAction() == MotionEvent.ACTION_UP) {
  123.                     left_2.setImageResource(R.drawable.left_2);
  124.                     setValue("7", "刹车");
  125.                 }
  126.                 return true;
  127.             }
  128.         });
  130.         right_2 = (ImageView) findViewById(R.id.right_2);
  131.         right_2.setImageResource(R.drawable.right_2);
  132.         right_2.setOnTouchListener(new OnTouchListener() {
  133.             public boolean onTouch(View v, MotionEvent event) {
  134.                 if (event.getAction() == MotionEvent.ACTION_DOWN) {
  135.                     right_2.setImageResource(R.drawable.right_2_r);
  136.                     setValue("5", "右前二度");
  137.                 }
  138.                 if (event.getAction() == MotionEvent.ACTION_UP) {
  139.                     right_2.setImageResource(R.drawable.right_2);
  140.                     setValue("7", "刹车");
  141.                 }
  142.                 return true;
  143.             }
  144.         });
  146.         if (D)
  147.             Log.e(TAG, "+++ ON CREATE +++");
  148.         mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
  149.         if (mBluetoothAdapter == null) {
  150.             Toast.makeText(this, "蓝牙设备不可用，请打开蓝牙！", Toast.LENGTH_LONG).show();
  151.             finish();
  152.             return;
  153.         }
  154.         if (!mBluetoothAdapter.isEnabled()) {
  155.             Toast.makeText(this, "请打开蓝牙并重新运行程序！", Toast.LENGTH_LONG).show();
  156.             finish();
  157.             return;
  158.         }
  159.         if (D)
  160.             Log.e(TAG, "+++ DONE IN ON CREATE, GOT LOCAL BT ADAPTER +++");
  161.     }
  163.     public void onPause() {
  164.         if (getRequestedOrientation() != ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE) {
  165.             setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
  166.         }
  167.         super.onPause();
  168.         if (D)
  169.             Log.e(TAG, "- ON PAUSE -");
  170.         if (outStream != null) {
  171.             try {
  172.                 outStream.flush();
  173.             } catch (IOException e) {
  174.                 Log.e(TAG, "ON PAUSE: Couldn't flush output stream.", e);
  175.             }
  176.         }
  177.         try {
  178.             btSocket.close();
  179.         } catch (IOException e2) {
  180.             DisplayToast("套接字关闭失败！");
  181.         }
  182.     }
  184.     public void onStop() {
  185.         super.onStop();
  186.         if (D)
  187.             Log.e(TAG, "-- ON STOP --");
  188.     }
  190.     public void onDestroy() {
  191.         super.onDestroy();
  192.         if (D)
  193.             Log.e(TAG, "--- ON DESTROY ---");
  194.     }
  196.     public void DisplayToast(String str) {
  197.         Toast toast = Toast.makeText(this, str, Toast.LENGTH_LONG);
  198.         toast.setGravity(Gravity.TOP, 0, 220);
  199.         toast.show();
  200.     }
  202.     public void onResume() {
  203.         super.onResume();
  204.         if (D) {
  205.             Log.e(TAG, "+ ON RESUME +");
  206.             Log.e(TAG, "+ ABOUT TO ATTEMPT CLIENT CONNECT +");
  208.         }
  209.         DisplayToast("正在尝试连接智能小车，请稍后····");
  210.         BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);
  211.         try {
  212.             btSocket = device.createRfcommSocketToServiceRecord(MY_UUID);
  213.         } catch (IOException e) {
  214.             e.printStackTrace();
  215.             DisplayToast("套接字创建失败！");
  216.         }
  217.         DisplayToast("成功连接智能小车！可以开始操控了~~~");
  218.         mBluetoothAdapter.cancelDiscovery();
  219.         try {
  220.             btSocket.connect();
  221.             DisplayToast("连接成功建立，数据连接打开！");
  222.         } catch (IOException e) {
  223.             try {
  224.                 btSocket.close();
  225.             } catch (IOException e2) {
  226.                 DisplayToast("连接没有建立，无法关闭套接字！");
  227.             }
  228.         }
  229.         if (D)
  230.             Log.e(TAG, "+ ABOUT TO SAY SOMETHING TO SERVER +");
  232.     }
  233. }

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