基于android和arduino 的小车控制

迷南。 2022-08-26 11:10 367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/][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>
    
    
    // log
    const boolean VERBOSE = true;
    const int SERIAL_SPEED = 9600;
    
    // for Car
    //1-ok
    const int MOTO1_PIN = 2;
    const int I11_PIN = 3;
    const int I12_PIN = 4;
    //2
    const int MOTO2_PIN = 5;
    const int I21_PIN = 6;
    const int I22_PIN = 7;
    //3-ok
    const int MOTO3_PIN = 8;
    const int I31_PIN = 9;
    const int I32_PIN =10;
    //4
    const int MOTO4_PIN = 11;
    const int I41_PIN = 12;
    const int I42_PIN = 13;
    
     
    // speed
    const int SPEED_VAL =500;
    
    // delay
    const int DELAY_TIME = 300;
    
    //bouttooth
     char RECEIVE_VALUE='q_z_1';
    // car control
    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);
    
    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;
    
    	@Override
    	public void onCreate(Bundle savedInstanceState) {
    		super.onCreate(savedInstanceState);
    		setContentView(R.layout.index);
    		initUI();
    	}
    
    	@Override
    	protected 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 +");
    
    	}
    }

[http_arduino.cc]: http://arduino.cc/