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>
// 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 +");
}
}
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