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概述
1 硬件结构
1.1 硬件组成
1.2 蓝牙模块介绍
1.3 控制板IO引脚定义
2 机械结构
3 固件设计
4 App设计
5 参考文献 概述 本文主要介绍使用Arduino UNO作为主板#xff0c;用于控制电机和接收蓝牙模块数据。蓝牙模块用于从手机App上接收控制信号#xff0c;使…目录
概述
1 硬件结构
1.1 硬件组成
1.2 蓝牙模块介绍
1.3 控制板IO引脚定义
2 机械结构
3 固件设计
4 App设计
5 参考文献 概述 本文主要介绍使用Arduino UNO作为主板用于控制电机和接收蓝牙模块数据。蓝牙模块用于从手机App上接收控制信号使用L298N作为驱动板设计一台智能小车可通过手机上的App来控制小车的运行状态。
项目代码 git 地址Arduino_project: 基于Arduino板卡的开源项目 (gitee.com) 1 硬件结构
1.1 硬件组成 本系统硬件结构是以Arduino为主控板蓝牙模块上RX和TX与Arduino上的TX和RX相连。L298N作为电源管理模块和驱动模块分别为控制板、蓝牙模块提供电源。电池模块提供整个系统的工作电压采用可充电的锂电池单个电池电压为 3.7V, 电池盒中总共装载4节锂电池。硬件列表如下。
名称功能介绍注释Arduino UNO控制板处理蓝牙数据和控制电机L298N驱动模块驱动四个电机正转、反转、停止HC-05 蓝牙模块接收/发送控信号传送App发送的信号3.7V 锂电池系统供电4节锂电池构成供电盒 1.2 蓝牙模块介绍 HC-08蓝牙串口通信模块是新一代的基于Bluetooth Specification V4.0 BLE 蓝牙协议的数传模块。无线工作频段为 2.4GHz ISM调制方式是 GFSK。模块最大发射功率为4dBm接收灵敏度-93dBm空旷环境下和 手机可以实现 80 米超远距离通信。 其和MCU之间通过串口通信软件设计也简单便捷且不需要考虑蓝牙协议栈问题非常适合做速成产品。 蓝牙模块与MCU之间连接图 1.3 控制板IO引脚定义
引脚功能定义如下
控制板引脚功能介绍AI-0连接控制板 IN-1左侧电机控制信号引脚AI-1连接控制板 IN-2左侧电机控制信号引脚AI-2连接控制板 IN-3右侧电机控制信号引脚AI-3连接控制板 IN-4右侧电机控制信号引脚RX/TX连接HC-08蓝牙模块 TX/RX 2 机械结构 系统采用集成底盘结构四个电机固定在最底层底板上L298N放在最底层的顶层板上顶层板用于支撑控制板和电池模块。其具体框架结构如下 3 固件设计 固件主要使用电机控制和蓝牙模块数据的发送和接收。其具体代码如下工程采用Arduino IDE开发 系统代码
// ATMEL ATMEGA8 168 / ARDUINO
//
// -\/-
// PC6 1| |28 PC5 (AI 5)
// (D 0) PD0 2| |27 PC4 (AI 4)
// (D 1) PD1 3| |26 PC3 (AI 3)
// (D 2) PD2 4| |25 PC2 (AI 2)
// PWM (D 3) PD3 5| |24 PC1 (AI 1)
// (D 4) PD4 6| |23 PC0 (AI 0)
// VCC 7| |22 GND
// GND 8| |21 AREF
// PB6 9| |20 AVCC
// PB7 10| |19 PB5 (D 13)
// PWM (D 5) PD5 11| |18 PB4 (D 12)
// PWM (D 6) PD6 12| |17 PB3 (D 11) PWM
// (D 7) PD7 13| |16 PB2 (D 10) PWM
// (D 8) PB0 14| |15 PB1 (D 9) PWM
// ----#include Arduino.h//电机控制接口
#define PIN_A0 (14)
#define PIN_A1 (15)
#define PIN_A2 (16)
#define PIN_A3 (17)static const uint8_t MA0 PIN_A0;
static const uint8_t MA1 PIN_A1;
static const uint8_t MA2 PIN_A2;
static const uint8_t MA3 PIN_A3;// BLUE TOOTH
char command;void setup()
{// put your setup code here, to run once:Serial.begin(9600);pinMode(MA0, OUTPUT);pinMode(MA1, OUTPUT);pinMode(MA2, OUTPUT);pinMode(MA3, OUTPUT);
}void loop()
{while(Serial.available()){command Serial.read();switch(command ){case 0x18: //前进digitalWrite(MA0, LOW);digitalWrite(MA1, HIGH);digitalWrite(MA2, LOW);digitalWrite(MA3, HIGH);break;case 0x52: //后退digitalWrite(MA0, HIGH);digitalWrite(MA1, LOW);digitalWrite(MA2, HIGH);digitalWrite(MA3, LOW);break;case 0x08: // 左转digitalWrite(MA0, HIGH);digitalWrite(MA1, LOW);digitalWrite(MA2, LOW);digitalWrite(MA3, HIGH);break;case 0x5a: //右转digitalWrite(MA0, LOW);digitalWrite(MA1, HIGH);digitalWrite(MA2, HIGH);digitalWrite(MA3, LOW);break;case 0x45: default:digitalWrite(MA0, LOW);digitalWrite(MA1, LOW);digitalWrite(MA2, LOW);digitalWrite(MA3, LOW);break; }}
}4 App设计 使用微信小程序开发App其特点是集成在微信App内不用单独安装搜索到该App既可以使用。该程序主要实现4个按钮实现小车前进、后退、左转、右转功能。
App UI: 开发工具 核心代码如下
const utils require(utils.js)
const ble require(bluetooth.js)
Page({/*** 页面的初始数据*/data: {pageload: false,connected: false,send_hex: false,send_string: true,send_string_val: Hex,recv_string: true,recv_string_val: Hex,recv_value: ,send_number: 0,recv_number: 0,recv_hex: true,try_cnt:0,deviceArray: []},/*** 生命周期函数--监听页面加载*/onLoad: function (options) {var that this; console.log(options);this.setData({pageload:true,connected: false,deviceId: options.id,try_cnt:0,deviceName: options.name});console.log(detail: onLoad);wx.stopBluetoothDevicesDiscovery({success: function (res) {console.log(停止搜索设备, res)}})that.closeBLEConnection(that.data.deviceId);that.createBLEConnection(that.data.deviceId, that.data.deviceName); }, onHide () {var that this;// Do something when hide.// 断开连接console.log(detail: onHide);},onShow:function(){ // var that this; // connect bluetooth// that.closeBLEConnection(that.data.deviceId);// that.createBLEConnection(that.data.deviceId, that.data.deviceName); },onUnload() {var that this;this.setData({pageload:true,connected: false,try_cnt:0,});console.log(page: onUnload );that.offBLEMonitor();that.closeBLEConnection(that.data.deviceId);that.closeBluetoothAdapter();wx.showToast({title: 断开蓝牙,icon: success,duration: 2000}) },DisConnectTap:function(){var that this;that.setData({pageload:true,connected: false,try_cnt:0,});ble.openBluetoothAdapter(that.data.deviceId, that.data.deviceName);that.createBLEConnection(that.data.deviceId, that.data.deviceName); },RecvCleanTap: function () {this.setData({recv_value: ,recv_number: 0});}, /*** 创建连接* param {*} deviceId * param {*} name */createBLEConnection(deviceId, name) {wx.createBLEConnection({deviceId, success: (res) {console.log(createBLEConnection - success , res)this.getBLEDeviceServices(deviceId) },fail: (res) {console.error(createBLEConnection - fail: , res)if(res.errCode 10006 ){this.createBLEConnection(deviceId, name)}else{ble.openBluetoothAdapter(deviceId, name)this.createBLEConnection(deviceId, name)}this.setData({connected: false,}) } })},getBLEDeviceServices(deviceId) {var that this;wx.getBLEDeviceServices({deviceId,success: (res) {console.log(getBLEDeviceServices - success , res)for (let i 0; i res.services.length; i) {var ergodic_UUID res.services[i].uuid; //取出服务里面的UUIDvar UUID_slice ergodic_UUID.slice(4, 8); //截取4到8位console.log(getBLEDeviceServices, service ID , res.services[i].uuid);if ( res.services[i].isPrimary (UUID_slice FFE0) ) {that.setData({serviceId: res.services[i].uuid,});break;}}wx.getConnectedBluetoothDevices({services: res.services,success: (res) { console.log(getConnectedBluetoothDevices - success: res)},fail: (res) {console.error(getConnectedBluetoothDevices - fail: , res)ble.openBluetoothAdapter(deviceId, that.data.deviceName)} })that.getBLEDeviceCharacteristics(deviceId, that.data.serviceId);},fail: (res) {console.error(getBLEDeviceServices - fail: , res)// try it againble.openBluetoothAdapter(deviceId, that.data.deviceName)that.monitor_connected();} });},getBLEDeviceCharacteristics(deviceId, serviceId) {var that this;let falg false;wx.getBLEDeviceCharacteristics({deviceId,serviceId,success: (res) {that.setData({connected: true,}) console.log(getBLEDeviceCharacteristics success, res.characteristics)for (let i 0; i res.characteristics.length; i) {let item res.characteristics[i]console.log(getBLEDeviceCharacteristics, Characteristics ID , item.uuid)// 该特征值可读if (item.properties.read) {wx.readBLECharacteristicValue({deviceId,serviceId,characteristicId: item.uuid,})}// 该特征值可写if (item.properties.write) {this.setData({canWrite: true})this._deviceId deviceIdthis._serviceId serviceIdthis._characteristicId item.uuidthis.writeValue()}if (item.properties.notify || item.properties.indicate) {that.setData({characteristicId: item.uuid});falg true;break;}}if( falg ){console.debug(getBLEDeviceCharacteristics - deviceId : , deviceId)console.debug(getBLEDeviceCharacteristics - serviceId : , serviceId)console.debug(getBLEDeviceCharacteristics - characteristicId: , that.data.characteristicId)// read device character value that.readBLECharacteristicValue(deviceId, serviceId, that.data.characteristicId) that.notifyBLECharacteristicValueChange(deviceId, serviceId, that.data.characteristicId) }},fail: (res) {console.error(getBLEDeviceCharacteristics -- fail: , res)this.setData({connected: false,})if (res.errCode 10006){that.offBLEMonitor();that.createBLEConnection(deviceId, that.data.deviceName); }}})},readBLECharacteristicValue(deviceId,serviceId, characteristicId ){wx.readBLECharacteristicValue({// 这里的 deviceId 需要已经通过 createBLEConnection 与对应设备建立链接deviceId,// 这里的 serviceId 需要在 getBLEDeviceServices 接口中获取serviceId,// 这里的 characteristicId 需要在 getBLEDeviceCharacteristics 接口中获取characteristicId,success (res) {console.log(readBLECharacteristicValue:, res.errCode)}})},notifyBLECharacteristicValueChange(deviceId,serviceId, characteristicId ){var that this;wx.notifyBLECharacteristicValueChange({state: true, // enable notifydeviceId,serviceId,characteristicId,success: (res) {console.info(notifyBLECharacteristicValueChange success: , res.errMsg)// read data here // 操作之前先监听保证第一时间获取数据wx.onBLECharacteristicValueChange(function(res) {that.data.connected true; console.info(onBLECharacteristicValueChange, res);console.info(characteristic ${res.characteristicId} has changed, now is ${res.value});var result res.value;var hex utils.buf2hex(result);var _hex_ss utils.hex2string(hex);console.info(hex: hex);console.info(string: _hex_ss);var recv_number_1 that.data.recv_number _hex_ss.length / 2;var recv_number Math.round(recv_number_1);that.setData({recv_number: recv_number,recv_value: that.data.recv_value _hex_ss,});let _ss that.data.recv_valueif( _ss.includes(TM(C):) _ss.includes(HM:) _ss.includes(\n)){let buff _ss.split( )console.log( _ss )console.log(buff)that.data.recv_value ;that.data.recv_number 0;that.setData({temphtValue: buff[2],humidityValue: buff[4],});} that.monitor_connected();}) },fail: (res) {console.error(notifyBLECharacteristicValueChange fail: , res)that.monitor_connected();}}) },monitor_connected_action(){var that this;let deviceId that.data.deviceId;wx.onBLEConnectionStateChange(function(res) {// 该方法回调中可以用于处理连接意外断开等异常情况console.log( onBLEConnectionStateChange ----- device ${res.deviceId} state has changed, connected: ${res.connected})if( res.deviceId deviceId res.connected false ){ wx.closeBLEConnection({deviceId,success: (res) {console.debug(detail: closeBLEConnection success, res); that.offBLEMonitor();that.createBLEConnection(deviceId, that.data.deviceName); },fail: (res) { console.error(detail: closeBLEConnection fail, res); if (res.errCode 10006) {that.offBLEMonitor();that.createBLEConnection(deviceId, that.data.deviceName); }}})that.setData({try_cnt: that.data.try_cnt 1,})}else{that.data.try_cnt 0;}}) },monitor_connected(){var that this;setTimeout(that.monitor_connected_action, 200);},writeValue( val ) {// 向蓝牙设备发送一个0x00的16进制数据let buffer new ArrayBuffer(1);let dataView new DataView(buffer);dataView.setUint8(0, val);console.debug(getBLEDeviceCharacteristics - deviceId : , this._deviceId)console.debug(getBLEDeviceCharacteristics - serviceId : , this._serviceId)console.debug(getBLEDeviceCharacteristics - characteristicId: , this._characteristicId)wx.writeBLECharacteristicValue({deviceId: this._deviceId,serviceId: this._serviceId,characteristicId: this._characteristicId,value: buffer,success: (res) {console.debug(writeBLECharacteristicValue success, res); },fail: (res) {console.error( writeBLECharacteristicValue fail, res); this.setData({connected: false,}) }})},closeBluetoothAdapter() {wx.closeBluetoothAdapter({ success (res) {console.log(res)} })this.setData({connected: false,}), this._discoveryStarted false},closeBLEConnection( deviceId ) {wx.closeBLEConnection({deviceId,success: (res) {console.debug(detail: closeBLEConnection success, res); },fail: (res) {console.error(detail: closeBLEConnection fail, res); }})this.setData({connected: false,canWrite: false,})},run_up:function(){var that this;var val 0x18 ; that.writeValue( val ); }, run_down:function(){var that this;var val 0x52; that.writeValue( val ); },run_left:function(){var that this;var val 0x08; that.writeValue( val ); },run_right:function(){var that this;var val 0x5a; that.writeValue( val ); },whiteLightValueSliderChange:function(e){var that this;// 向蓝牙设备发送一个0x00的16进制数据var val Math.random() * 255 | 0; that.writeValue( val ); },offBLEMonitor(){this.setData({connected: false,}), wx.offBLEPeripheralConnectionStateChanged();wx.offBLEConnectionStateChange();wx.offBLECharacteristicValueChange();wx.offBLEMTUChange();}
})
5 参考文献
1使用Arduino UNO硬件平台制作智能小车-CSDN博客
2汇承HC-08蓝牙串口模块使用规格书(含指令集.pdf
3概览 | 微信开放文档 (qq.com)
4Arduino 实验室 – Arduino中文站提供丰富的Arduino教程和DIY资讯 (nxez.com)
