藍牙遙控機器人實作
This project is to implement a bluetooth remote controlled robotcar.
藍牙遙控機器人
應用功能說明
- Bluetooth remote control App
- two-wheel robocar
設計考量與相關技術
系統設計考量：
- 操作方式:藍牙遙控手機App
- 移動方式:兩輪
- 供電方式:鋰電池 3.7V x2
- 聯網方式:藍牙
所需相關技術：
- MIT App Inventor 2 手機程式設計
- Arduino程式設計
所需相關套件:
系統方塊圖
實作影片
程式碼
// PWM to DRV8833 dual H-bridge motor driver, PWM freq. = 1000 Hz // ESP32 Webserver to receive commands to control RoboCar
#include
// DRV8833 pin connection
#define IN1pin 16
#define IN2pin 17
#define IN3pin 18
#define IN4pin 19
#define motorR 0 #define motorL 1 #define FULLSPEED 100 #define HALFSPEED 50
ESP32MotorControl motor;
/* Set these to your desired credentials. */ const char *ssid = “Your_SSID”; const char *password = “Your_Password”;
WebServer server(80); // Set web server port number to 80
const String HTTP_PAGE_HEAD = “<!DOCTYPE html><html lang="en"><head><meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no"/>
// Current time unsigned long currentTime = millis(); // Previous time unsigned long previousTime = 0; // Define timeout time in milliseconds (example: 2000ms = 2s) const long timeoutTime = 2000;
int speed = HALFSPEED;
void handleRoot() { String s = HTTP_WEBPAGE; s += HTTP_PAGE_END; server.send(200, “text/html”, s); }
void cmd1() {
String s = HTTP_WEBPAGE;
s += HTTP_PAGE_END;
server.send(200, “text/html”, s);
motor.motorForward(motorR, speed);
motor.motorForward(motorL, speed);
Serial.println(“Move Forward”);
}
void cmd2() {
String s = HTTP_WEBPAGE;
s += HTTP_PAGE_END;
server.send(200, “text/html”, s);
motor.motorReverse(motorR, speed);
motor.motorReverse(motorL, speed);
Serial.println(“Move Backward”);
}
void cmd3() {
String s = HTTP_WEBPAGE;
s += HTTP_PAGE_END;
server.send(200, “text/html”, s);
motor.motorReverse(motorR, speed);
motor.motorForward(motorL, speed);
Serial.println(“Turn Right”);
}
void cmd4() {
String s = HTTP_WEBPAGE;
s += HTTP_PAGE_END;
server.send(200, “text/html”, s);
motor.motorForward(motorR, speed);
motor.motorReverse(motorL, speed);
Serial.println(“Turn Left”);
}
void cmd5() {
String s = HTTP_WEBPAGE;
s += HTTP_PAGE_END;
server.send(200, “text/html”, s);
motor.motorStop(motorR);
motor.motorStop(motorL);
Serial.println(“Motor Stop”);
}
void setup() { Serial.begin(115200); Serial.println(“Motor Pins assigned…”); motor.attachMotors(IN1pin, IN2pin, IN3pin, IN4pin);
// Connect to Wi-Fi network with SSID and password Serial.print(“Connecting to “); Serial.println(ssid); WiFi.begin(ssid, password); while (WiFi.status() != WL_CONNECTED) { delay(500); Serial.print(“.”); } // Print local IP address and start web server Serial.println(“”); Serial.println(“WiFi connected.”); Serial.println(“IP address: “); Serial.println(WiFi.localIP());
server.on(“/”, handleRoot);
server.on(“/cmd1”, cmd1);
server.on(“/cmd2”, cmd2);
server.on(“/cmd3”, cmd3);
server.on(“/cmd4”, cmd4);
server.on(“/cmd5”, cmd5);
Serial.println(“HTTP server started”); server.begin();
motor.motorStop(motorR); motor.motorStop(motorL); }
void loop() { server.handleClient(); }
建立Web伺服器和回應HTTP請求。在Web伺服器上設置了5個按鈕，分別代表向前、向後、向右、向左和停止馬達。當使用者按下其中一個按鈕時，Web伺服器會發送HTTP GET請求到ESP32上，然後ESP32會根據所接收到的命令來控制馬達的運動。
總體來說，這個程式碼實現了一個基本的ESP32控制機器人小車的系統，並提供了一個簡單的Web界面來控制它。
handleRoot（） 函數會產生一個HTML網頁並將其作為回應發送。其他幾個函數（cmd1，cmd2，cmd3，cmd4和cmd5）分別處理前進、後退、右轉、左轉和停止的命令。在這些函數中，它們會向馬達驅動器發送特定的指令，以控制機器人移動方向和速度。
然後再使用ESP8266控制兩個直流馬達，並透過網頁介面控制其移動方向和停止。
This site was last updated June 18, 2023.