Android手機如何用Arduino藍芽連線ESP32控制蜘蛛機器人
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ESP32 控制 TB6612FNG 直流馬達驅動∕控制板 請看這篇
使用Android手機如何用Arduino藍芽連線ESP32控制蜘蛛機器人
需要使用雙電源
如果使用單電源，電流會被馬達抽走
ESP32晶片電流不足會無法正常運作
材料:
18650電池*2
ESP32*1
TB6612FNG*1
蜘蛛機器人*2
AUDINO 程式碼
// Include necessary libraries
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
// 定義 UUIDs （注意要與App Inventor內容對應）
#define SERVICE_UUID "C6FBDD3C-7123-4C9E-86AB-005F1A7EDA01"
#define CHARACTERISTIC_UUID_RX"B88E098B-E464-4B54-B827-79EB2B150A9F"
#define CHARACTERISTIC_UUID_TX"D769FACF-A4DA-47BA-9253-65359EE480FB"
String BLE_Code;
BLECharacteristic *pCharacteristic;
bool deviceConnected = false;
int directState = 0; // 動作
int speed_c = 192;
// PWM, INA, INB 與LED接腳變數
int PWMA = 13;
int INA1 = 12;
int INA2 = 14;
int STBY = 27;
int INB1 = 25;
int INB2 = 26;
int PWMB = 33;
const int ledPin = 2;
const int freq = 10000;
const int resolution = 8;
// 設定 callbacks onConnect & onDisconnect函數
class MyServerCallbacks: public BLEServerCallbacks {
void onConnect(BLEServer* pServer) {
deviceConnected = true;
};
void onDisconnect(BLEServer* pServer) {
deviceConnected = false;
}
};
// 設定 callback function 當收到新的資訊 (from the Android application)
class MyCallbacks: public BLECharacteristicCallbacks {
void onWrite(BLECharacteristic *pCharacteristic) {
std::string rxValue = pCharacteristic->getValue();
BLE_Code="";
if(rxValue.length() > 0) {
Serial.print("接收資料為 : ");
for(int i = 0; i < rxValue.length(); i++) {
BLE_Code+=rxValue;
Serial.print(rxValue);
}
Serial.println();
BLE_Code.toUpperCase();
Serial.println(BLE_Code);
if(BLE_Code.indexOf("GO")!=-1)
{
Serial.println("GO");
directState=1;
} else if(BLE_Code.indexOf("BACK")!=-1) {
Serial.println("BACK");
directState=2;
} else if(BLE_Code.indexOf("LEFT")!=-1) {
Serial.println("LEFT");
directState=3;
} else if(BLE_Code.indexOf("RIGHT")!=-1) {
Serial.println("RIGHT");
directState=4;
} else if(BLE_Code.indexOf("RELEASE")!=-1) {
Serial.println("RELEASE");
directState=5;
}
if(BLE_Code.indexOf("192")!=-1)
{
speed_c=192;
} else if(BLE_Code.indexOf("255")!=-1) {
speed_c=255;
}
}
}
};
void setup() {
Serial.begin(115200);
pinMode(ledPin, OUTPUT); //設定腳位為輸出
pinMode(INA1,OUTPUT);
pinMode(INA2,OUTPUT);
pinMode(PWMA,OUTPUT);
pinMode(STBY,OUTPUT);
pinMode(INB1,OUTPUT);
pinMode(INB2,OUTPUT);
pinMode(PWMB,OUTPUT);
//digital output test
digitalWrite(INA1,HIGH); //設定腳位HIGH LOW
digitalWrite(INA2,LOW);
digitalWrite(PWMA,LOW);
digitalWrite(STBY,HIGH);
digitalWrite(INB1,HIGH);
digitalWrite(INB2,LOW);
digitalWrite(PWMB,LOW);
delay(1000);
//analog output(PWM) test 設定LED Channel PWM 頻率
ledcSetup(0, freq, resolution);
ledcSetup(1, freq, resolution);
ledcSetup(2, freq, resolution);
ledcSetup(3, freq, resolution);
ledcSetup(4, freq, resolution);
ledcSetup(5, freq, resolution);
ledcSetup(6, freq, resolution);
//設定腳位Channel
ledcAttachPin(INA1, 0);
ledcAttachPin(INA2, 1);
ledcAttachPin(PWMA, 2);
ledcAttachPin(STBY, 3);
ledcAttachPin(INB1, 4);
ledcAttachPin(INB2, 5);
ledcAttachPin(PWMB, 6);
// 建立BLE Device
BLEDevice::init("ESP32_WeMos1");
// 建立BLE Server
BLEServer *pServer = BLEDevice::createServer();
pServer->setCallbacks(new MyServerCallbacks());
// 建立BLE Service
BLEService *pService = pServer->createService(SERVICE_UUID);
// 建立BLE Characteristic
pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_TX,
BLECharacteristic::PROPERTY_NOTIFY);
//pCharacteristic->addDescriptor(new BLE2902());
BLECharacteristic *pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_RX,
BLECharacteristic::PROPERTY_WRITE);
pCharacteristic->setCallbacks(new MyCallbacks());
// 開始（起）service
pService->start();
// 開始（起）advertising
pServer->getAdvertising()->start();
Serial.println("等待BLE手機連線....");
digitalWrite(ledPin,LOW);
delay(500);
digitalWrite(ledPin,HIGH);
delay(500);
digitalWrite(ledPin,LOW);
}
void loop() {
// Check received message and control output accordingly
if (directState==1){
move(speed_c, 1); // full speed, go
Serial.println("前進");
} else if(directState==2) {
move(speed_c, 2); // full speed, down
Serial.println("後退");
} else if(directState==3) {
move(speed_c, 3); // full speed, left
Serial.println("左轉");
} else if(directState==4) {
move(speed_c, 4); // full speed, right
Serial.println("右轉");
} else if(directState==5) {
stop(); //stop
Serial.println("stop");
}
delay(100); //go for 1 second
}
void move( int speed, int direction){
//Move specific motor at speed and direction
//speed: 0 is off, and 255 is full speed
//direction: 0 clockwise, 1 counter-clockwise
ledcWrite(3, 255); //STBY disable standby
Serial.println(direction);
if(direction == 1){
//設定馬達1為正轉
ledcWrite(0, 255); //INA1
ledcWrite(1, 0); //INA2
ledcWrite(2, speed); //PWMA
//設定馬達2為正轉
ledcWrite(4, 255); //INB1
ledcWrite(5, 0); //INB2
ledcWrite(6, speed); //PWMB
digitalWrite(ledPin,HIGH);
delay(500);
digitalWrite(ledPin,LOW);
} else if (direction == 2){
//設定馬達1為反轉
ledcWrite(0, 0); //INA1
ledcWrite(1, 255); //INA2
ledcWrite(2, speed); //PWMA
//設定馬達2為反轉
ledcWrite(4, 0); //INB1
ledcWrite(5, 255); //INB2
ledcWrite(6, speed); //PWMB
digitalWrite(ledPin,HIGH);
delay(500);
digitalWrite(ledPin,LOW);
} else if (direction == 3){
//設定馬達1為正轉
ledcWrite(0, 255); //INA1
ledcWrite(1, 0); //INA2
ledcWrite(2, speed); //PWMA
//設定馬達2為反轉
ledcWrite(4, 0); //INB1
ledcWrite(5, 255); //INB2
ledcWrite(6, speed); //PWMB
digitalWrite(ledPin,HIGH);
delay(500);
digitalWrite(ledPin,LOW);
} else if (direction == 4){
//設定馬達1為反轉
ledcWrite(0, 0); //INA1
ledcWrite(1, 255); //INA2
ledcWrite(2, speed); //PWMA
//設定馬達2為正轉
ledcWrite(4, 255); //INB1
ledcWrite(5, 0); //INB2
ledcWrite(6, speed); //PWMB
digitalWrite(ledPin,HIGH);
delay(500);
digitalWrite(ledPin,LOW);
}
Serial.println(speed);
}
void stop(){
//enable standby
ledcWrite(3, 0); //STBY enable standby
//Serial.println("stop");
}
ARDUINO 程式
ANDROID APK檔案
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