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

1. // Include necessary libraries
   
2. #include <BLEDevice.h>
   
3. #include <BLEServer.h>
   
4. #include <BLEUtils.h>
   
5. 
   
6. // 定義 UUIDs （注意要與App Inventor內容對應）
   
7. #define SERVICE_UUID            "C6FBDD3C-7123-4C9E-86AB-005F1A7EDA01"
   
8. #define CHARACTERISTIC_UUID_RX  "B88E098B-E464-4B54-B827-79EB2B150A9F"
   
9. #define CHARACTERISTIC_UUID_TX  "D769FACF-A4DA-47BA-9253-65359EE480FB"
   
10. 
    
11. String BLE_Code;
    
12. BLECharacteristic *pCharacteristic;
    
13. bool deviceConnected = false;
    
14. 
    
15. int directState = 0; // 動作
    
16. int speed_c = 192;
    
17. // PWM, INA, INB 與LED接腳變數
    
18. int PWMA = 13;
    
19. int INA1 = 12;
    
20. int INA2 = 14;
    
21. int STBY = 27;
    
22. int INB1 = 25;
    
23. int INB2 = 26;
    
24. int PWMB = 33;
    
25. const int ledPin = 2;
    
26. 
    
27. const int freq = 10000;
    
28. const int resolution = 8;
    
29. 
    
30. 
    
31. 
    
32. // 設定 callbacks onConnect & onDisconnect函數
    
33. class MyServerCallbacks: public BLEServerCallbacks {
    
34.   void onConnect(BLEServer* pServer) {
    
35.     deviceConnected = true;
    
36.   };
    
37.   void onDisconnect(BLEServer* pServer) {
    
38.     deviceConnected = false;
    
39.   }
    
40. };
    
41. 
    
42. // 設定 callback function 當收到新的資訊 (from the Android application)
    
43. class MyCallbacks: public BLECharacteristicCallbacks {
    
44.   void onWrite(BLECharacteristic *pCharacteristic) {
    
45.     std::string rxValue = pCharacteristic->getValue();
    
46.     BLE_Code="";
    
47.     if(rxValue.length() > 0) {
    
48.       Serial.print("接收資料為 : ");
    
49.       for(int i = 0; i < rxValue.length(); i++) {
    
50.         BLE_Code+=rxValue[i];
    
51.         Serial.print(rxValue[i]);
    
52.       }
    
53.       Serial.println();
    
54.       BLE_Code.toUpperCase();
    
55.       Serial.println(BLE_Code);
    
56.         if(BLE_Code.indexOf("GO")!=-1)
    
57.         {
    
58.           Serial.println("GO");
    
59.           directState=1;
    
60.         } else if(BLE_Code.indexOf("BACK")!=-1) {
    
61.           Serial.println("BACK");
    
62.           directState=2;
    
63.         } else if(BLE_Code.indexOf("LEFT")!=-1) {
    
64.           Serial.println("LEFT");
    
65.           directState=3;
    
66.         } else if(BLE_Code.indexOf("RIGHT")!=-1) {
    
67.           Serial.println("RIGHT");
    
68.           directState=4;
    
69.         } else if(BLE_Code.indexOf("RELEASE")!=-1) {
    
70.           Serial.println("RELEASE");
    
71.           directState=5;
    
72.         }
    
73.         if(BLE_Code.indexOf("192")!=-1)
    
74.         {
    
75.           speed_c=192;
    
76.         } else if(BLE_Code.indexOf("255")!=-1) {
    
77.           speed_c=255;
    
78.         }
    
79.     }
    
80.   }
    
81. };
    
82. 
    
83. void setup() {
    
84.   Serial.begin(115200);
    
85.   pinMode(ledPin, OUTPUT); //設定腳位為輸出
    
86.   pinMode(INA1,OUTPUT);
    
87.   pinMode(INA2,OUTPUT);
    
88.   pinMode(PWMA,OUTPUT);
    
89.   pinMode(STBY,OUTPUT);
    
90.   pinMode(INB1,OUTPUT);
    
91.   pinMode(INB2,OUTPUT);
    
92.   pinMode(PWMB,OUTPUT);
    
93.   //digital output test
    
94.   digitalWrite(INA1,HIGH); //設定腳位HIGH LOW
    
95.   digitalWrite(INA2,LOW);
    
96.   digitalWrite(PWMA,LOW);
    
97.   digitalWrite(STBY,HIGH);
    
98.   digitalWrite(INB1,HIGH);
    
99.   digitalWrite(INB2,LOW);
    
100.   digitalWrite(PWMB,LOW);
     
101.   delay(1000);
     
102. 
     
103.   //analog output(PWM) test 設定LED Channel PWM 頻率
     
104.   ledcSetup(0, freq, resolution);
     
105.   ledcSetup(1, freq, resolution);
     
106.   ledcSetup(2, freq, resolution);
     
107.   ledcSetup(3, freq, resolution);
     
108.   ledcSetup(4, freq, resolution);
     
109.   ledcSetup(5, freq, resolution);
     
110.   ledcSetup(6, freq, resolution);
     
111.   //設定腳位Channel
     
112.   ledcAttachPin(INA1, 0);
     
113.   ledcAttachPin(INA2, 1);
     
114.   ledcAttachPin(PWMA, 2);
     
115.   ledcAttachPin(STBY, 3);
     
116.   ledcAttachPin(INB1, 4);
     
117.   ledcAttachPin(INB2, 5);
     
118.   ledcAttachPin(PWMB, 6);
     
119.   
     
120.   // 建立BLE Device
     
121.   BLEDevice::init("ESP32_WeMos1");
     
122. 
     
123.   // 建立BLE Server
     
124.   BLEServer *pServer = BLEDevice::createServer();
     
125.   pServer->setCallbacks(new MyServerCallbacks());
     
126. 
     
127.   // 建立BLE Service
     
128.   BLEService *pService = pServer->createService(SERVICE_UUID);
     
129. 
     
130.   // 建立BLE Characteristic
     
131.   pCharacteristic = pService->createCharacteristic(
     
132.                       CHARACTERISTIC_UUID_TX,
     
133.                       BLECharacteristic::PROPERTY_NOTIFY);                     
     
134. //  pCharacteristic->addDescriptor(new BLE2902());
     
135.   BLECharacteristic *pCharacteristic = pService->createCharacteristic(
     
136.                                          CHARACTERISTIC_UUID_RX,
     
137.                                          BLECharacteristic::PROPERTY_WRITE);
     
138. pCharacteristic->setCallbacks(new MyCallbacks());
     
139. 
     
140.   // 開始（起）service
     
141.   pService->start();
     
142. 
     
143.   // 開始（起）advertising
     
144.   pServer->getAdvertising()->start();
     
145.   Serial.println("等待BLE手機連線....");
     
146.   
     
147.   digitalWrite(ledPin,LOW);
     
148.   delay(500);
     
149.   digitalWrite(ledPin,HIGH);
     
150.   delay(500);
     
151.   digitalWrite(ledPin,LOW);
     
152. }
     
153. 
     
154. void loop() {
     
155.     // Check received message and control output accordingly
     
156.     if (directState==1){
     
157.         move(speed_c, 1); // full speed, go
     
158.         Serial.println("前進");
     
159.     } else if(directState==2) {
     
160.         move(speed_c, 2); // full speed, down
     
161.         Serial.println("後退");
     
162.     } else if(directState==3) {
     
163.         move(speed_c, 3); // full speed, left
     
164.         Serial.println("左轉");
     
165.     } else if(directState==4) {
     
166.         move(speed_c, 4); // full speed, right
     
167.         Serial.println("右轉");
     
168.     } else if(directState==5) {
     
169.       stop(); //stop
     
170.       Serial.println("stop");
     
171.     }
     
172.   delay(100); //go for 1 second
     
173. }
     
174. 
     
175. void move( int speed, int direction){
     
176. //Move specific motor at speed and direction
     
177. //speed: 0 is off, and 255 is full speed
     
178. //direction: 0 clockwise, 1 counter-clockwise
     
179. 
     
180.   ledcWrite(3, 255); //STBY disable standby
     
181.   Serial.println(direction);
     
182.   if(direction == 1){
     
183.     //設定馬達1為正轉
     
184.     ledcWrite(0, 255); //INA1
     
185.     ledcWrite(1, 0);   //INA2
     
186.     ledcWrite(2, speed);   //PWMA
     
187.     //設定馬達2為正轉
     
188.     ledcWrite(4, 255); //INB1
     
189.     ledcWrite(5, 0); //INB2
     
190.     ledcWrite(6, speed);   //PWMB
     
191.     digitalWrite(ledPin,HIGH);
     
192.     delay(500);
     
193.     digitalWrite(ledPin,LOW);
     
194.   } else if (direction == 2){
     
195.     //設定馬達1為反轉
     
196.     ledcWrite(0, 0);   //INA1
     
197.     ledcWrite(1, 255); //INA2
     
198.     ledcWrite(2, speed);   //PWMA
     
199.     //設定馬達2為反轉
     
200.     ledcWrite(4, 0);   //INB1
     
201.     ledcWrite(5, 255); //INB2
     
202.     ledcWrite(6, speed);   //PWMB
     
203.     digitalWrite(ledPin,HIGH);
     
204.     delay(500);
     
205.     digitalWrite(ledPin,LOW);
     
206.   } else if (direction == 3){
     
207.     //設定馬達1為正轉
     
208.     ledcWrite(0, 255); //INA1
     
209.     ledcWrite(1, 0);   //INA2
     
210.     ledcWrite(2, speed);   //PWMA
     
211.     //設定馬達2為反轉
     
212.     ledcWrite(4, 0);   //INB1
     
213.     ledcWrite(5, 255); //INB2
     
214.     ledcWrite(6, speed);   //PWMB
     
215.     digitalWrite(ledPin,HIGH);
     
216.     delay(500);
     
217.     digitalWrite(ledPin,LOW);
     
218.   } else if (direction == 4){
     
219.     //設定馬達1為反轉
     
220.     ledcWrite(0, 0);   //INA1
     
221.     ledcWrite(1, 255); //INA2
     
222.     ledcWrite(2, speed);   //PWMA
     
223.     //設定馬達2為正轉
     
224.     ledcWrite(4, 255); //INB1
     
225.     ledcWrite(5, 0); //INB2
     
226.     ledcWrite(6, speed);   //PWMB
     
227.     digitalWrite(ledPin,HIGH);
     
228.     delay(500);
     
229.     digitalWrite(ledPin,LOW);
     
230.   }
     
231.   Serial.println(speed);
     
232. }
     
233. 
     
234. void stop(){
     
235. //enable standby  
     
236.   ledcWrite(3, 0); //STBY enable standby
     
237.   //Serial.println("stop");
     
238. }

複製代碼

ARDUINO 程式
ESP32_BLE_car_20200713.rar (2.12 KB, 下載次數: 1, 售價: 10 金T幣)

2020-7-13 23:47 上傳

點擊文件名下載附件
arduino esp32 code
售價: 10 金T幣  [記錄]  [購買]

ANDROID APK檔案
BluetoothControl_2020071301.rar (1.95 MB, 下載次數: 5, 售價: 10 金T幣)

2020-7-13 23:29 上傳

點擊文件名下載附件
藍芽控制APK
售價: 10 金T幣  [記錄]

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