RC wifi auto Robot camera met behulp van de Arduino en openWRT (4 / 4 stap)

Stap 4: Code

1. #include

2. #include

3.

4. //UART PROTOCOL / / /

5. #define UART_FLAG 0XFF

6. //Moto////////////////////////////////

7. / / PROTO: VLAG DEV RICHTING LEGE VLAG

8. #define MOTO 0X00

9. #define vooruit 0X01 //MOTO opdracht

10. #define ACHTERWAARTSE 0X02

11. #define TURNLEFT 0X03

12. #define TURNRIGHT 0X04

13. #define CARSTOP 0X00

14. //Servo///////////////////////////////

15. / / PROTO: VLAG DEV SERVONUM POS VLAG

16. #define SERVO 0X01

17. //Moto snelheid / / /

18. / / PROTO: VLAG DEV MOTOSIDE SNELHEID VLAG

19. #define MOTOSPEED 0X02

20. //////////////////////////////////////

21. int n = 1;

22. int. flagCount = 0;

23. int. tempData = 0;

24. int. UARTReveived = 0;

25. int rxData [5];

26. //-------------------define motor----------------------------------------------//

27. AF_DCMotor motorL(3,MOTOR12_8KHZ); verbinden met M3

28. AF_DCMotor motorR(4,MOTOR12_8KHZ); verbinding maken met M4

29. int. motor_speed = 200; [modifid] motorsnelheid 150-200,---min:100; max: 255

30. int. motor_delay = 400; [modifid] vertragingstijd in stap

31.

32. //-------------------define servo----------------------------------------------//

33. servo hand_t_servo; maken van servo-object om te bepalen van een servo

34. servo hand_d_servo; maken van servo-object om te bepalen van een servo

35. int. hand_t_pos = 90; //

36. int. hand_d_pos = 90; //

37. int. hand_delay = 1; [modifid] snelheid van hand

38.

39. //------------------main program-----------------------------------------------//

40. void loop

41. {}

42. if(Serial.available())

43. {}

44. tempData = Serial.read();

45. delay(3);

46. if(tempData == UART_FLAG && flagCount < 2)

47. {}

48. rxData [0] = tempData;

49. flagCount ++;

50.}

51. anders

52. {}

53. rxData [n] = tempData;

54. n ++;

55.}

56. if(flagCount == 2)

57. {}

58. rxData [4] == UART_FLAG;

59. UARTReveived = 1;

60. de n = 1;

61. flagCount = 0;

62. tempData = 0;

63. Serial.flush();

64.}

65.}

66. if(UARTReveived == 1)

67. {}

68. Serial.print("rxData:");

69. Serial.print(rxData[0]);

70. Serial.println(rxData[1]);

71. if(rxData[1] == MOTO)

72. {}

73. switch(rxData[2])

74. {}

75. case naar voren:

76. carGoFwd();

77. pauze;

78. case achterwaarts:

79. carGoBwd();

80. pauze;

81. case TURNLEFT:

82. carTurnL();

83. pauze;

84. case TURNRIGHT:

85. carTurnR();

86. pauze;

87. case CARSTOP:

88. carStop();

89. pauze;

90.}

91. UARTReveived = 0;

92.}

93. anders als (rxData [1] == SERVO)

94. {}

95. servoSet(rxData[2], rxData[3]);

96. UARTReveived = 0;

97.}

98. anders als (rxData [1] == MOTOSPEED)

99. {}

100. CHNSpeed(rxData[2], rxData[3]);

101. UARTReveived = 0;

102.}

103.}

104.}

105.

106. //CAR BEWEGINGEN

107. nietig carGoFwd()

108. {}

109. motorL.setSpeed(motor_speed);

110. motorR.setSpeed(motor_speed);

111. motorL.run(FORWARD);

112. motorR.run(FORWARD);

113. Serial.print("forward");

114. delay(motor_delay);

115.}

116. nietig carGoBwd()

117. {}

118. motorL.setSpeed(motor_speed);

119. motorR.setSpeed(motor_speed);

120. motorL.run(BACKWARD);

121. motorR.run(BACKWARD);

122. Serial.print("Backward");

123. delay(motor_delay);

124.}

125. nietig carTurnL()

126. {}

127. motorL.setSpeed(motor_speed);

128. motorR.setSpeed(motor_speed);

129. motorL.run(BACKWARD);

130. motorR.run(FORWARD);

131. delay(motor_delay);

132. Serial.print("TurnL");

133.}

134. nietig carTurnR()

135. {}

136. motorL.setSpeed(motor_speed);

137. motorR.setSpeed(motor_speed);

138. motorL.run(FORWARD);

139. motorR.run(BACKWARD);

140. delay(motor_delay);

141. Serial.print("TurnR");

142.}

143. nietig carStop()

144. {}

145. b_motor_stop();

146. Serial.print("carStop");

147. delay(5);

148.}

149. //CAR SNELHEID

150. void CHNSpeed (int wheelDIR, int wheelSpeed)

151. {}

152. if(wheelDIR == 0X01) //LEFT wiel

153. {}

154. motorL.setSpeed(wheelSpeed);

155.}

156. anders if(wheelDIR == 0X02) //RIGHT wiel

157. {}

158. motorR.setSpeed(wheelSpeed);

159.}

160.}

161. //SERVO BEURT

162. void servoSet (int servoNum, int pos)

163. {}

164. if(pos > 180) pos = 160;

165. anders als pos (pos < 0) = 0;

166. switch(servoNum)

167. {}

168. case 0X07:

169. hand_t_servo.write(pos);

170. Serial.print("X");

171. Serial.print(pos);

172. pauze;

173. case 0X08:

174. hand_d_servo.write(pos);

175. Serial.print("Y");

176. Serial.print(pos);

177. pauze;

178.}

179.}

180. void setup

181. {}

182. Serial.begin(9600);

183. b_motor_stop();

184. b_servo_ini();

185. / / delay(2000); wachttijd

186. Serial.println("Hello! WiFi auto");

187.}

188.

189. nietig b_motor_stop() {}

190. motorL.run(RELEASE);

191. motorR.run(RELEASE);

192.}

193.

194. nietig b_servo_ini() {}

195. hand_t_servo.attach(9); de servo op pin 9 hecht aan de servo-object

196. hand_d_servo.attach(10); de servo op pin 10 hecht aan de servo-object

197. hand_t_servo.write(hand_t_pos);

198. hand_d_servo.write(hand_d_pos);

199.}