Stap 5: Programma, het bord MakeBlock Orion (Arduino Uno)
-Installeer de Arduino IDE
-Sluit de robot controller boord aan op uw computer met behulp van een standaard micro USB-kabel.
-Selecteer "Arduino Uno" als het type van de Raad van bestuur in het menu 'Extra'.
-De volgende nieuwe schets (d.w.z. programma) maken:-
//-------------------------------------------------------// Smart Rover - Arduino Sketch for controlling a // Makeblock robots from DroidScript via OTG cable. // // This program can be tested using the Aurduino serial // monitor. // // Examples: // type 'lft100x' to turn left at speed 100. // type 'buzy' to turn buzzer on, 'buzn' to turn it off. // // Copyright: droidscript.org // License: Creative Commons Attribution ShareAlike 3.0 //-------------------------------------------------------- #include #include #include #include //Global variables. char g_version[] = "0.10\n"; MeDCMotor g_motorL( M1 ); MeDCMotor g_motorR( M2 ); MeUltrasonicSensor ultraSensor( PORT_4 ); unsigned long timer = 0; //Setup the hardware. void setup() { //Setup USB serial comms. Serial.begin( 115200 ); Serial.setTimeout( 100 ); }//This function is called forever. void loop() { //Read serial commands. while( Serial.peek() != -1 ) { //Read 3 character command. char cmd[4] = "---"; Serial.readBytes( cmd, 3 ); //Execute command. if( strcmp( cmd, "buz" )==0 ) Buzzer(); else if( strcmp( cmd, "stp" )==0 ) Stop(); else if( strcmp( cmd, "fwd" )==0 ) Forward(); else if( strcmp( cmd, "rev" )==0 ) Reverse(); else if( strcmp( cmd, "lft" )==0 ) Left(); else if( strcmp( cmd, "rgt" )==0 ) Right(); else if( strcmp( cmd, "ver" )==0 ) GetVersion(); } //Report status every second. if( (millis()-timer) > 1000 ) { timer += 1000; Report(); } }//Get software version. void GetVersion() { Serial.print( g_version ); }//Send status back to DroidScript App. void Report() { int dist = ultraSensor.distanceCm(); Serial.println( String("dist:") + dist + String(";") ); }//Control buzzer. void Buzzer() { //Read on/off parameter. char onOff; Serial.readBytes( &onOff, 1 ); //Start of stop buzzer. if( onOff=='y' ) buzzerOn(); else buzzerOff(); }//Turn vehicle left. void Left() { //Read speed parameter. int speed = Serial.parseInt(); //Turn on motors. g_motorL.run( -speed ); g_motorR.run( speed ); }//Turn vehicle right. void Right() { //Read speed parameter. int speed = Serial.parseInt(); //Turn on motors. g_motorL.run( speed ); g_motorR.run( -speed ); }//Drive vehicle forward. void Forward() { //Read speed parameter. int speed = Serial.parseInt(); //Turn on motors. g_motorL.run( speed ); g_motorR.run( speed ); }//Reverse vehicle. void Reverse() { //Read speed parameter. int speed = Serial.parseInt(); //Turn on motors. g_motorL.run( -speed ); g_motorR.run( -speed ); }//Stop vehicle. void Stop() { //Turn off motors. g_motorL.run( 0 ); g_motorR.run( 0 ); }
