Android应用程序控制的机器人车

描述

大家好！这是我的下一个项目，智能手机控制的 Arduino 4WD 机器人汽车或蓝牙 Arduino 机器人。它可以前后左右移动，改变速度，打开/关闭前后灯，也可以喇叭。

这是一个非常简单的设计机器人，您可以轻松构建它。

第 1 步：要求

所需零件：

• Arduino Uno R3 板

• 带直流电机和车轮 x4 的底盘 4WD

• 电机驱动器 L298N x2

• 蓝牙模块HC-06

• 锂离子电池 18650 x2

• LED + 电阻器 220 欧姆 x4

• 蜂鸣器

第二步：组装四驱机器人智能汽车底盘

第 3 步：接线图

 

按照上面的接线图进行连接。

 

第 4 步：上传机器人代码

#define light_FR  14    //LED Front Right   pin A0 for Arduino Uno#define light_FL  15    //LED Front Left    pin A1 for Arduino Uno #define light_BR  16    //LED Back Right    pin A2 for Arduino Uno #define light_BL  17    //LED Back Left     pin A3 for Arduino Uno #define horn_Buzz 18    //Horn Buzzer       pin A4 for Arduino Uno#define ENA_m1 5        // Enable/speed motor Front Right  #define ENB_m1 6        // Enable/speed motor Back Right #define ENA_m2 10       // Enable/speed motor Front Left #define ENB_m2 11       // Enable/speed motor Back Left#define IN_11  2      // L298N #1 in 1 motor Front Right #define IN_12  3      // L298N #1 in 2 motor Front Right #define IN_13  4      // L298N #1 in 3 motor Back Right #define IN_14  7      // L298N #1 in 4 motor Back Right#define IN_21  8      // L298N #2 in 1 motor Front Left #define IN_22  9      // L298N #2 in 2 motor Front Left #define IN_23  12     // L298N #2 in 3 motor Back Left #define IN_24  13     // L298N #2 in 4 motor Back Leftint command;          //Int to store app command state. int speedCar = 100;   // 50 - 255. int speed_Coeff = 4; boolean lightFront = false; boolean lightBack = false; boolean horn = false;void setup() {          pinMode(light_FR, OUTPUT);     pinMode(light_FL, OUTPUT);     pinMode(light_BR, OUTPUT);     pinMode(light_BL, OUTPUT);     pinMode(horn_Buzz, OUTPUT);         pinMode(ENA_m1, OUTPUT);    pinMode(ENB_m1, OUTPUT);    pinMode(ENA_m2, OUTPUT);    pinMode(ENB_m2, OUTPUT);        pinMode(IN_11, OUTPUT);     pinMode(IN_12, OUTPUT);     pinMode(IN_13, OUTPUT);     pinMode(IN_14, OUTPUT);          pinMode(IN_21, OUTPUT);     pinMode(IN_22, OUTPUT);     pinMode(IN_23, OUTPUT);     pinMode(IN_24, OUTPUT);Serial.begin(9600); } void goAhead(){ digitalWrite(IN_11, HIGH);       digitalWrite(IN_12, LOW);      analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, LOW);       digitalWrite(IN_14, HIGH);      analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, LOW);       digitalWrite(IN_22, HIGH);      analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, HIGH);       digitalWrite(IN_24, LOW);      analogWrite(ENB_m2, speedCar);}void goBack(){ digitalWrite(IN_11, LOW);       digitalWrite(IN_12, HIGH);      analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, HIGH);       digitalWrite(IN_14, LOW);      analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, HIGH);       digitalWrite(IN_22, LOW);      analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, LOW);       digitalWrite(IN_24, HIGH);      analogWrite(ENB_m2, speedCar);}void goRight(){ digitalWrite(IN_11, LOW);       digitalWrite(IN_12, HIGH);      analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, HIGH);       digitalWrite(IN_14, LOW);      analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, LOW);       digitalWrite(IN_22, HIGH);      analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, HIGH);       digitalWrite(IN_24, LOW);      analogWrite(ENB_m2, speedCar);}void goLeft(){digitalWrite(IN_11, HIGH);       digitalWrite(IN_12, LOW);      analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, LOW);       digitalWrite(IN_14, HIGH);      analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, HIGH);       digitalWrite(IN_22, LOW);      analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, LOW);       digitalWrite(IN_24, HIGH);      analogWrite(ENB_m2, speedCar);}void goAheadRight(){              digitalWrite(IN_11, HIGH);       digitalWrite(IN_12, LOW);       analogWrite(ENA_m1, speedCar/speed_Coeff);digitalWrite(IN_13, LOW);       digitalWrite(IN_14, HIGH);       analogWrite(ENB_m1, speedCar/speed_Coeff);digitalWrite(IN_21, LOW);       digitalWrite(IN_22, HIGH);       analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, HIGH);       digitalWrite(IN_24, LOW);       analogWrite(ENB_m2, speedCar);     }void goAheadLeft(){              digitalWrite(IN_11, HIGH);       digitalWrite(IN_12, LOW);       analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, LOW);       digitalWrite(IN_14, HIGH);       analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, LOW);       digitalWrite(IN_22, HIGH);       analogWrite(ENA_m2, speedCar/speed_Coeff);digitalWrite(IN_23, HIGH);       digitalWrite(IN_24, LOW);       analogWrite(ENB_m2, speedCar/speed_Coeff);     }void goBackRight(){ digitalWrite(IN_11, LOW);       digitalWrite(IN_12, HIGH);       analogWrite(ENA_m1, speedCar/speed_Coeff);digitalWrite(IN_13, HIGH);       digitalWrite(IN_14, LOW);       analogWrite(ENB_m1, speedCar/speed_Coeff);digitalWrite(IN_21, HIGH);       digitalWrite(IN_22, LOW);       analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, LOW);       digitalWrite(IN_24, HIGH);       analogWrite(ENB_m2, speedCar);}void goBackLeft(){ digitalWrite(IN_11, LOW);       digitalWrite(IN_12, HIGH);       analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, HIGH);       digitalWrite(IN_14, LOW);       analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, HIGH);       digitalWrite(IN_22, LOW);       analogWrite(ENA_m2, speedCar/speed_Coeff);digitalWrite(IN_23, LOW);       digitalWrite(IN_24, HIGH);       analogWrite(ENB_m2, speedCar/speed_Coeff);}void stopRobot(){ digitalWrite(IN_11, LOW);       digitalWrite(IN_12, LOW);      analogWrite(ENA_m1, speedCar);digitalWrite(IN_13, LOW);       digitalWrite(IN_14, LOW);      analogWrite(ENB_m1, speedCar);digitalWrite(IN_21, LOW);       digitalWrite(IN_22, LOW);      analogWrite(ENA_m2, speedCar);digitalWrite(IN_23, LOW);       digitalWrite(IN_24, LOW);      analogWrite(ENB_m2, speedCar);      }    void loop(){    if (Serial.available() > 0) {  command = Serial.read();  stopRobot();    //Initialize with motors stopped.if (lightFront) {digitalWrite(light_FR, HIGH); digitalWrite(light_FL, HIGH);} if (!lightFront) {digitalWrite(light_FR, LOW); digitalWrite(light_FL, LOW);} if (lightBack) {digitalWrite(light_BR, HIGH); digitalWrite(light_BL, HIGH);} if (!lightBack) {digitalWrite(light_BR, LOW); digitalWrite(light_BL, LOW);} if (horn) {digitalWrite(horn_Buzz, HIGH);} if (!horn) {digitalWrite(horn_Buzz, LOW);}switch (command) { case 'F':goAhead();break; case 'B':goBack();break; case 'L':goLeft();break; case 'R':goRight();break; case 'I':goAheadRight();break; case 'G':goAheadLeft();break; case 'J':goBackRight();break; case 'H':goBackLeft();break; case '0':speedCar = 100;break; case '1':speedCar = 115;break; case '2':speedCar = 130;break; case '3':speedCar = 145;break; case '4':speedCar = 160;break; case '5':speedCar = 175;break; case '6':speedCar = 190;break; case '7':speedCar = 205;break; case '8':speedCar = 220;break; case '9':speedCar = 235;break; case 'q':speedCar = 255;break; case 'W':lightFront = true;break; case 'w':lightFront = false;break; case 'U':lightBack = true;break; case 'u':lightBack = false;break; case 'V':horn = true;break; case 'v':horn = false;break;} } }

第 5 步：注释

在上传代码之前，您必须断开蓝牙模块与 Arduino Uno 板（引脚 0、1）的连接。

第 6 步：下载 Android 应用程序

第 7 步：连接蓝牙模块

要将您的智能手机连接到 Arduino 蓝牙模块 HC-06，我们必须输入 PIN CODE 1234 或 0000。

代码：：

第 8 步：完成

一旦您正确完成所有步骤，机器人就可以开始使用了！

谢谢你们！