利用DoHome APP和音箱控制小车的实验参考步骤 -云博客

利用DoHome APP和音箱控制小车的实验参考步骤

# 移动开发 2024-05-05 14:18 0 23 来源：云博客

准备材料：

Arduino Uno 一块

Arduino 扩展板购买链接

DT-06模块一个购买链接

安卓手机一个

小度音箱一个

小车一个

杜邦线若干

1.DT-06固件的烧录

1.1打开ESP模块下载工具ESPFlashDownloadTool,选择需要下载的固件，填写下载地址，推荐使用 ESP8266 Download TOOL,配置信息如下：

技术图片

1.2 选择实际的串口，选择下载速度

1.3点击ERASE，先插除，再点击START,开始下载

工具下载及详细请看：http://bbs.doit.am/forum.php?mod=viewthread&tid=208

DT-06固件.bin文件下载链接

2.硬件电路的连接

DT-06安装到arduino扩展板的串口排插位置

技术图片

3.DT-06通讯协议

通信方式：串口通讯

波特率：115200，无奇偶校验，8位数据位，1位停止位

每条命令以\r\n结尾。

3.1 控制命令

3.1.1 DT06->arduino

‘2’:前进，’4’:左转，’6’:右转，’8’:后退，’5’:停止，’Y’:左平移，

‘y’:右平移，’7’:加速，’9’:减速

3.1.2 Arduino->DT06

cmd=ctrl&ok;

3.2 设置小车模式

3.2.1 DT06->arduino

‘A’:手动，’B’:循迹，’C’:避障。

3.2.2 Arduino->DT06

cmd=mode&ok;

3.3 上传状态

3.3.1 Arduino->DT06

上传状态

cmd=ext_stat&status=speed|mode|soft_poweroff

例：cmd=ext_stat&status=255|65|0

speed表示小车当前车速，mode表示小车当前模式

soft_poweroff表示小车当前运动状态，1表示运动，0表示停止

3.3.2 DT06->arduino

cmd= ok

4.Arduino UNO 程序的编写

 1 //材料：UNO+Doit电机驱动板+蓝牙模块 2 3 /****************************IO引脚定义*****************************/ 4 //电机引脚 5 #define PWMD 3 //D电机转速 6 #define DIRD 2 //D电机转向 7 8 #define PWMC 5 //C电机转速 9 #define DIRC 4 //C电机转向 10 11 #define PWMB 6 //B电机转速 12 #define DIRB 7 //B电机转向 13 14 #define PWMA 9 //A电机转速 15 #define DIRA 8 //A电机转向 16 17 18 //上传状态 19 void uploadExtendStatus(uint8_t uSpeed,uint8_t uMode,uint8_t soft_poweroff) 20 { 21 char strExtStat[128];memset(strExtStat,0x00,sizeof(strExtStat)); 22 sprintf(strExtStat,"cmd=ext_stat&status=%d|%d|%d\r\n",uSpeed,uMode,soft_poweroff); 23 Serial.write((uint8_t*)strExtStat,strlen(strExtStat)); 24 } 25 26 27 //车体前进 28 // 29 void motor_go_forward() 30 { 31  digitalWrite(DIRA,HIGH); 32  digitalWrite(DIRB,HIGH); 33  digitalWrite(DIRC,LOW); 34  digitalWrite(DIRD,LOW); 35 36 analogWrite(PWMA,255); 37 analogWrite(PWMB,255); 38 analogWrite(PWMC,255); 39 analogWrite(PWMD,255); 40 uploadExtendStatus(255,65,1); 41 42 } 43 44 //车体前进后退 45 // 46 void motor_go_back() 47 { 48  digitalWrite(DIRA,LOW); 49  digitalWrite(DIRB,LOW); 50  digitalWrite(DIRC,HIGH); 51  digitalWrite(DIRD,HIGH); 52 53 analogWrite(PWMA,255); 54 analogWrite(PWMB,255); 55 analogWrite(PWMC,255); 56 analogWrite(PWMD,255); 57 uploadExtendStatus(255,65,1); 58 } 59 60 //车体左转 61 // 62 void motor_go_left() 63 { 64  digitalWrite(DIRA,HIGH); 65  digitalWrite(DIRB,LOW); 66  digitalWrite(DIRC,LOW); 67  digitalWrite(DIRD,HIGH); 68 69 analogWrite(PWMA,255); 70 analogWrite(PWMB,255); 71 analogWrite(PWMC,255); 72 analogWrite(PWMD,255); 73 uploadExtendStatus(255,65,1); 74 } 75 76 //车体右转 77 // 78 void motor_go_right() 79 { 80  digitalWrite(DIRA,LOW); 81  digitalWrite(DIRB,HIGH); 82  digitalWrite(DIRC,HIGH); 83  digitalWrite(DIRD,LOW); 84 85 analogWrite(PWMA,255); 86 analogWrite(PWMB,255); 87 analogWrite(PWMC,255); 88 analogWrite(PWMD,255); 89 uploadExtendStatus(255,65,1); 90 } 91 92 //车体停止 93 void motor_go_stop() 94 { 95  digitalWrite(DIRA,LOW); 96  digitalWrite(DIRB,LOW); 97  digitalWrite(DIRC,LOW); 98  digitalWrite(DIRD,LOW); 99 100 analogWrite(PWMA,0); 101 analogWrite(PWMB,0); 102 analogWrite(PWMC,0); 103 analogWrite(PWMD,0); 104 uploadExtendStatus(0,65,0); 105 106 } 107 108 //车体左平移 109 // 110 void motor_pmove_left() 111 { 112  digitalWrite(DIRA,HIGH); 113  digitalWrite(DIRB,LOW); 114  digitalWrite(DIRC,HIGH); 115  digitalWrite(DIRD,LOW); 116 117 analogWrite(PWMA,200); 118 analogWrite(PWMB,200); 119 analogWrite(PWMC,200); 120 analogWrite(PWMD,200); 121 uploadExtendStatus(200,65,1); 122 123 } 124 125 //车体右平移 126 void motor_pmove_right() 127 { 128  digitalWrite(DIRA,LOW); 129  digitalWrite(DIRB,HIGH); 130  digitalWrite(DIRC,LOW); 131  digitalWrite(DIRD,HIGH); 132 133 analogWrite(PWMA,200); 134 analogWrite(PWMB,200); 135 analogWrite(PWMC,200); 136 analogWrite(PWMD,200); 137 uploadExtendStatus(200,65,1); 138 139 } 140 141 //串口接收处理 142 #define MAX_PACKETSIZE 32 //串口接收缓冲区 143 char buffUART[MAX_PACKETSIZE]; 144 unsigned int buffUARTIndex = 0; 145 unsigned long preUARTTick = 0; 146 //小车转向 147 enum DN 148 { 149  GO_ADVANCE, 150  GO_LEFT, 151  GO_RIGHT, 152  GO_BACK, 153  STOP_STOP, 154 PMOVE_LEFT,//Parallel movement to the left 155 PMOVE_RIGHT,//Parallel movement to the right 156  DEF 157 } Drive_Num = DEF; 158 159 //电机控制标志量 160 bool flag1 = false; 161 bool stopFlag = false; 162 bool JogFlag = false; 163 uint16_t JogTimeCnt = 0; 164 uint32_t JogTime = 0; 165 166 167 //小车电机控制 168 void CAR_Control() 169 { 170 switch (Drive_Num) 171  { 172 case GO_ADVANCE:motor_go_forward(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 173 case GO_LEFT: motor_go_left(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 174 case GO_RIGHT: motor_go_right(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 175 case GO_BACK: motor_go_back(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 176 case STOP_STOP: motor_go_stop(); JogTime = 0; JogFlag = false; stopFlag = true; break; 177 case PMOVE_LEFT: motor_pmove_left(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 178 case PMOVE_RIGHT: motor_pmove_right(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break; 179 default: break; 180  } 181 Drive_Num = DEF; 182 //小车保持姿态210ms 183 if (millis() - JogTime >= 510) 184  { 185 JogTime = millis(); 186 if (JogFlag == true) 187  { 188 stopFlag = false; 189 if (JogTimeCnt <= 0) 190  { 191 JogFlag = false; stopFlag = true; 192  } 193 JogTimeCnt--; 194  } 195 if (stopFlag == true) 196  { 197 stopFlag = false; 198 JogTimeCnt = 0; 199  motor_go_stop(); 200  } 201  } 202 } 203 204 205 206 //串口数据接收处理 207 void UART_Control() 208 { 209 char Uart_Date = 0; 210 if (Serial.available()) //串口收到数据 211  { 212 Uart_Date = Serial.read(); 213  } 214 215 if (buffUARTIndex > 0 && (millis() - preUARTTick >= 100)) //超过100ms没接到数据，则认为已经接收到完整指令 216 { //data ready 217 buffUART[buffUARTIndex] = 0x00; 218 if ((buffUART[0] == ‘C‘) && (buffUART[1] == ‘M‘) && (buffUART[2] == ‘D‘)) //若发送指令非法，则忽略 219  { 220  ; 221  } 222 else Uart_Date = buffUART[0]; 223 buffUARTIndex = 0; 224  } 225 //Serial.println("Uart_Date:"); 226 //Serial.println(Uart_Date); 227 switch (Uart_Date) //串口控制指令 228  { 229 case ‘2‘: Drive_Num = GO_ADVANCE; break; 230 case ‘4‘: Drive_Num = GO_LEFT; break; 231 case ‘6‘: Drive_Num = GO_RIGHT; break; 232 case ‘8‘: Drive_Num = GO_BACK; break; 233 case ‘5‘: Drive_Num = STOP_STOP; break; 234 case ‘Y‘: Drive_Num = PMOVE_LEFT; break; 235 case ‘y‘: Drive_Num = PMOVE_RIGHT;break; 236 case ‘A‘: break; 237 case ‘B‘: break; 238 case ‘C‘: break; 239 default: break; 240  } 241 242 } 243 //IO初始化 244 void IO_init() 245 { 246  pinMode(DIRA, OUTPUT); 247  pinMode(PWMA, OUTPUT); 248  pinMode(DIRB, OUTPUT); 249  pinMode(PWMB, OUTPUT); 250  pinMode(DIRC, OUTPUT); 251  pinMode(PWMC, OUTPUT); 252  pinMode(DIRD, OUTPUT); 253  pinMode(PWMD, OUTPUT); 254  motor_go_stop(); 255 } 256 257 ///////////////////////////////////////////////////////////////////////////// 258 void setup() 259 { 260 Serial.begin(115200); 261 delay(1000); 262  IO_init(); 263 } 264 265 void loop() 266 { 267 UART_Control();//串口接收处理 268 CAR_Control();//小车控制 269 }