马上就跨年了,写点最近做的东西也算是给自己一个交代。
一直想做一款智能机器人,会看路、会走、会说话、能聊天的机器人。硬件控制采用Arduino软件处理器使用Android Mini Pc俗称安卓盒子或者安卓棒,图像识别采用高通结合OpenCV(这个还在考虑,毕竟自己不太会写算法)、显示器采用车载屏幕。硬件都采购好了,Arduino也基本差不多了,现在就是要做通信以及凸显识别这一块了。
本来打算采用Arduino的蓝牙模块和Android进行通信的,并且通信测试也已经通过了,可以控制小车前进后退操作。但是后来有考虑Arduino本身带有USB接口,为什么弃之不用呢,所以就花了两天时间墙内墙外的找(像我这种编程能力不是特别强的,还是希望找到容易看懂的代码,在修改。。)
找到一国外哥们的,下面给大家简单翻译一下,附带源码
这个例子实现双向通信在USB主机模式下,Android和Arduino Uno之间。Android上的一个按钮,用于开/关Arduino Uno板子上自带的led灯,和Arduino一侧电位计,用于控制 Android的SeekBar。
AndroidManifest.xml
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.example.androidusbhostarduino"
android:versionCode="1"
android:versionName="1.0" >
<uses-feature android:name="android.hardware.usb.host" />
<uses-sdk
android:minSdkVersion="12"
android:targetSdkVersion="19" />
<application
android:allowBackup="true"
android:icon="@drawable/ic_launcher"
android:label="@string/app_name"
android:theme="@style/AppTheme" >
<activity
android:name=".MainActivity"
android:label="@string/app_name" >
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
<intent-filter>
<action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
</intent-filter>
<meta-data android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
android:resource="@xml/device_filter" />
</activity>
</application>
</manifest>
res/xml/device_filter.xml, for Arduino Uno. (这个文件夹感觉用处不大,因为在我的测试中,Android直接检测那个usb口是可以双线通信的,如果有,就默认为Arduino的)
<?xml version="1.0" encoding="utf-8"?>
<resources>
<!-- idVendor=2341, idProduct=0043 for Arduino Uno R3 -->
<usb-device
vendor-id="9025"
product-id="0067" />
</resources>
/res/layout/activity_main.xml
package com.example.androidusbhostarduino;
import java.nio.ByteBuffer;
import android.support.v7.app.ActionBarActivity;
import android.content.Context;
import android.content.Intent;
import android.hardware.usb.UsbConstants;
import android.hardware.usb.UsbDevice;
import android.hardware.usb.UsbDeviceConnection;
import android.hardware.usb.UsbEndpoint;
import android.hardware.usb.UsbInterface;
import android.hardware.usb.UsbManager;
import android.hardware.usb.UsbRequest;
import android.os.Bundle;
import android.widget.CompoundButton;
import android.widget.SeekBar;
import android.widget.ToggleButton;
import android.widget.CompoundButton.OnCheckedChangeListener;
public class MainActivity extends ActionBarActivity implements Runnable{
private static final int CMD_LED_OFF = 2;
private static final int CMD_LED_ON = 1;
SeekBar bar;
ToggleButton buttonLed;
private UsbManager usbManager;
private UsbDevice deviceFound;
private UsbDeviceConnection usbDeviceConnection;
private UsbInterface usbInterfaceFound = null;
private UsbEndpoint endpointOut = null;
private UsbEndpoint endpointIn = null;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
bar = (SeekBar)findViewById(R.id.seekbar);
buttonLed = (ToggleButton)findViewById(R.id.arduinoled);
buttonLed.setOnCheckedChangeListener(new OnCheckedChangeListener(){
@Override
public void onCheckedChanged(CompoundButton buttonView,
boolean isChecked) {
if(isChecked){
sendCommand(CMD_LED_ON);
}else{
sendCommand(CMD_LED_OFF);
}
}});
usbManager = (UsbManager)getSystemService(Context.USB_SERVICE);
}
@Override
public void onResume() {
super.onResume();
Intent intent = getIntent();
String action = intent.getAction();
UsbDevice device = (UsbDevice)intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(action)) {
setDevice(device);
} else if (UsbManager.ACTION_USB_DEVICE_DETACHED.equals(action)) {
if (deviceFound != null && deviceFound.equals(device)) {
setDevice(null);
}
}
}
private void setDevice(UsbDevice device) {
usbInterfaceFound = null;
endpointOut = null;
endpointIn = null;
for (int i = 0; i < device.getInterfaceCount(); i++) {
UsbInterface usbif = device.getInterface(i);
UsbEndpoint tOut = null;
UsbEndpoint tIn = null;
int tEndpointCnt = usbif.getEndpointCount();
if (tEndpointCnt >= 2) {
for (int j = 0; j < tEndpointCnt; j++) {
if (usbif.getEndpoint(j).getType() == UsbConstants.USB_ENDPOINT_XFER_BULK) {
if (usbif.getEndpoint(j).getDirection() == UsbConstants.USB_DIR_OUT) {
tOut = usbif.getEndpoint(j);
} else if (usbif.getEndpoint(j).getDirection() == UsbConstants.USB_DIR_IN) {
tIn = usbif.getEndpoint(j);
}
}
}
if (tOut != null && tIn != null) {
// This interface have both USB_DIR_OUT
// and USB_DIR_IN of USB_ENDPOINT_XFER_BULK
usbInterfaceFound = usbif;
endpointOut = tOut;
endpointIn = tIn;
}
}
}
if (usbInterfaceFound == null) {
return;
}
deviceFound = device;
if (device != null) {
UsbDeviceConnection connection =
usbManager.openDevice(device);
if (connection != null &&
connection.claimInterface(usbInterfaceFound, true)) {
usbDeviceConnection = connection;
Thread thread = new Thread(this);
thread.start();
} else {
usbDeviceConnection = null;
}
}
}
private void sendCommand(int control) {
synchronized (this) {
if (usbDeviceConnection != null) {
byte[] message = new byte[1];
message[0] = (byte)control;
usbDeviceConnection.bulkTransfer(endpointOut,
message, message.length, 0);
}
}
}
@Override
public void run() {
ByteBuffer buffer = ByteBuffer.allocate(1);
UsbRequest request = new UsbRequest();
request.initialize(usbDeviceConnection, endpointIn);
while (true) {
request.queue(buffer, 1);
if (usbDeviceConnection.requestWait() == request) {
byte rxCmd = buffer.get(0);
if(rxCmd!=0){
bar.setProgress((int)rxCmd);
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
}
} else {
break;
}
}
}
}
上面就是Android端的程序,这个有些安卓基础的应该看起来不难。下面是Arduino的代码
int prvValue;
void setup() {
Serial.begin(9600);
pinMode(13, OUTPUT);
prvValue = 0;
}
void loop() {
if(Serial.available()){
byte cmd = Serial.read();
if(cmd == 0x02){
digitalWrite(13, LOW);
}else if(cmd == 0x01){
digitalWrite(13, HIGH);
}
}
int sensorValue = analogRead(A0) >> 4;
byte dataToSent;
if(prvValue != sensorValue){
prvValue = sensorValue;
if (prvValue==0x00){
dataToSent = (byte)0x01;
}else{
dataToSent = (byte)prvValue;
}
Serial.write(dataToSent);
delay(100);
}
}
无耻的把作者的演示视频也下下来了
下面是我写好的工程