基于Wemos的wifi控制避障小车

基于Wemos的wifi控制避障小车

项目面试问题
C/C++/嵌入式—面试题汇总

1.项目描述：

利用wemos D1实现小车的前后行走、转弯和避障。

2.开发及硬件组成：

Arduino、wemos D1、小车、步进电机驱动、超声波测距模块。

3.项目描述：

wemos D1通过wifi与手机App连接，手机App控制小车的运动，当前方出现障碍物时超声波测距模块会把数据返回给wemos D1，若距离小于规定值则会驱动小车后退。

4.小车展示:

手机App:

TCP助手：

5.视频演示：

避障遥控小车

6.代码展示:

小车代码：

#include<ESP8266WiFi.h>

#define Dong1 D6
#define Dong2 D7
#define Zhuan1 D4
#define Zhuan2 D5

#define Echo D2
#define Trig D8

char* ssid = "Meng";
char* passwd = "meng123456";

int port = 8888;  //端口号
WiFiServer server(port); //设置服务器端口号

long getTime()  //超声波传播时间
{
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);

  return pulseIn(Echo, HIGH);
}

void initChaoShengBo()  //超声波初始化
{
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
}

void initWifiSta()
{
  WiFi.mode(WIFI_STA);  //设置STA模式
  WiFi.begin(ssid, passwd); //连接网络
  while (WiFi.status() != WL_CONNECTED)
  {
    Serial.print(".");
    delay(500);
  }
  Serial.println(WiFi.localIP());  //通过串口打印wemos的IP地址
}

void initL9110s()
{
  pinMode(Dong1, OUTPUT);
  pinMode(Dong2, OUTPUT);
  pinMode(Zhuan1, OUTPUT);
  pinMode(Zhuan2, OUTPUT);
}

void qian()  //前进
{
  digitalWrite(Dong1, HIGH);
  digitalWrite(Dong2, LOW);
}

void hou()  //后退
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, HIGH);
}

void ting()  //停车
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, LOW);
}

void you()  //右转
{
  digitalWrite(Zhuan1, LOW);
  digitalWrite(Zhuan2, HIGH);
}

void zuo()  //左转
{
  digitalWrite(Zhuan1, HIGH);
  digitalWrite(Zhuan2, LOW);
}

void zheng()  //回正
{
  digitalWrite(Zhuan1, LOW);
  digitalWrite(Zhuan2, LOW);
}

void setup()
{
  // put your setup code here, to run once:
  initL9110s();
  initChaoShengBo();
  Serial.begin(115200);
  initWifiSta();
  server.begin();
}

void loop()
{
  char cmd;
  int mark = 0;
  long dis;

  WiFiClient client = server.available();  //服务初始化
  while (client.connected())
  {
    while (client.available() > 0)
    {
      cmd = client.read();
      Serial.println(cmd);
      dis = getTime() / 58;
      Serial.println(dis);
      if (dis < 15)
      {
        hou();
        delay(100);
        ting();
        mark  = 1;
      }
      else
      {
        mark  = 0;
      }
      if (mark == 0)
      {
        switch (cmd)
        {
          case 'q':
            qian();
            break;
          case 'h':
            hou();
            break;
          case 'z':
            zuo();
            break;
          case 'y':
            you();
            break;
          case 's':
            ting();
            break;
          case 'd':
            zheng();
            break;
        }
      }
    }
  }
}

手机App:

package com.gec.bluetoothcarlink;

import android.app.Activity;
import android.os.Bundle;
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnTouchListener;
import android.view.Window;
import android.view.WindowManager;
import android.widget.Button;

public class ContrlActivity extends Activity {

	Button qian;
	Button hou;
	Button zuo;
	Button you;

	@Override
	protected void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);

		requestWindowFeature(Window.FEATURE_NO_TITLE);

		getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
	
		getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
		setContentView(R.layout.activity_contrl);
		initView();

	}

	void initView() {

		qian = (Button) findViewById(R.id.btnqian);
		hou = (Button) findViewById(R.id.btnhou);
		zuo = (Button) findViewById(R.id.btnzuo);
		you = (Button) findViewById(R.id.btnyou);

		qian.setOnTouchListener(new OnTouchListener() {

			@Override
			public boolean onTouch(View arg0, MotionEvent event) {
				// TODO Auto-generated method stub
				switch (event.getAction()) {
				case MotionEvent.ACTION_DOWN:
					new NetUtils("q").sendMessage();
					break;
				case MotionEvent.ACTION_UP: {
					new NetUtils("s").sendMessage();
					break;
				}

				}
				return false;
			}
		});

		hou.setOnTouchListener(new OnTouchListener() {

			@Override
			public boolean onTouch(View arg0, MotionEvent event) {
				// TODO Auto-generated method stub
				switch (event.getAction()) {
				case MotionEvent.ACTION_DOWN:
					new NetUtils("h").sendMessage();
					break;
				case MotionEvent.ACTION_UP: {
					new NetUtils("s").sendMessage();
					break;
				}

				}
				return false;
			}
		});

		zuo.setOnTouchListener(new OnTouchListener() {

			@Override
			public boolean onTouch(View arg0, MotionEvent event) {
				// TODO Auto-generated method stub
				switch (event.getAction()) {
				case MotionEvent.ACTION_DOWN:
					new NetUtils("z").sendMessage();
					break;
				case MotionEvent.ACTION_UP: {
					new NetUtils("d").sendMessage();
					break;
				}

				}
				return false;
			}
		});

		you.setOnTouchListener(new OnTouchListener() {

			@Override
			public boolean onTouch(View arg0, MotionEvent event) {
				// TODO Auto-generated method stub
				switch (event.getAction()) {
				case MotionEvent.ACTION_DOWN:
					new NetUtils("y").sendMessage();
					break;
				case MotionEvent.ACTION_UP: {
					new NetUtils("d").sendMessage();
					break;
				}

				}
				return false;
			}
		});
	}

}

package com.gec.bluetoothcarlink;

import java.io.OutputStream;
import java.net.Socket;

import android.os.Handler;

public class NetUtils {

	public String message;
	public String reTurnMes;
	public Handler handler;

	public NetUtils(String message) {
		this.message = message;
	}

	public NetUtils(String message, Handler handler) {
		this.message = message;
		this.handler = handler;
	}

	public void sendMessage() {

		new Thread(new Runnable() {

			@Override
			public void run() {
				// TODO Auto-generated method stub
				try {
					 Socket client = new Socket("192.168.1.108", 8888);
					//Socket client = new Socket(StartActivity.IP, Integer.parseInt(StartActivity.Port));
					OutputStream out = client.getOutputStream();
					out.write(message.getBytes());
					
					out.close();
					client.close();

				} catch (Exception e) {
					// TODO Auto-generated catch block
					e.printStackTrace();
				}
			}
		}).start();

	}
}