目录
概述
本文主要介绍使用Arduino UNO作为主板，用于控制电机和接收蓝牙模块数据。蓝牙模块用于从手机App上接收控制信号，使用L298N作为驱动板设计一台智能小车，可通过手机上的App来控制小车的运行状态。
项目代码 git 地址：Arduino_project: 基于Arduino板卡的开源项目 (gitee.com)
1 硬件结构
1.1 硬件组成
本系统硬件结构是以Arduino为主控板，蓝牙模块上RX和TX与Arduino上的TX和RX相连。L298N作为电源管理模块和驱动模块，分别为控制板、蓝牙模块提供电源。电池模块提供整个系统的工作电压，采用可充电的锂电池，单个电池电压为： 3.7V, 电池盒中总共装载4节锂电池。硬件列表如下。
| 名称 | 功能介绍 | 注释 |
| Arduino UNO | 控制板 | 处理蓝牙数据和控制电机 |
| L298N | 驱动模块 | 驱动四个电机：正转、反转、停止 |
| HC-05 蓝牙模块 | 接收/发送控信号 | 传送App发送的信号 |
| 3.7V 锂电池 | 系统供电 | 4节锂电池构成供电盒 |
1.2 蓝牙模块介绍
HC-08蓝牙串口通信模块是新一代的基于Bluetooth Specification V4.0 BLE 蓝牙协议的数传模块。无线工作频段为 2.4GHz ISM，调制方式是 GFSK。模块最大发射功率为4dBm，接收灵敏度-93dBm，空旷环境下和 手机可以实现 80 米超远距离通信。
其和MCU之间通过串口通信，软件设计也简单便捷，且不需要考虑蓝牙协议栈问题，非常适合做速成产品。
蓝牙模块与MCU之间连接图：
1.3 控制板IO引脚定义
引脚功能定义如下：
| 控制板引脚 | 功能 | 介绍 |
| AI-0 | 连接控制板： IN-1 | 左侧电机控制信号引脚 |
| AI-1 | 连接控制板： IN-2 | 左侧电机控制信号引脚 |
| AI-2 | 连接控制板： IN-3 | 右侧电机控制信号引脚 |
| AI-3 | 连接控制板： IN-4 | 右侧电机控制信号引脚 |
| RX/TX | 连接HC-08蓝牙模块 TX/RX |
2 机械结构
系统采用集成底盘结构，四个电机固定在最底层底板上，L298N放在最底层的顶层板上，顶层板用于支撑控制板和电池模块。其具体框架结构如下：
3 固件设计
固件主要使用电机控制和蓝牙模块数据的发送和接收。其具体代码如下，工程采用Arduino IDE开发：
系统代码：
// ATMEL ATMEGA8 & 168 / ARDUINO
//
// +-\/-+
// PC6 1| |28 PC5 (AI 5)
// (D 0) PD0 2| |27 PC4 (AI 4)
// (D 1) PD1 3| |26 PC3 (AI 3)
// (D 2) PD2 4| |25 PC2 (AI 2)
// PWM+ (D 3) PD3 5| |24 PC1 (AI 1)
// (D 4) PD4 6| |23 PC0 (AI 0)
// VCC 7| |22 GND
// GND 8| |21 AREF
// PB6 9| |20 AVCC
// PB7 10| |19 PB5 (D 13)
// PWM+ (D 5) PD5 11| |18 PB4 (D 12)
// PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM
// (D 7) PD7 13| |16 PB2 (D 10) PWM
// (D 8) PB0 14| |15 PB1 (D 9) PWM
// +----+
#include <Arduino.h>
//电机控制接口
#define PIN_A0 (14)
#define PIN_A1 (15)
#define PIN_A2 (16)
#define PIN_A3 (17)
static const uint8_t MA0 = PIN_A0;
static const uint8_t MA1 = PIN_A1;
static const uint8_t MA2 = PIN_A2;
static const uint8_t MA3 = PIN_A3;
// BLUE TOOTH
char command;
void setup()
{
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(MA0, OUTPUT);
pinMode(MA1, OUTPUT);
pinMode(MA2, OUTPUT);
pinMode(MA3, OUTPUT);
}
void loop()
{
while(Serial.available())
{
command =Serial.read();
switch(command )
{
case 0x18: //前进
digitalWrite(MA0, LOW);
digitalWrite(MA1, HIGH);
digitalWrite(MA2, LOW);
digitalWrite(MA3, HIGH);
break;
case 0x52: //后退
digitalWrite(MA0, HIGH);
digitalWrite(MA1, LOW);
digitalWrite(MA2, HIGH);
digitalWrite(MA3, LOW);
break;
case 0x08: // 左转
digitalWrite(MA0, HIGH);
digitalWrite(MA1, LOW);
digitalWrite(MA2, LOW);
digitalWrite(MA3, HIGH);
break;
case 0x5a: //右转
digitalWrite(MA0, LOW);
digitalWrite(MA1, HIGH);
digitalWrite(MA2, HIGH);
digitalWrite(MA3, LOW);
break;
case 0x45:
default:
digitalWrite(MA0, LOW);
digitalWrite(MA1, LOW);
digitalWrite(MA2, LOW);
digitalWrite(MA3, LOW);
break;
}
}
}
4 App设计
使用微信小程序开发App，其特点是集成在微信App内，不用单独安装，搜索到该App既可以使用。该程序主要实现4个按钮，实现小车前进、后退、左转、右转功能。
App UI:
开发工具：
核心代码如下：
const utils = require('utils.js')
const ble = require('bluetooth.js')
Page({
/**
* 页面的初始数据
*/
data: {
pageload: false,
connected: false,
send_hex: false,
send_string: true,
send_string_val: 'Hex',
recv_string: true,
recv_string_val: 'Hex',
recv_value: '',
send_number: 0,
recv_number: 0,
recv_hex: true,
try_cnt:0,
deviceArray: []
},
/**
* 生命周期函数--监听页面加载
*/
onLoad: function (options) {
var that = this;
console.log(options);
this.setData({
pageload:true,
connected: false,
deviceId: options.id,
try_cnt:0,
deviceName: options.name
});
console.log("detail: onLoad");
wx.stopBluetoothDevicesDiscovery({
success: function (res) {
console.log('停止搜索设备', res)
}
})
that.closeBLEConnection(that.data.deviceId);
that.createBLEConnection(that.data.deviceId, that.data.deviceName);
},
onHide () {
var that = this;
// Do something when hide.
// 断开连接
console.log("detail: onHide");
},
onShow:function()
{
// var that = this;
// connect bluetooth
// that.closeBLEConnection(that.data.deviceId);
// that.createBLEConnection(that.data.deviceId, that.data.deviceName);
},
onUnload() {
var that = this;
this.setData({
pageload:true,
connected: false,
try_cnt:0,
});
console.log("page: onUnload ");
that.offBLEMonitor();
that.closeBLEConnection(that.data.deviceId);
that.closeBluetoothAdapter();
wx.showToast({
title: '断开蓝牙',
icon: 'success',
duration: 2000
})
},
DisConnectTap:function()
{
var that = this;
that.setData({
pageload:true,
connected: false,
try_cnt:0,
});
ble.openBluetoothAdapter(that.data.deviceId, that.data.deviceName);
that.createBLEConnection(that.data.deviceId, that.data.deviceName);
},
RecvCleanTap: function () {
this.setData({
recv_value: '',
recv_number: 0
});
},
/**
* 创建连接
* @param {*} deviceId
* @param {*} name
*/
createBLEConnection(deviceId, name)
{
wx.createBLEConnection({
deviceId,
success: (res) => {
console.log('createBLEConnection - success： ', res)
this.getBLEDeviceServices(deviceId)
},
fail: (res) => {
console.error('createBLEConnection - fail: ', res)
if(res.errCode == 10006 ){
this.createBLEConnection(deviceId, name)
}
else{
ble.openBluetoothAdapter(deviceId, name)
this.createBLEConnection(deviceId, name)
}
this.setData({
connected: false,
})
}
})
},
getBLEDeviceServices(deviceId)
{
var that = this;
wx.getBLEDeviceServices({
deviceId,
success: (res) =>
{
console.log('getBLEDeviceServices - success： ', res)
for (let i = 0; i < res.services.length; i++)
{
var ergodic_UUID =res.services[i].uuid; //取出服务里面的UUID
var UUID_slice = ergodic_UUID.slice(4, 8); //截取4到8位
console.log('getBLEDeviceServices, service ID = ', res.services[i].uuid);
if ( res.services[i].isPrimary && (UUID_slice == "FFE0") )
{
that.setData({
serviceId: res.services[i].uuid,
});
break;
}
}
wx.getConnectedBluetoothDevices({
services: res.services,
success: (res) =>
{
console.log("getConnectedBluetoothDevices - success: " + res)
},
fail: (res) => {
console.error('getConnectedBluetoothDevices - fail: ', res)
ble.openBluetoothAdapter(deviceId, that.data.deviceName)
}
})
that.getBLEDeviceCharacteristics(deviceId, that.data.serviceId);
},
fail: (res) => {
console.error('getBLEDeviceServices - fail: ', res)
// try it again
ble.openBluetoothAdapter(deviceId, that.data.deviceName)
that.monitor_connected();
}
});
},
getBLEDeviceCharacteristics(deviceId, serviceId)
{
var that = this;
let falg = false;
wx.getBLEDeviceCharacteristics({
deviceId,
serviceId,
success: (res) =>
{
that.setData({
connected: true,
})
console.log('getBLEDeviceCharacteristics success', res.characteristics)
for (let i = 0; i < res.characteristics.length; i++)
{
let item = res.characteristics[i]
console.log('getBLEDeviceCharacteristics, Characteristics ID = ', item.uuid)
// 该特征值：可读
if (item.properties.read)
{
wx.readBLECharacteristicValue({
deviceId,
serviceId,
characteristicId: item.uuid,
})
}
// 该特征值：可写
if (item.properties.write)
{
this.setData({
canWrite: true
})
this._deviceId = deviceId
this._serviceId = serviceId
this._characteristicId = item.uuid
this.writeValue()
}
if (item.properties.notify || item.properties.indicate)
{
that.setData({
characteristicId: item.uuid
});
falg = true;
break;
}
}
if( falg )
{
console.debug('getBLEDeviceCharacteristics - deviceId : ', deviceId)
console.debug('getBLEDeviceCharacteristics - serviceId : ', serviceId)
console.debug('getBLEDeviceCharacteristics - characteristicId: ', that.data.characteristicId)
// read device character value
that.readBLECharacteristicValue(deviceId, serviceId, that.data.characteristicId)
that.notifyBLECharacteristicValueChange(deviceId, serviceId, that.data.characteristicId)
}
},
fail: (res) => {
console.error('getBLEDeviceCharacteristics -- fail: ', res)
this.setData({
connected: false,
})
if (res.errCode === 10006)
{
that.offBLEMonitor();
that.createBLEConnection(deviceId, that.data.deviceName);
}
}
})
},
readBLECharacteristicValue(deviceId,serviceId, characteristicId )
{
wx.readBLECharacteristicValue({
// 这里的 deviceId 需要已经通过 createBLEConnection 与对应设备建立链接
deviceId,
// 这里的 serviceId 需要在 getBLEDeviceServices 接口中获取
serviceId,
// 这里的 characteristicId 需要在 getBLEDeviceCharacteristics 接口中获取
characteristicId,
success (res) {
console.log('readBLECharacteristicValue:', res.errCode)
}
})
},
notifyBLECharacteristicValueChange(deviceId,serviceId, characteristicId )
{
var that = this;
wx.notifyBLECharacteristicValueChange({
state: true, // enable notify
deviceId,
serviceId,
characteristicId,
success: (res) => {
console.info('notifyBLECharacteristicValueChange success: ', res.errMsg)
// read data here
// 操作之前先监听，保证第一时间获取数据
wx.onBLECharacteristicValueChange(function(res)
{
that.data.connected = true;
console.info('onBLECharacteristicValueChange', res);
console.info(`characteristic ${res.characteristicId} has changed, now is ${res.value}`);
var result = res.value;
var hex = utils.buf2hex(result);
var _hex_ss = utils.hex2string(hex);
console.info("hex: " + hex);
console.info("string: " + _hex_ss);
var recv_number_1 = that.data.recv_number + _hex_ss.length / 2;
var recv_number = Math.round(recv_number_1);
that.setData({
recv_number: recv_number,
recv_value: that.data.recv_value + _hex_ss,
});
let _ss = that.data.recv_value
if( _ss.includes("TM(C):") && _ss.includes("HM:") && _ss.includes("\n"))
{
let buff = _ss.split(' ')
console.log( _ss )
console.log(buff)
that.data.recv_value = "";
that.data.recv_number = 0;
that.setData({
temphtValue: buff[2],
humidityValue: buff[4],
});
}
that.monitor_connected();
})
},
fail: (res) => {
console.error('notifyBLECharacteristicValueChange fail: ', res)
that.monitor_connected();
}
})
},
monitor_connected_action()
{
var that = this;
let deviceId = that.data.deviceId;
wx.onBLEConnectionStateChange(function(res) {
// 该方法回调中可以用于处理连接意外断开等异常情况
console.log( "onBLEConnectionStateChange ----- " + `device ${res.deviceId} state has changed, connected: ${res.connected}`)
if( res.deviceId == deviceId && res.connected == false )
{
wx.closeBLEConnection({
deviceId,
success: (res) => {
console.debug('detail: closeBLEConnection success', res);
that.offBLEMonitor();
that.createBLEConnection(deviceId, that.data.deviceName);
},
fail: (res) => {
console.error('detail: closeBLEConnection fail', res);
if (res.errCode === 10006) {
that.offBLEMonitor();
that.createBLEConnection(deviceId, that.data.deviceName);
}
}
})
that.setData({
try_cnt: that.data.try_cnt + 1,
})
}
else{
that.data.try_cnt = 0;
}
})
},
monitor_connected()
{
var that = this;
setTimeout(that.monitor_connected_action, 200);
},
writeValue( val )
{
// 向蓝牙设备发送一个0x00的16进制数据
let buffer = new ArrayBuffer(1);
let dataView = new DataView(buffer);
dataView.setUint8(0, val);
console.debug('getBLEDeviceCharacteristics - deviceId : ', this._deviceId)
console.debug('getBLEDeviceCharacteristics - serviceId : ', this._serviceId)
console.debug('getBLEDeviceCharacteristics - characteristicId: ', this._characteristicId)
wx.writeBLECharacteristicValue({
deviceId: this._deviceId,
serviceId: this._serviceId,
characteristicId: this._characteristicId,
value: buffer,
success: (res) => {
console.debug('writeBLECharacteristicValue success', res);
},
fail: (res) => {
console.error(' writeBLECharacteristicValue fail', res);
this.setData({
connected: false,
})
}
})
},
closeBluetoothAdapter()
{
wx.closeBluetoothAdapter({
success (res) {
console.log(res)
}
})
this.setData({
connected: false,
}),
this._discoveryStarted = false
},
closeBLEConnection( deviceId )
{
wx.closeBLEConnection({
deviceId,
success: (res) => {
console.debug('detail: closeBLEConnection success', res);
},
fail: (res) => {
console.error('detail: closeBLEConnection fail', res);
}
})
this.setData({
connected: false,
canWrite: false,
})
},
run_up:function()
{
var that = this;
var val = 0x18 ;
that.writeValue( val );
},
run_down:function()
{
var that = this;
var val = 0x52;
that.writeValue( val );
},
run_left:function()
{
var that = this;
var val = 0x08;
that.writeValue( val );
},
run_right:function()
{
var that = this;
var val = 0x5a;
that.writeValue( val );
},
whiteLightValueSliderChange:function(e)
{
var that = this;
// 向蓝牙设备发送一个0x00的16进制数据
var val = Math.random() * 255 | 0;
that.writeValue( val );
},
offBLEMonitor(){
this.setData({
connected: false,
}),
wx.offBLEPeripheralConnectionStateChanged();
wx.offBLEConnectionStateChange();
wx.offBLECharacteristicValueChange();
wx.offBLEMTUChange();
}
})5 参考文献
1）使用Arduino UNO硬件平台制作智能小车-CSDN博客
2）汇承HC-08蓝牙串口模块使用规格书(含指令集）.pdf
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