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標題: 如何用 wifi shield 做自走車的無線控制? [打印本頁]

作者: qqq12414 時間: 2014-7-9 01:36
標題: 如何用 wifi shield 做自走車的無線控制?
本帖最後由 qqq12414 於 2014-7-9 01:38 編輯

最近剛入門有許多問題還不太瞭解
手邊只有這塊wifi版:http://www.seeedstudio.com/depot/Wifi-Shield-p-1220.html

目前是接上飆機器人的ABB_CAR 想做無線控制
從網路上找到的範例修改後，我讓自走車連上手機的基地台後，用UDP廣播控制馬達動作
可是現在有一個問題，自走車必須接上電腦USB線，在手機端的廣播才有作用，一旦拔掉傳輸線就沒辦法控制
以下是我的程式碼，請問我的問題在哪邊呢?

#include <Arduino.h>
#include <SoftwareSerial.h>
#include "WiFly.h"
#include "Servo.h"

#define SSID    "AndroidAP"
#define KEY    ""
#define AUTH    WIFLY_AUTH_OPEN
#define UDP_HOST_IP       "192.168.43.44" // broadcast
#define UDP_REMOTE_PORT 8080
#define UDP_LOCAL_PORT    5555

// Pins' connection
// Arduino    WiFly
//  2 <----> TX
//  3 <----> RX
SoftwareSerial uart(2, 3);
WiFly wifly(uart);
int deg=90;
Servo servoLeft;
Servo servoRight;
Servo servoCamera;
void setupUDP(const char *host_ip, uint16_t remote_port, uint16_t local_port)
{
  char cmd[32];

  wifly.sendCommand("set w j 1\r", "AOK"); // enable auto join

  wifly.sendCommand("set i p 1\r", "AOK");
  snprintf(cmd, sizeof(cmd), "set i h %s\r", host_ip);
  wifly.sendCommand(cmd, "AOK");
  snprintf(cmd, sizeof(cmd), "set i r %d\r", remote_port);
  wifly.sendCommand(cmd, "AOK");
  snprintf(cmd, sizeof(cmd), "set i l %d\r", local_port);
  wifly.sendCommand(cmd, "AOK");
  wifly.sendCommand("save\r");
  wifly.sendCommand("reboot\r");
}
void forward(int time){
  servoLeft.writeMicroseconds(1700);
  servoRight.writeMicroseconds(1300);
  delay(time);
}
void backward(int time){
  servoLeft.writeMicroseconds(1300);
  servoRight.writeMicroseconds(1700);
  delay(time);
}
void turnLeft(int time){
  servoLeft.writeMicroseconds(1300);
  servoRight.writeMicroseconds(1300);
  delay(time);
}
void turnRight(int time){
  servoLeft.writeMicroseconds(1700);
  servoRight.writeMicroseconds(1700);
  delay(time);
}
void bestop(int time){
  servoLeft.writeMicroseconds(1500);
  servoRight.writeMicroseconds(1500);
  delay(time);
}
void camup(){
if(deg == 180){
servoCamera.write(deg);
}
else {
   deg += 45;
   servoCamera.write(deg);
}
}
void camdown(){
  if ( deg == 0){
servoCamera.write(deg);
  }
  else {
deg-=45;
servoCamera.write(deg);
  }
}
void setup() {

  Serial.begin(9600);
  servoLeft.attach(13);
  servoRight.attach(12);
  servoCamera.attach(10);
  servoCamera.write(deg);
  Serial.println("--------- WIFLY UDP --------");

  uart.begin(9600);    // WiFly UART Baud Rate: 9600
  wifly.reset();

  while (1) {
Serial.println("Try to join " SSID );
if (wifly.join(SSID, KEY, AUTH)) {
   Serial.println("Succeed to join " SSID);
   wifly.clear();
   break;
} else {
   Serial.println("Failed to join " SSID);
   Serial.println("Wait 1 second and try again...");
   delay(1000);
}
  }

  setupUDP(UDP_HOST_IP, UDP_REMOTE_PORT, UDP_REMOTE_PORT);
  wifly.sendCommand("set sys autoconn 1");
  delay(1000);
  wifly.clear();
  Serial.println("Succeed to create UDP");
}

unsigned int time_point = 0;
char receivedata;

void loop() {
while (wifly.available()) {
receivedata = wifly.read();
Serial.print(receivedata);
if(receivedata==49 ){
   forward(20);
}
else if(receivedata==50){
   backward(20);
}
else if(receivedata==51){
   turnLeft(200);
}
else if(receivedata==52){
   turnRight(200);
}
else if(receivedata== 53){
   bestop(400);
}
else if(receivedata== 54){
   camup();
}
else if(receivedata== 55){
   camdown();
}
  }
}

作者: vegewell 時間: 2014-7-11 03:28
回復 1# qqq12414

>>從網路上找到的範例修改後
你意思是說,沒有經過修改的範例,自走車不須接上電腦USB線，在手機端的廣播也有作用，拔掉傳輸線一樣可以控制, 是嗎?

作者: qqq12414 時間: 2014-7-11 21:28
本帖最後由 qqq12414 於 2014-7-11 21:31 編輯

回復 2# vegewell

找到問題了@@程式部分沒問題，後來發現是POWER不夠，所以拔掉USB線馬達會動不了

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