qqq12414 發表於 2014-7-9 01:36:27

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;

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();
    }
}
}

vegewell 發表於 2014-7-11 03:28:29

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?

qqq12414 發表於 2014-7-11 21:28:54

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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