利用DoHome APP和音箱控制小车的实验参考步骤

准备材料：

Arduino Uno 一块

Arduino 扩展板购买链接

DT-06模块一个购买链接

安卓手机一个

小度音箱一个

小车一个

杜邦线若干

1.DT-06固件的烧录

1.1打开ESP模块下载工具ESPFlashDownloadTool,选择需要下载的固件，填写下载地址，推荐使用 ESP8266 Download TOOL,配置信息如下：

1.2 选择实际的串口，选择下载速度

1.3点击ERASE，先插除，再点击START,开始下载

工具下载及详细请看：http://bbs.doit.am/forum.php?mod=viewthread&tid=208

DT-06固件.bin文件下载链接

2.硬件电路的连接

DT-06安装到arduino扩展板的串口排插位置

3.DT-06通讯协议

通信方式：串口通讯

波特率：115200，无奇偶校验，8位数据位，1位停止位

每条命令以\r\n结尾。

3.1 控制命令

3.1.1 DT06->arduino

‘2’:前进，’4’:左转，’6’:右转，’8’:后退，’5’:停止，’Y’:左平移，

‘y’:右平移，’7’:加速，’9’:减速

3.1.2 Arduino->DT06

cmd=ctrl&ok;

3.2 设置小车模式

3.2.1 DT06->arduino

‘A’:手动，’B’:循迹，’C’:避障。

3.2.2 Arduino->DT06

cmd=mode&ok;

3.3 上传状态

3.3.1 Arduino->DT06

上传状态

cmd=ext_stat&status=speed|mode|soft_poweroff

例：cmd=ext_stat&status=255|65|0

speed表示小车当前车速，mode表示小车当前模式

soft_poweroff表示小车当前运动状态，1表示运动，0表示停止

3.3.2 DT06->arduino

cmd= ok

4.Arduino UNO 程序的编写

  1 //材料：UNO+Doit电机驱动板+蓝牙模块
  2 
  3 /****************************IO引脚定义*****************************/
  4 //电机引脚
  5 #define PWMD 3 //D电机转速
  6 #define DIRD 2 //D电机转向
  7 
  8 #define PWMC 5 //C电机转速
  9 #define DIRC 4 //C电机转向
 10 
 11 #define PWMB 6 //B电机转速
 12 #define DIRB 7 //B电机转向
 13 
 14 #define PWMA 9 //A电机转速
 15 #define DIRA 8 //A电机转向
 16 
 17 
 18 //上传状态
 19 void uploadExtendStatus(uint8_t uSpeed,uint8_t uMode,uint8_t soft_poweroff)
 20 {
 21   char strExtStat[128];memset(strExtStat,0x00,sizeof(strExtStat));
 22   sprintf(strExtStat,"cmd=ext_stat&status=%d|%d|%d\r\n",uSpeed,uMode,soft_poweroff);
 23   Serial.write((uint8_t*)strExtStat,strlen(strExtStat));
 24 }
 25 
 26 
 27 //车体前进
 28 //
 29 void motor_go_forward()
 30 {
 31   digitalWrite(DIRA,HIGH);
 32   digitalWrite(DIRB,HIGH);
 33   digitalWrite(DIRC,LOW);
 34   digitalWrite(DIRD,LOW);
 35 
 36   analogWrite(PWMA,255);
 37   analogWrite(PWMB,255);
 38   analogWrite(PWMC,255);
 39   analogWrite(PWMD,255);
 40   uploadExtendStatus(255,65,1);
 41 
 42 }
 43 
 44 //车体前进后退
 45 //
 46 void motor_go_back()
 47 {
 48   digitalWrite(DIRA,LOW);
 49   digitalWrite(DIRB,LOW);
 50   digitalWrite(DIRC,HIGH);
 51   digitalWrite(DIRD,HIGH);
 52 
 53   analogWrite(PWMA,255);
 54   analogWrite(PWMB,255);
 55   analogWrite(PWMC,255);
 56   analogWrite(PWMD,255);
 57   uploadExtendStatus(255,65,1);
 58 }
 59 
 60 //车体左转
 61 //
 62 void motor_go_left()
 63 {
 64   digitalWrite(DIRA,HIGH);
 65   digitalWrite(DIRB,LOW);
 66   digitalWrite(DIRC,LOW);
 67   digitalWrite(DIRD,HIGH);
 68 
 69   analogWrite(PWMA,255);
 70   analogWrite(PWMB,255);
 71   analogWrite(PWMC,255);
 72   analogWrite(PWMD,255);
 73   uploadExtendStatus(255,65,1);
 74 }
 75 
 76 //车体右转
 77 //
 78 void motor_go_right()
 79 {
 80   digitalWrite(DIRA,LOW);
 81   digitalWrite(DIRB,HIGH);
 82   digitalWrite(DIRC,HIGH);
 83   digitalWrite(DIRD,LOW);
 84 
 85   analogWrite(PWMA,255);
 86   analogWrite(PWMB,255);
 87   analogWrite(PWMC,255);
 88   analogWrite(PWMD,255);
 89   uploadExtendStatus(255,65,1);
 90 }
 91 
 92 //车体停止
 93 void motor_go_stop()
 94 {
 95   digitalWrite(DIRA,LOW);
 96   digitalWrite(DIRB,LOW);
 97   digitalWrite(DIRC,LOW);
 98   digitalWrite(DIRD,LOW);
 99 
100   analogWrite(PWMA,0);
101   analogWrite(PWMB,0);
102   analogWrite(PWMC,0);
103   analogWrite(PWMD,0);
104   uploadExtendStatus(0,65,0);
105 
106 }
107 
108 //车体左平移
109 //
110 void motor_pmove_left()
111 {
112   digitalWrite(DIRA,HIGH);
113   digitalWrite(DIRB,LOW);
114   digitalWrite(DIRC,HIGH);
115   digitalWrite(DIRD,LOW);
116 
117   analogWrite(PWMA,200);
118   analogWrite(PWMB,200);
119   analogWrite(PWMC,200);
120   analogWrite(PWMD,200);
121   uploadExtendStatus(200,65,1);
122 
123 }
124 
125 //车体右平移
126 void motor_pmove_right()
127 {
128   digitalWrite(DIRA,LOW);
129   digitalWrite(DIRB,HIGH);
130   digitalWrite(DIRC,LOW);
131   digitalWrite(DIRD,HIGH);
132 
133   analogWrite(PWMA,200);
134   analogWrite(PWMB,200);
135   analogWrite(PWMC,200);
136   analogWrite(PWMD,200);
137   uploadExtendStatus(200,65,1);
138 
139 }
140 
141 //串口接收处理
142 #define MAX_PACKETSIZE 32  //串口接收缓冲区
143 char buffUART[MAX_PACKETSIZE];
144 unsigned int buffUARTIndex = 0;
145 unsigned long preUARTTick = 0;
146 //小车转向
147 enum DN
148 {
149   GO_ADVANCE,
150   GO_LEFT,
151   GO_RIGHT,
152   GO_BACK,
153   STOP_STOP,
154   PMOVE_LEFT,//Parallel movement to the left
155   PMOVE_RIGHT,//Parallel movement to the right
156   DEF
157 } Drive_Num = DEF;
158 
159 //电机控制标志量
160 bool flag1 = false;
161 bool stopFlag = false;
162 bool JogFlag = false;
163 uint16_t JogTimeCnt = 0;
164 uint32_t JogTime = 0;
165 
166 
167 //小车电机控制
168 void CAR_Control()
169 {
170   switch (Drive_Num)
171   {
172   case GO_ADVANCE:motor_go_forward(); JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
173   case GO_LEFT:   motor_go_left();    JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
174   case GO_RIGHT:  motor_go_right();   JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
175   case GO_BACK:   motor_go_back();    JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
176   case STOP_STOP: motor_go_stop();    JogTime = 0; JogFlag = false; stopFlag = true; break;
177   case PMOVE_LEFT:  motor_pmove_left();   JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
178   case PMOVE_RIGHT: motor_pmove_right();  JogFlag = true; JogTimeCnt = 1; JogTime = millis(); break;
179   default: break;
180   }
181   Drive_Num = DEF;
182   //小车保持姿态210ms
183   if (millis() - JogTime >= 510)
184   {
185     JogTime = millis();
186     if (JogFlag == true)
187     {
188       stopFlag = false;
189       if (JogTimeCnt <= 0)
190       {
191         JogFlag = false; stopFlag = true;
192       }
193       JogTimeCnt--;
194     }
195     if (stopFlag == true)
196     {
197       stopFlag = false;
198       JogTimeCnt = 0;
199       motor_go_stop();
200     }
201   }
202 }
203 
204 
205 
206 //串口数据接收处理
207 void UART_Control()
208 {
209   char Uart_Date = 0;
210   if (Serial.available()) //串口收到数据
211   {
212     Uart_Date = Serial.read();
213   }
214 
215   if (buffUARTIndex > 0 && (millis() - preUARTTick >= 100)) //超过100ms没接到数据，则认为已经接收到完整指令
216   { //data ready
217     buffUART[buffUARTIndex] = 0x00;
218     if ((buffUART[0] == 'C') && (buffUART[1] == 'M') && (buffUART[2] == 'D')) //若发送指令非法，则忽略
219     {
220       ;
221     }
222     else Uart_Date = buffUART[0];
223     buffUARTIndex = 0;
224   }
225   //Serial.println("Uart_Date:");
226   //Serial.println(Uart_Date);
227   switch (Uart_Date)    //串口控制指令
228   {
229   case '2': Drive_Num = GO_ADVANCE; break;
230   case '4': Drive_Num = GO_LEFT;    break;
231   case '6': Drive_Num = GO_RIGHT;   break;
232   case '8': Drive_Num = GO_BACK;    break;
233   case '5': Drive_Num = STOP_STOP;  break;
234   case 'Y': Drive_Num = PMOVE_LEFT; break;
235   case 'y': Drive_Num = PMOVE_RIGHT;break;
236   case 'A': break;
237   case 'B': break;
238   case 'C': break;
239   default: break;
240   }
241 
242 }
243 //IO初始化
244 void IO_init()
245 {
246   pinMode(DIRA, OUTPUT);
247   pinMode(PWMA, OUTPUT);
248   pinMode(DIRB, OUTPUT);
249   pinMode(PWMB, OUTPUT);
250   pinMode(DIRC, OUTPUT);
251   pinMode(PWMC, OUTPUT);
252   pinMode(DIRD, OUTPUT);
253   pinMode(PWMD, OUTPUT);
254   motor_go_stop();
255 }
256 
257 /////////////////////////////////////////////////////////////////////////////
258 void setup()
259 {
260   Serial.begin(115200);
261   delay(1000);
262   IO_init();
263 }
264 
265 void loop()
266 {
267   UART_Control();//串口接收处理
268   CAR_Control();//小车控制
269 }