Arduino wifi小车.docVIP

Arduinowifi小车简介wifi小车中用到了openwrt路由器，怎样刷路由器以及连接uvc摄像头所需软件不在此文档中详细描述，arduino通过网线连接ENC28J60网络模块再连接路由器，是由于TTL方式始终没有成功才增加的。本项目借用在路由器中luci所在的服务器提供web服务，增加控制页面实现了电脑键盘控制，客户端支持谷歌浏览器，手机终端用的ME722键盘控制也测试通过。注意舵机电源不要用控制板的VCC会导致电源不稳定，在本项目中连接的是电机驱动的5V端口，电机驱动需要和主控板共地。存在的问题是通过鼠标操作有些不方便，下面是详细信息以及源码。设备连接图网络图设备清单序号型号功能描述价格（含运费）1智能小车底盘带4WD驱动（MT-2电机驱动）小车地盘以及电机驱动模块1152Arduino MEGA2560 R3 开发板 2012新版，ATMEGA16U2-MU（官方板）主控板723Arduino MEGA Sensor Shield V2.0 专用传感器扩展板控制板扩展接口3047电发烧数显移动电源盒4节18650锂电池 5V至13V可变电压移动电源带4节18650电池1405ENC28J60网络模块控制板与路由器之间通信246正品天敏S604HD笔记本电脑免驱摄像头高清摄像头内置麦克风包邮摄像75.67水晶MW151RM 加USB 闪存 64M内存 openwrt 路由器无线通信1058二自由度云台（2个MG995舵机以及云台支架）控制摄像头方向769辅材若干杜邦线、网线、usb线20合计657.6接口文件irobot_main.h/-#ifndef _irobot_main_H_#define _irobot_main_H_/- #include #include #include #include #include /- /- / Put yout declarations here /- /=/ - DO NOT WRITE ANYTHING BETWEEN HERE./ This section is reserved for automated code generation/ This process tries to detect all user-created/ functions in main_sketch.cpp, and inject their/ declarations into this file./ If you do not want to use this automated process,/simply delete the lines below, with &MM_DECLA text/=/- DO NOT DELETE THIS LINE - MM_DECLA_BEG-void setServo(Servo &servo,int val);void setYServo(int val);void setXServo(int val);void pause(int gap);void turn();void right();void left();void back();void front();void setSpeedVal(int speedVal);void action(int command);void loop();void setup();int parseint(char* s);/- DO NOT DELETE THIS LINE - MM_DECLA_END-/ - .AND HERE. This space is reserved for automated code generation!/= /-#endif/- 源文件irobot_main.cpp/*project: irobotauthor: description: control program for robot*/#include irobot_main.h #define TCP_FLAGS_FIN_V 1 /as declared in net.h#define TCP_FLAGS_ACK_V 0x10 /as declared in net.hconst byte myip = 192,168,42,69 ;const byte gwip = 192,168,42,1 ;const byte mymac = 0x74,0x69,0x69,0x2D,0x30,0x39 ;byte Ethernet:buffer512; / tcp ip send and receive buffer const char success PROGMEM =HTTP/1.0 200 OKrnContent-Type: text/htmlrnrnresult: success, message:ok; /moto pinconst unsigned short motorA1 = A2;const unsigned short motorA2 = A3;const unsigned short motorB1 = A6;const unsigned short motorB2 = A7;const unsigned short motorC1 = A10;const unsigned short motorC2 = A11;const unsigned short motorD1 = A14;const unsigned short motorD2 = A15;const unsigned short ENA = 42;const unsigned short ENB = 43;const unsigned short ENC = 44;const unsigned short END = 45;const unsigned short minSpeedVal = 150;const unsigned short maxSpeedVal = 255;unsigned short speedVal = maxSpeedVal; /servo pinServo servoX;unsigned short servoXVal = 90;const unsigned short servoXPin = 46;Servo servoY;unsigned short servoYVal = 90;const unsigned short servoYPin = 48;const unsigned short gap = 10; /小车方向控制#define W 87#define S 83#define A 65#define D 68/云台方向控制#define LeftArrow 37#define UpArrow 38#define RightArrow 39#define DownArrow 40char* substr(const char*str,unsigned start, unsigned end)unsigned n = end - start;static char stbuf256;strncpy(stbuf, str + start, n);stbufn = 0;return stbuf; char* trim(char* str)if(str=NULL)return NULL;int st = 0;char* val = str; /* avoid getfield opcode */int len = strlen(str);int tmp = len;while (st len) & (valst = )st+;while (st len) & (vallen - 1 0 | lentmp)return substr(str,st, len);elsereturn str; int parseint(char* s)int retval=0;int n=1;if (*s=-)n=-1;s+;while (*s!=0)retval=retval*10+(*s-0);s+;return(n*retval); void setup() Serial.begin(9600); / MISO 50,MOSI 51,SCK 52,CS 53 for the mega ethernet shield and cs 10 for normal ethernet shieldif (ether.begin(sizeof Ethernet:buffer, mymac , 53) = 0) Serial.println( Failed to access Ethernet controller);ether.staticSetup(myip, gwip); servoX.attach(servoXPin);servoX.write(servoXVal);servoY.attach(servoYPin);servoY.write(servoYVal); pinMode(motorA1,OUTPUT);pinMode(motorA2,OUTPUT);pinMode(motorB1,OUTPUT);pinMode(motorB2,OUTPUT);pinMode(motorC1,OUTPUT);pinMode(motorC2,OUTPUT);pinMode(motorD1,OUTPUT);pinMode(motorD2,OUTPUT); void loop() word pos = ether.packetLoop(ether.packetReceive();/ check if valid tcp data is receivedif (pos) char* data = (char *) Ethernet:buffer + pos;const char* tag = ?action=;if (strncmp(GET /, data, 5) = 0) char* tmp = strstr(data,tag);char* charNum = trim(substr(tmp,8,10);/Serial.print(*);/Serial.print(charNum);/Serial.println(*);action(parseint(charNum);ether.httpServerReplyAck(); / send ack to the requestmemcpy_P(ether.tcpOffset(), success, sizeof success);ether.httpServerReply_with_flags(sizeof success - 1,TCP_FLAGS_ACK_V|TCP_FLAGS_FIN_V); Serial.flush(); void action(int command) Serial.println(command); switch(command)/控制方向case W:front();break;case S:back();break;case A:left();break;case D:right();break;/设置舵机case LeftArrow:setXServo(servoXVal+gap);break;case RightArrow:setXServo(servoXVal-gap);break;case UpArrow:setYServo(servoYVal-gap);break;case DownArrow:setYServo(servoYVal+gap);break; void setSpeedVal(int speedVal)analogWrite(ENA,speedVal);analogWrite(ENB,speedVal);analogWrite(ENC,speedVal);analogWrite(END,speedVal); void front() setSpeedVal(speedVal);/前轮digitalWrite(motorB1,HIGH);digitalWrite(motorB2,LOW);digitalWrite(motorD1,HIGH);digitalWrite(motorD2,LOW); /后轮digitalWrite(motorA1,LOW);digitalWrite(motorA2,HIGH);digitalWrite(motorC1,LOW);digitalWrite(motorC2,HIGH);pause(400); void back() setSpeedVal(speedVal);/前轮digitalWrite(motorB1,LOW);digitalWrite(motorB2,HIGH);digitalWrite(motorD1,LOW);digitalWrite(motorD2,HIGH); /后轮digitalWrite(motorA1,HIGH);digitalWrite(motorA2,LOW);digitalWrite(motorC1,HIGH);digitalWrite(motorC2,LOW);pause(400); void left() setSpeedVal(speedVal);/左侧digitalWrite(motorA1,LOW);digitalWrite(motorA2,HIGH);digitalWrite(motorB1,HIGH);digitalWrite(motorB2,LOW); /右侧digitalWrite(motorC1,HIGH);digitalWrite(motorC2,LOW);digitalWrite(motorD1,LOW);digitalWrite(motorD2,HIGH);pause(250); void right() setSpeedVal(speedVal);/左侧digitalWrite(motorA1,HIGH);digitalWrite(motorA2,LOW);digitalWrite(motorB1,LOW);digitalWrite(motorB2,HIGH); /右侧digitalWrite(motorC1,LOW);digitalWrite(motorC2,HIGH);digitalWrite(motorD1,HIGH);digitalWrite(motorD2,LOW);pause(250); void turn() left(); void pause(int gap) delay(gap);digitalWrite(motorA1,LOW);digitalWrite(motorA2,LOW);digitalWrite(motorB1,LOW);digitalWrite(motorB2,LOW);digitalWrite(motorC1,LOW);digitalWrite(motorC2,LOW);digitalWrite(motorD1,LOW);digitalWrite(motorD2,LOW); void setXServo(int val) int value =constrain(val,10,180);setServo(servoX,value);servoXVal = value; void setYServo(int val) int value =constrain(val,0,100);setServo(servoY,value);servoYVal = value; void setServo(Servo &servo,int val) servo.write(val);/Serial.print(Servo1 is set to:);/Serial.println(val);路由器中luci增加jquery-easyui工程iRobotvar localip = 7;var pcbip = 9;var sliderValue = 100;var light = false;function addIframe(tabId,title,url,clos)if($(#+tabId).tabs(exists,title)$(#+tabId).tabs(close,title);/refreshTab(tabTitle:title,url:url); var content =; $(#+tabId).tabs(add,title:title,content:content,style:overflow:hidden;padding:2px,closable:clos); $(function() addIframe(tabs,在线监测,http:/+localip+:8080/javascript_simple.html,false););$(function()document.onkeydown = function(e)var ev = document.all