Latest News

Home » 數位製造 » 【Arduino機器人車載無線控制】使用HC-05藍牙，NRF24L01和HC-12收發器模塊

【Arduino機器人車載無線控制】使用HC-05藍牙，NRF24L01和HC-12收發器模塊

在本教學中，我們將學習如何無線控制我們在以前的視訊中製作的Arduino機器人車。
我將向您展示三種不同的無線控制方法，使用HC-05藍牙模組，NRF24L01收發模組和HC-12遠端無線模組，以及使用智慧手機和定制Android應用程式。
您可以觀看以下視訊或閱讀下面的書面教學瞭解更多詳情。

我已經有關於如何使用Arduino板連線和使用這些模組的教學，所以如果你需要更多的細節，你可以隨時檢查它們。
他們中的每一個的連結可以在文中找到。

使用HC-05藍牙模組的Arduino機器人車控制

我們將從藍牙通信開始，為此，我們需要兩個需要配置為主裝置和從裝置的HC-05藍牙模組。

Arduino Robot Car HC-05 Bluetooth Control

我們可以通過使用AT指令輕鬆實現，我將操縱桿設定為主人，Arduino機器人車成為奴隸。
以下是此示例的完整電路原理圖：

Arduino Robot Car HC-05 Bluetooth Control Circuit Schematic

您可以從以下連結取得此示例所需的元件：

  • HC-05 Bluetooth Module …………………………… Amazon
  • Joystick Module ………………………………………… Amazon
  • 18650 Batteries ………………………………………… Amazon
  • L298N Driver ……………………………………………. Amazon
  • 12V High Torque DC Motor ……………………….. Amazon
  • Arduino Board ………………………………………….. Amazon

*請注意：這些是聯盟鏈接。 如果您通過這些鏈接購買組件，我可以進行佣金。
我將以這種方式感謝您的支持！
源代碼

我們將使用上一個教程中使用相同的代碼，我們直接使用操縱桿來控制Arduino機器人車，我們將對其進行一些修改。

HC-05主碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the HC-05 Bluetooth
  3.  
  4. == MASTER DEVICE – Joystick ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7. */
  8.  
  9. int xAxis, yAxis;
  10.  
  11. void setup() {
  12. Serial.begin(38400); // Default communication rate of the Bluetooth module
  13. }
  14.  
  15. void loop() {
  16. xAxis = analogRead(A0); // Read Joysticks X-axis
  17. yAxis = analogRead(A1); // Read Joysticks Y-axis
  18.  
  19. // Send the values via the serial port to the slave HC-05 Bluetooth device
  20. Serial.write(xAxis/4); // Dividing by 4 for converting from 0 – 1023 to 0 – 256, (1 byte) range
  21. Serial.write(yAxis/4);
  22. delay(20);
  23. }

主裝置或操縱桿上的代碼非常簡單。 我們只需要讀取操縱桿的X和Y值，實際上可以調節電機的速度，並通過序列連接埠將其傳送到到從機HC-05藍牙裝置。 我們可以在這裡註意，從0到1023的操縱桿的模擬值通過將它們潛水4轉換為從0到255的值。

我們這樣做，因為從0到255的範圍可以通過藍牙裝置傳送到，在另一邊或Arduino機器人車上更容易被接受為1個位元組。

所以在這裡，如果序列接收到2個位元組，X和Y值，使用Serial.read（）函數，我們將讀取它們。

  1. // Code from the Arduino Robot Car
  2.  
  3. // Read the incoming data from the Joystick, or the master Bluetooth device
  4. while (Serial.available() >= 2) {
  5. x = Serial.read();
  6. delay(10);
  7. y = Serial.read();
  8. }

現在我們只需要將值轉換回0到1023之間的範圍，適用於下面的電機控制代碼，我們已經解釋了它在前一個視頻中的工作原理。

  1. // Code from the Arduino Robot Car
  2.  
  3. // Convert back the 0 – 255 range to 0 – 1023, suitable for motor control code below
  4. xAxis = x*4;
  5. yAxis = y*4;

只需一個簡單的注意事項，當上傳代碼時，我們需要斷開Arduino板的RX和TX引腳。

完成HC-05從代碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the HC-05 Bluetooth
  3.  
  4. == SLAVE DEVICE – Arduino robot car ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7. */
  8.  
  9. #define enA 9
  10. #define in1 4
  11. #define in2 5
  12. #define enB 10
  13. #define in3 6
  14. #define in4 7
  15.  
  16. int xAxis, yAxis;
  17. unsigned int x = 0;
  18. unsigned int y = 0;
  19.  
  20. int motorSpeedA = 0;
  21. int motorSpeedB = 0;
  22.  
  23. void setup() {
  24. pinMode(enA, OUTPUT);
  25. pinMode(enB, OUTPUT);
  26. pinMode(in1, OUTPUT);
  27. pinMode(in2, OUTPUT);
  28. pinMode(in3, OUTPUT);
  29. pinMode(in4, OUTPUT);
  30.  
  31. Serial.begin(38400); // Default communication rate of the Bluetooth module
  32. }
  33.  
  34. void loop() {
  35. // Default value – no movement when the Joystick stays in the center
  36. x = 510 / 4;
  37. y = 510 / 4;
  38.  
  39. // Read the incoming data from the Joystick, or the master Bluetooth device
  40. while (Serial.available() >= 2) {
  41. x = Serial.read();
  42. delay(10);
  43. y = Serial.read();
  44. }
  45. delay(10);
  46. // Convert back the 0 – 255 range to 0 – 1023, suitable for motor control code below
  47. xAxis = x*4;
  48. yAxis = y*4;
  49.  
  50. // Y-axis used for forward and backward control
  51. if (yAxis < 470) {
  52. // Set Motor A backward
  53. digitalWrite(in1, HIGH);
  54. digitalWrite(in2, LOW);
  55. // Set Motor B backward
  56. digitalWrite(in3, HIGH);
  57. digitalWrite(in4, LOW);
  58. // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
  59. motorSpeedA = map(yAxis, 470, 0, 0, 255);
  60. motorSpeedB = map(yAxis, 470, 0, 0, 255);
  61. }
  62. else if (yAxis > 550) {
  63. // Set Motor A forward
  64. digitalWrite(in1, LOW);
  65. digitalWrite(in2, HIGH);
  66. // Set Motor B forward
  67. digitalWrite(in3, LOW);
  68. digitalWrite(in4, HIGH);
  69. // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
  70. motorSpeedA = map(yAxis, 550, 1023, 0, 255);
  71. motorSpeedB = map(yAxis, 550, 1023, 0, 255);
  72. }
  73. // If joystick stays in middle the motors are not moving
  74. else {
  75. motorSpeedA = 0;
  76. motorSpeedB = 0;
  77. }
  78.  
  79. // X-axis used for left and right control
  80. if (xAxis < 470) {
  81. // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
  82. int xMapped = map(xAxis, 470, 0, 0, 255);
  83. // Move to left – decrease left motor speed, increase right motor speed
  84. motorSpeedA = motorSpeedA – xMapped;
  85. motorSpeedB = motorSpeedB + xMapped;
  86. // Confine the range from 0 to 255
  87. if (motorSpeedA < 0) {
  88. motorSpeedA = 0;
  89. }
  90. if (motorSpeedB > 255) {
  91. motorSpeedB = 255;
  92. }
  93. }
  94. if (xAxis > 550) {
  95. // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
  96. int xMapped = map(xAxis, 550, 1023, 0, 255);
  97. // Move right – decrease right motor speed, increase left motor speed
  98. motorSpeedA = motorSpeedA + xMapped;
  99. motorSpeedB = motorSpeedB – xMapped;
  100. // Confine the range from 0 to 255
  101. if (motorSpeedA > 255) {
  102. motorSpeedA = 255;
  103. }
  104. if (motorSpeedB < 0) {
  105. motorSpeedB = 0;
  106. }
  107. }
  108. // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70)
  109. if (motorSpeedA < 70) {
  110. motorSpeedA = 0;
  111. }
  112. if (motorSpeedB < 70) {
  113. motorSpeedB = 0;
  114. }
  115. analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  116. analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
  117. }

使用智慧手機和自訂構建 Android 應用程式的 Arduino 機器人車控制

接下來，我們來看看如何使用自訂構建 Android 應用程式來控制我們的 Arduino 機器人車。
機器人車的電路原理圖與上一個例子完全相同，HC-05 藍牙模式設定為從裝置。

Arduino Robot Car Android Smartphone Control

另一方面，使用麻省理工學院 App Inventor 線上應用程式，我們將構建自己的 Android 應用程式，以及它的外觀。

所以基本上應用程式模擬一個操縱桿，哪個外觀是由兩個圖像或圖像精靈組成的。

MIT App Inventor Joystick Application Arduino Robot Car Control Tutorial

如果我們來看看這個應用程序的塊，我們可以看到當拖動操縱桿小精靈時，操縱桿球的圖像被移動到我們手指的當前位置，同時我們發送X和Y 藍牙到Arduino車的價值。MIT App Inventor Joystick Application Blocks

Arduino 以與上一個示例中相同的方式使用 Serial.read 函數來接受這些值。

  1. // Read the incoming data from the Smartphone Android App
  2. while (Serial.available() >= 2) {
  3. x = Serial.read();
  4. delay(10);
  5. y = Serial.read();
  6. }

我們此處需要另外做的是將接收到的X和Y值從智慧手機轉換為0到1023範圍，適用於下面的電機控制代碼。
這些值取決於畫布大小，我從我的應用程式得到的X和Y值是從60到220，使用map（）函數我很容易地轉換它們。

  1. // Makes sure we receive corrent values
  2. if (x > 60 & x < 220) {
  3. xAxis = map(x, 220, 60, 1023, 0); // Convert the smartphone X and Y values to 0 – 1023 range, suitable motor for the motor control code below
  4. }
  5. if (y > 60 & y < 220) {
  6. yAxis = map(y, 220, 60, 0, 1023);
  7. }

在應用程式塊，我們還可以看到，當圖像精靈被觸摸時，操縱桿球移回畫布的中心，並且適當的值被傳送到到汽車以停止搬移。
您可以在網站文章中找到並下載此應用程式，以及操縱桿的兩個圖像，以便您可以自行構建或修改此應用程式。

您可以下載下面的Android應用程式，以及操縱桿的兩個圖像：

Icon

Arduino_Robot_Car_Joystick_App.apk 1.62 MB
Download

Icon

Joystick App Images 44.36 KB

Download

完成 Arduino 代碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the HC-05 Bluetooth and custom-build Android app
  3.  
  4. == SLAVE DEVICE – Arduino robot car ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7. */
  8.  
  9. #define enA 9
  10. #define in1 4
  11. #define in2 5
  12. #define enB 10
  13. #define in3 6
  14. #define in4 7
  15.  
  16. int xAxis, yAxis;
  17. int x = 0;
  18. int y = 0;
  19.  
  20. int motorSpeedA = 0;
  21. int motorSpeedB = 0;
  22.  
  23. void setup() {
  24. pinMode(enA, OUTPUT);
  25. pinMode(enB, OUTPUT);
  26. pinMode(in1, OUTPUT);
  27. pinMode(in2, OUTPUT);
  28. pinMode(in3, OUTPUT);
  29. pinMode(in4, OUTPUT);
  30.  
  31. Serial.begin(38400); // Default communication rate of the Bluetooth module
  32. }
  33.  
  34. void loop() {
  35. // Default value – no movement when the Joystick stays in the center
  36. xAxis = 510;
  37. yAxis = 510;
  38.  
  39. // Read the incoming data from the Smartphone Android App
  40. while (Serial.available() >= 2) {
  41. x = Serial.read();
  42. delay(10);
  43. y = Serial.read();
  44. }
  45. delay(10);
  46.  
  47. // Makes sure we receive corrent values
  48. if (x > 60 & x < 220) {
  49. xAxis = map(x, 220, 60, 1023, 0); // Convert the smartphone X and Y values to 0 – 1023 range, suitable motor for the motor control code below
  50. }
  51. if (y > 60 & y < 220) {
  52. yAxis = map(y, 220, 60, 0, 1023);
  53. }
  54.  
  55. // Y-axis used for forward and backward control
  56. if (yAxis < 470) {
  57. // Set Motor A backward
  58. digitalWrite(in1, HIGH);
  59. digitalWrite(in2, LOW);
  60. // Set Motor B backward
  61. digitalWrite(in3, HIGH);
  62. digitalWrite(in4, LOW);
  63. // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
  64. motorSpeedA = map(yAxis, 470, 0, 0, 255);
  65. motorSpeedB = map(yAxis, 470, 0, 0, 255);
  66. }
  67. else if (yAxis > 550) {
  68. // Set Motor A forward
  69. digitalWrite(in1, LOW);
  70. digitalWrite(in2, HIGH);
  71. // Set Motor B forward
  72. digitalWrite(in3, LOW);
  73. digitalWrite(in4, HIGH);
  74. // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
  75. motorSpeedA = map(yAxis, 550, 1023, 0, 255);
  76. motorSpeedB = map(yAxis, 550, 1023, 0, 255);
  77. }
  78. // If joystick stays in middle the motors are not moving
  79. else {
  80. motorSpeedA = 0;
  81. motorSpeedB = 0;
  82. }
  83.  
  84. // X-axis used for left and right control
  85. if (xAxis < 470) {
  86. // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
  87. int xMapped = map(xAxis, 470, 0, 0, 255);
  88. // Move to left – decrease left motor speed, increase right motor speed
  89. motorSpeedA = motorSpeedA – xMapped;
  90. motorSpeedB = motorSpeedB + xMapped;
  91. // Confine the range from 0 to 255
  92. if (motorSpeedA < 0) {
  93. motorSpeedA = 0;
  94. }
  95. if (motorSpeedB > 255) {
  96. motorSpeedB = 255;
  97. }
  98. }
  99. if (xAxis > 550) {
  100. // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
  101. int xMapped = map(xAxis, 550, 1023, 0, 255);
  102. // Move right – decrease right motor speed, increase left motor speed
  103. motorSpeedA = motorSpeedA + xMapped;
  104. motorSpeedB = motorSpeedB – xMapped;
  105. // Confine the range from 0 to 255
  106. if (motorSpeedA > 255) {
  107. motorSpeedA = 255;
  108. }
  109. if (motorSpeedB < 0) {
  110. motorSpeedB = 0;
  111. }
  112. }
  113. // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70)
  114. if (motorSpeedA < 70) {
  115. motorSpeedA = 0;
  116. }
  117. if (motorSpeedB < 70) {
  118. motorSpeedB = 0;
  119. }
  120. analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  121. analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
  122. }
 

使用NRF24L01收發器模組的Arduino機器人車無線控制

現在我們可以繼續下一個方法，使用NRF24L01收發模組對Arduino機器人車進行無線控制。

Arduino Robot Car NRF24L01 Transceiver Module Tutorial

這是電路原理圖。
我們可以注意到，這些模組使用SPI通信，因此與上一個示例相比，我將L298N驅動的Enable A和Enable B引腳搬移到Arduino板的2號和3號引腳。NRF24L01 Wireless Arduino Robot Car Control - Circuit Schematic

您可以在以下亞馬遜連結上獲得NRF24L01模組。
原始碼

對於這個例子，我們需要安裝RF24庫。 以與前一個例子相似的模式，在定義一些引腳並將模組設定為發射器後，我們讀取操縱桿的X和Y值，並將其傳送到到Arduino機器人車上的另一個NRF24L01模組。

首先我們可以注意到，模擬讀數是Strings，它使用string.toCharArray（）函數被放入一個字元陣列中。 然後使用radio.write（）函數，我們將該字元陣列資料傳送到到另一個模組。

變送器代碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the NRF24L01 Transceiver module
  3.  
  4. == Transmitter – Joystick ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7.  
  8. Library: TMRh20/RF24, https://github.com/tmrh20/RF24/
  9. */
  10.  
  11. #include <SPI.h>
  12. #include <nRF24L01.h>
  13. #include <RF24.h>
  14.  
  15. RF24 radio(8, 9); // CE, CSN
  16. const byte address[6] = "00001";
  17.  
  18. char xyData[32] = "";
  19. String xAxis, yAxis;
  20.  
  21. void setup() {
  22. Serial.begin(9600);
  23. radio.begin();
  24. radio.openWritingPipe(address);
  25. radio.setPALevel(RF24_PA_MIN);
  26. radio.stopListening();
  27. }
  28.  
  29. void loop() {
  30.  
  31. xAxis = analogRead(A0); // Read Joysticks X-axis
  32. yAxis = analogRead(A1); // Read Joysticks Y-axis
  33. // X value
  34. xAxis.toCharArray(xyData, 5); // Put the String (X Value) into a character array
  35. radio.write(&xyData, sizeof(xyData)); // Send the array data (X value) to the other NRF24L01 modile
  36. // Y value
  37. yAxis.toCharArray(xyData, 5);
  38. radio.write(&xyData, sizeof(xyData));
  39. delay(20);
  40. }

另一方面。
在Arduino機器人車上，在將模組定義為接收器之後，我們使用radio.read（）函數接受資料。
然後使用atoi（）函數，將接收到的資料，或操縱桿的X和Y值轉換為

  1. // Code from the Arduino Robot Car – NRF24L01 example
  2.  
  3. if (radio.available()) { // If the NRF240L01 module received data
  4. radio.read(&receivedData, sizeof(receivedData)); // Read the data and put it into character array
  5. xAxis = atoi(&receivedData[0]); // Convert the data from the character array (received X value) into integer
  6. delay(10);
  7. radio.read(&receivedData, sizeof(receivedData));
  8. yAxis = atoi(&receivedData[0]);
  9. delay(10);
  10. }

這很簡單，但當然如我已經說過的，如果你需要更多的細節，如何連線和設定模組，你可以隨時檢查我的特定教學。

接收碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the NRF24L01 Transceiver module
  3.  
  4. == Receiver – Arduino robot car ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7.  
  8. Library: TMRh20/RF24, https://github.com/tmrh20/RF24/
  9. */
  10. #include <SPI.h>
  11. #include <nRF24L01.h>
  12. #include <RF24.h>
  13.  
  14. #define enA 2 // Note: Pin 9 in previous video ( pin 10 is used for the SPI communication of the NRF24L01)
  15. #define in1 4
  16. #define in2 5
  17. #define enB 3 // Note: Pin 10 in previous video
  18. #define in3 6
  19. #define in4 7
  20.  
  21. RF24 radio(8, 9); // CE, CSN
  22. const byte address[6] = "00001";
  23.  
  24. char receivedData[32] = "";
  25. int xAxis, yAxis;
  26.  
  27. int motorSpeedA = 0;
  28. int motorSpeedB = 0;
  29.  
  30. void setup() {
  31. pinMode(enA, OUTPUT);
  32. pinMode(enB, OUTPUT);
  33. pinMode(in1, OUTPUT);
  34. pinMode(in2, OUTPUT);
  35. pinMode(in3, OUTPUT);
  36. pinMode(in4, OUTPUT);
  37. Serial.begin(9600);
  38. radio.begin();
  39. radio.openReadingPipe(0, address);
  40. radio.setPALevel(RF24_PA_MIN);
  41. radio.startListening();
  42. }
  43.  
  44. void loop() {
  45.  
  46. if (radio.available()) { // If the NRF240L01 module received data
  47. radio.read(&receivedData, sizeof(receivedData)); // Read the data and put it into character array
  48. xAxis = atoi(&receivedData[0]); // Convert the data from the character array (received X value) into integer
  49. delay(10);
  50. radio.read(&receivedData, sizeof(receivedData));
  51. yAxis = atoi(&receivedData[0]);
  52. delay(10);
  53. }
  54.  
  55. // Y-axis used for forward and backward control
  56. if (yAxis < 470) {
  57. // Set Motor A backward
  58. digitalWrite(in1, HIGH);
  59. digitalWrite(in2, LOW);
  60. // Set Motor B backward
  61. digitalWrite(in3, HIGH);
  62. digitalWrite(in4, LOW);
  63. // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
  64. motorSpeedA = map(yAxis, 470, 0, 0, 255);
  65. motorSpeedB = map(yAxis, 470, 0, 0, 255);
  66. }
  67. else if (yAxis > 550) {
  68. // Set Motor A forward
  69. digitalWrite(in1, LOW);
  70. digitalWrite(in2, HIGH);
  71. // Set Motor B forward
  72. digitalWrite(in3, LOW);
  73. digitalWrite(in4, HIGH);
  74. // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
  75. motorSpeedA = map(yAxis, 550, 1023, 0, 255);
  76. motorSpeedB = map(yAxis, 550, 1023, 0, 255);
  77. }
  78. // If joystick stays in middle the motors are not moving
  79. else {
  80. motorSpeedA = 0;
  81. motorSpeedB = 0;
  82. }
  83.  
  84. // X-axis used for left and right control
  85. if (xAxis < 470) {
  86. // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
  87. int xMapped = map(xAxis, 470, 0, 0, 255);
  88. // Move to left – decrease left motor speed, increase right motor speed
  89. motorSpeedA = motorSpeedA – xMapped;
  90. motorSpeedB = motorSpeedB + xMapped;
  91. // Confine the range from 0 to 255
  92. if (motorSpeedA < 0) {
  93. motorSpeedA = 0;
  94. }
  95. if (motorSpeedB > 255) {
  96. motorSpeedB = 255;
  97. }
  98. }
  99. if (xAxis > 550) {
  100. // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
  101. int xMapped = map(xAxis, 550, 1023, 0, 255);
  102. // Move right – decrease right motor speed, increase left motor speed
  103. motorSpeedA = motorSpeedA + xMapped;
  104. motorSpeedB = motorSpeedB – xMapped;
  105. // Confine the range from 0 to 255
  106. if (motorSpeedA > 255) {
  107. motorSpeedA = 255;
  108. }
  109. if (motorSpeedB < 0) {
  110. motorSpeedB = 0;
  111. }
  112. }
  113. // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70)
  114. if (motorSpeedA < 70) {
  115. motorSpeedA = 0;
  116. }
  117. if (motorSpeedB < 70) {
  118. motorSpeedB = 0;
  119. }
  120. analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  121. analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
  122. }

使用HC-12長距離收發器的Arduino機器人車無線控制

對於Arduino機器人車的無線控制的最後一種方法，我們將使用HC-12遠程收發器模塊。 這些模塊可以相互通信，距離可達1.8公里。

該示例的電路原理圖與HC-05藍牙模塊的電路原理圖幾乎相同，因為它們通過串行端口使用與Arduino進行通信的相同方法。

 

Arduino Robot Car Wireless Control Using HC-12 Long Range Transceiver

您可以在以下亞馬遜連結上取得HC-12收發器模組。
原始碼

操縱桿代碼與藍牙通信的代碼完全相同。 我們只是讀取操縱桿的模擬值，並使用Serial.write（）函數將它們傳送到到另一個模組。

變送器代碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the HC-12 long range wireless module
  3.  
  4. == Transmitter – Joystick ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7. */
  8.  
  9. int xAxis, yAxis;
  10.  
  11. void setup() {
  12. Serial.begin(9600); // Default communication rate of the Bluetooth module
  13. }
  14.  
  15. void loop() {
  16. xAxis = analogRead(A0); // Read Joysticks X-axis
  17. yAxis = analogRead(A1); // Read Joysticks Y-axis
  18.  
  19. // Send the values via the serial port to the slave HC-05 Bluetooth device
  20. Serial.write(xAxis/4); // Dividing by 4 for converting from 0 – 1023 to 0 – 256, (1 byte) range
  21. Serial.write(yAxis/4);
  22. delay(20);
  23. }

另一方面，使用while（）迴圈，我們等待資料到達，然後使用Serial.read（）函數讀取它，並將其轉換回0到1023範圍，適用於下面的電機控制代碼。

接收碼：

  1. /*
  2. Arduino Robot Car Wireless Control using the HC-12 long range wireless module
  3.  
  4. == Receiver – Arduino robot car ==
  5.  
  6. by Dejan Nedelkovski, www.HowToMechatronics.com
  7. */
  8.  
  9. #define enA 9
  10. #define in1 4
  11. #define in2 5
  12. #define enB 10
  13. #define in3 6
  14. #define in4 7
  15.  
  16. int xAxis, yAxis;
  17. int x = 0;
  18. int y = 0;
  19.  
  20. int motorSpeedA = 0;
  21. int motorSpeedB = 0;
  22.  
  23. void setup() {
  24. pinMode(enA, OUTPUT);
  25. pinMode(enB, OUTPUT);
  26. pinMode(in1, OUTPUT);
  27. pinMode(in2, OUTPUT);
  28. pinMode(in3, OUTPUT);
  29. pinMode(in4, OUTPUT);
  30.  
  31. Serial.begin(9600); // Default communication rate of the Bluetooth module
  32. }
  33.  
  34. void loop() {
  35. // Default value – no movement when the Joystick stays in the center
  36. xAxis = 510;
  37. yAxis = 510;
  38.  
  39. // Read the incoming data from the
  40. while (Serial.available() == 0) {}
  41. x = Serial.read();
  42. delay(10);
  43. y = Serial.read();
  44. delay(10);
  45.  
  46. // Convert back the 0 – 255 range to 0 – 1023, suitable for motor control code below
  47. xAxis = x * 4;
  48. yAxis = y * 4;
  49.  
  50. // Y-axis used for forward and backward control
  51. if (yAxis < 470) {
  52. // Set Motor A backward
  53. digitalWrite(in1, HIGH);
  54. digitalWrite(in2, LOW);
  55. // Set Motor B backward
  56. digitalWrite(in3, HIGH);
  57. digitalWrite(in4, LOW);
  58. // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
  59. motorSpeedA = map(yAxis, 470, 0, 0, 255);
  60. motorSpeedB = map(yAxis, 470, 0, 0, 255);
  61. }
  62. else if (yAxis > 550) {
  63. // Set Motor A forward
  64. digitalWrite(in1, LOW);
  65. digitalWrite(in2, HIGH);
  66. // Set Motor B forward
  67. digitalWrite(in3, LOW);
  68. digitalWrite(in4, HIGH);
  69. // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
  70. motorSpeedA = map(yAxis, 550, 1023, 0, 255);
  71. motorSpeedB = map(yAxis, 550, 1023, 0, 255);
  72. }
  73. // If joystick stays in middle the motors are not moving
  74. else {
  75. motorSpeedA = 0;
  76. motorSpeedB = 0;
  77. }
  78.  
  79. // X-axis used for left and right control
  80. if (xAxis < 470) {
  81. // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value
  82. int xMapped = map(xAxis, 470, 0, 0, 255);
  83. // Move to left – decrease left motor speed, increase right motor speed
  84. motorSpeedA = motorSpeedA – xMapped;
  85. motorSpeedB = motorSpeedB + xMapped;
  86. // Confine the range from 0 to 255
  87. if (motorSpeedA < 0) {
  88. motorSpeedA = 0;
  89. }
  90. if (motorSpeedB > 255) {
  91. motorSpeedB = 255;
  92. }
  93. }
  94. if (xAxis > 550) {
  95. // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value
  96. int xMapped = map(xAxis, 550, 1023, 0, 255);
  97. // Move right – decrease right motor speed, increase left motor speed
  98. motorSpeedA = motorSpeedA + xMapped;
  99. motorSpeedB = motorSpeedB – xMapped;
  100. // Confine the range from 0 to 255
  101. if (motorSpeedA > 255) {
  102. motorSpeedA = 255;
  103. }
  104. if (motorSpeedB < 0) {
  105. motorSpeedB = 0;
  106. }
  107. }
  108. // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70)
  109. if (motorSpeedA < 70) {
  110. motorSpeedA = 0;
  111. }
  112. if (motorSpeedB < 70) {
  113. motorSpeedB = 0;
  114. }
  115. analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  116. analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
  117. }

所以這幾乎是本教學的一切。
這是有趣的使用HC-05藍牙，NRF24L01和HC-12收發器模塊【Arduino機器人車載無線控制】。

About

發佈留言

https://yogeshwariscience.org/ https://mataerdigital.com/ https://apjatin.or.id/ https://smpit.alhikmahmp.sch.id/ https://darululumponcol.com/ https://www.miftahululum.net/ https://xlcarsgroup.co.uk/sbobet/ https://xlcarsgroup.co.uk/sababet/ https://smalabunpatti.sch.id/agencasino/ https://smalabunpatti.sch.id/bandarcasino/ https://zakatydsf.or.id/bolaparlay/ https://zakatydsf.or.id/parlaybola/ https://desabululawang.com/application/ https://nkspt.org/sms/ https://idtrack.co.id/sbo/ https://staisdharma.ac.id/ca/ Bocoran Situs Terbaru Tiksujp Slot TOtot 4D Slot Hongkong Gacor Maxwin Istanapetir Live Casino Terpercaya https://desategalsari.id/pelayanan/ https://mindfuledgeconsulting.com/sbobeterbaik/ https://mindfuledgeconsulting.com/sbobeterpercaya/ https://maldendentistryimplants.com/ Bandar Togel Resmi Situs Slot Gacor 777 Bandar Slot Gacor Maxwin Link Slot Gacor https://planettel.com.br/ https://voidpump.com/ https://staimlumajang.ac.id/ Slot Thailand Gacor Maxwin Slot Thailand Gacor slot maxwin https://yusifsabri.com/net/ https://gidohae.com/ https://srtcollege.org/ https://likein.id/ Slot Gacor Gampang Menang Slot Gacor 2024 Slot Gacor 2024 Slot Gacor Hari Ini Slot Gacor 2024 Slot Gacor 2024 Slot Gacor 2024 Slot Gacor Gampang Menang https://nnai.net/ https://somoybanglatv.com/new/ https://www.preicma.com/ https://m.iktgm.ac.id/ Cheat Slot Gacor Situs Resmi Slot 777 Istanapetir Situs Slot Gacor 4D Slot Gacor Thailland Istanapetir https://gym-palaik.las.sch.gr/ https://imaxtee.com/net/ https://www.hoteloceano.it/net/ https://www.smkn1jenpo.sch.id/ https://yogacenter.ch/ https://sekolakonang.com/ https://senjadanpagi.my.id/ Cheat Slot Gacor Maxwin Apk Cheat Resmi Slot Gacor Maxwin Slot Gacor Maxwin 2025 Slot Server Tokyo Link Resmi Slot Tergacor Server Thailand 777 Situs Slot gacor Maxwin Terbaru ISTANAPETIR ISTANA PETIR Slot Jp Maxwin Situs Resmi Thailand Slot Resmi Maxwin Server Thailand Slot Gacor Thailand SLOT TOTO 4D SLOT GACOR 777 APK SLOT TOTO 4D