Bluetooth RC Car
經由前一篇文章ESP32 Bluetooth SPP control -- DC motors with L298N module延伸來做一台Bluetooth remote control CAR.
Bill of Material
圖一: 車體組合包
圖二: 馬達輪胎組
圖三: 螺絲配件
圖四:壓克力板車體
圖五:電池包
圖六:馬達車體組合
圖9:ESP32
圖10:ESP32車體圖
圖11: 車體組合說明圖
Circuit:
YouTube Demonstration:
Code Introduce:
#include <Robojax_L298N_DC_motor.h>
#include <BluetoothSerial.h>
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
uint8_t BTFlag = 0;
uint8_t L298NFlag = 0;
uint8_t CANFlag = 0;
uint8_t I2C_Flag = 0;
uint8_t BMP180Flag = 0;
uint8_t DS18B20Flag = 0;
uint8_t JSONFlag = 0;
uint8_t Radar_L_Flag = 0;
uint8_t Radar_R_Flag = 0;
uint8_t sensor_Flag = 0;
uint8_t sensor1_Flag = 0;
uint8_t initial_Flag = 0;
uint8_t Tone_Flag = -1;
uint8_t IR_RECV_Flag=0;
uint8_t IR_SEND_Flag=0;
uint8_t FunctionFlag = 3;
uint8_t SendFlag = 0;
uint8_t BMPCnt = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
//--------- uart structure --------------------------------------
typedef struct _vUart
{
char c;
int lineIndex = 0;
int line1Index = 0;
int BTlineIndex = 0;
bool lineIsComment;
bool lineSemiColon;
char line[128];
char BTline[20];
String inputString;
String BTinputString;
String S1inputString;
int V[16];
char ctemp[30];
char I2C_Data[80];
int DC_Spped = 50;
float Voltage[16];
int Buffer[128];
int StartCnt = 0;
int ReadCnt = 0;
int sensorValue = 0;
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//---------BT--------------------
BluetoothSerial SerialBT;
//-------------L298---------------------------------------------------
// motor 1 settings
#define CHA 0
#define ENA 4 // this pin must be PWM enabled pin if Arduino board is used
#define IN1 16
#define IN2 17
// motor 2 settings
#define IN3 18
#define IN4 19
#define ENB 5// this pin must be PWM enabled pin if Arduino board is used
#define CHB 1
const int CCW = 2; // do not change
const int CW = 1; // do not change
#define motor1 1 // do not change
#define motor2 2 // do not change
// for two motors without debug information // Watch video instruciton for this line: https://youtu.be/2JTMqURJTwg
Robojax_L298N_DC_motor motors(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB);
void Forward() //電機前進
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CW direction
motors.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction
}
void Reverse(){
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);
motors.rotate(motor2, 70, CW);
}
void Left()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);
}
void Right()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor2, 70, CW);
}
void Stop() //電機停止
{
motors.brake(1);
motors.brake(2);
}
//-------------------------------------------------
void setup()
{
Serial.begin(9600);
Serial.println(F("init"));
SerialBT.begin("BT_L298N");// BTName為藍芽廣播名稱
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
}
//-----------------------------------------
void loop()
{
Serial.print(F("Main at core:"));
Serial.println(xPortGetCoreID());
while(1)
{
while (Serial.available() > 0)
{
Uart.c = Serial.read();
if ((Uart.c == '\n') || (Uart.c == '\r'))
{ // End of line reached
if (Uart.lineIndex > 0)
{ // Line is complete. Then execute!
Uart.line[Uart.lineIndex] = '\0'; // Terminate string
processCommand(Uart.line); // do something with the command
Uart.lineIndex = 0;
Uart.inputString = "";
}
else
{
// Empty or comment line. Skip block.
}
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
Serial.println(F("ok>"));
}
else
{
if ((Uart.lineIsComment) || (Uart.lineSemiColon))
{
if (Uart.c == ')')
Uart.lineIsComment = false; // End of comment. Resume line.
}
else
{
if (Uart.c == '/')
{ // Block delete not supported. Ignore character.
}
else if (Uart.c == '~')
{ // Enable comments flag and ignore all characters until ')' or EOL.
Uart.lineIsComment = true;
}
else if (Uart.c == ';')
{
Uart.lineSemiColon = true;
}
else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
{
Serial.println("ERROR - lineBuffer overflow");
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
}
else if (Uart.c >= 'a' && Uart.c <= 'z')
{ // Upcase lowercase
Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += (char)(Uart.c - 'a' + 'A');
}
else
{
Uart.line[Uart.lineIndex] = Uart.c;
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += Uart.c;
}
}
}
} //while (Serial.available() > 0)
//檢查藍芽內是否有資料
while (SerialBT.available())
{
flag.L298NFlag=1;
String BTdata = SerialBT.readString();
//顯示在序列視窗
Serial.println(BTdata);
BTprocessCommand(BTdata); // do something with the command
}//while (BT.available())
}
}
//-------------------BT-----------------
void BTprocessCommand(String data)
{
if (data =="F")
{
Serial.println(F("Forward"));
Forward();
}
if (data == "L")
{
Serial.println(F("Left"));
Left();
}
if (data == "R")
{
Serial.println(F("Right"));
Right();
}
if (data == "B")
{
Serial.println(F("Reverse"));
Reverse();
}
if (data == "S")
{
Serial.println(F("Stop"));
Stop();
}
}
//----------------------------------------
void processCommand(char *data)
{
int len, xlen, ylen, zlen, alen;
int tempDIO;
String stemp;
len = Uart.inputString.length();
//---------------------------------------
if (strstr(data, "VER") != NULL)
{
Serial.println(F("ESP32_20230801"));
}
if (strstr(data, "F") != NULL)
{
Serial.println(F("Forward"));
Forward();
}
if (strstr(data, "L") != NULL)
{
Serial.println(F("Left"));
Left();
}
if (strstr(data, "R") != NULL)
{
Serial.println(F("Right"));
Right();
}
if (strstr(data, "B") != NULL)
{
Serial.println(F("Reverse"));
Reverse();
}
if (strstr(data, "S") != NULL)
{
Serial.println(F("Stop"));
Stop();
}
}
//-----------------------------------------
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