Android-gesteuertes Roboterfahrzeug mit Raspberry Pi Motor Shield

Komponenten und Zubehör

Android-Gerät	×	1
Arduino 101	×	1
Raspberry Pi 2 Model B	×	1
DK Electronic Motor Shield	×	1
Offizieller Raspberry Pi WiFi-Dongle	×	1
Trust 5 V Powerbank	×	1

Apps und Online-Dienste

• Microsoft Windows 10 IoT Core
• Arduino IDE
• Microsoft Visual Studio 2015

Über dieses Projekt

Am Ende steuern wir ein Geländefahrzeug per Android-Gerät (Beschleunigungssensor).

Hardware: Motor Shield, Raspberry Pi, Arduino, DC-Motoren.

SCHRITT 1: I2C-Bus zwischen Raspberry Pi und Arduino

Warum I2C? Siehe Link. Code für Arduino (I2C Slave + Motor Shield):

#include <Wire.h>
#define MyAddress 0x40
#include <AFMotor.h>
AF_DCMotor motorhiz(3); // Geschwindigkeit
AF_DCMotor motoryon(4); // Richtung
byte DataToBeSend[1];
byte ReceivedData;
int counter = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin(MyAddress);
  Wire.onReceive(I2CReceived);
  Wire.onRequest(I2CRequest);
  motorhiz.setSpeed(254);
  motorhiz.run(RELEASE);
  motoryon.setSpeed(254);
  motoryon.run(RELEASE);
}

void loop() {
  // DataToBeSend[0] = (DataToBeSend[0] >= 99) ? 0 : DataToBeSend[0] + 1;
}

void I2CReceived(int NumberOfBytes) {
  ReceivedData = Wire.read();
  int ReceivedDataInt = (int)ReceivedData;
  String ReceivedDataStr = String(ReceivedData);
  Serial.println(ReceivedDataInt);

  if (ReceivedDataInt >= 100) { // X-Daten (Geschwindigkeit)
    Serial.println("DataX :" + ReceivedDataStr);
    if (ReceivedDataInt > 145 && ReceivedDataInt < 154) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 100 && ReceivedDataInt < 104) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 155) { // Rückwärts
      ReceivedDataInt -= 155;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed);
      motorhiz.run(BACKWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    } else if (ReceivedDataInt >= 105) { // Vorwärts
      ReceivedDataInt -= 105;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed);
      motorhiz.run(FORWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    }
  } else { // Y-Daten (Lenkung)
    Serial.println("DataY :" + ReceivedDataStr);
    if (ReceivedDataInt > 45 && ReceivedDataInt < 54) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 0 && ReceivedDataInt < 4) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 55) { // Links
      ReceivedDataInt -= 55;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed);
      motoryon.run(BACKWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    } else if (ReceivedDataInt >= 5) { // Rechts
      ReceivedDataInt -= 5;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed);
      motoryon.run(FORWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    }
  }
}

void I2CRequest() {
  // Wire.write(DataToBeSend, 1);
}

I2C-Pinbelegung für Kommunikation Arduino ↔ Raspberry Pi. Externe Stromversorgung für Arduino nicht nötig – Arduino wird über Raspberry Pi Vout versorgt.

SCHRITT 2: Raspberry Pi Code (Webserver)

Code für Raspberry Pi (Webserver), der Daten via I2C an Arduino sendet. Siehe Code-Sektion unten.

SCHRITT 3: Android App (Visual Studio Cordova)

Android-App sendet Beschleunigungssensordaten per AJAX an Webserver (Raspberry Pi). Code in Code-Sektion.

Kurzfassung

1. Android-App sendet Beschleunigungssensordaten an Webserver (Raspberry Pi).
2. Webserver leitet Daten via I2C an Arduino weiter.
3. Arduino verarbeitet Daten und steuert Motoren per Motor Shield.

Code

Wire.h I2C Communication & Motor Shield (Arduino)

Arduino

I2C-Kommunikation zwischen Arduino und Raspberry Pi. Serielle Kommunikation mit minimalen I/O-Ressourcen.

#include <Wire.h>
#define MyAddress 0x40
#include <AFMotor.h>
AF_DCMotor motorhiz(3);
AF_DCMotor motoryon(4);
byte DataToBeSend[1];
byte ReceivedData;
int counter = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin(MyAddress);
  Wire.onReceive(I2CReceived);
  Wire.onRequest(I2CRequest);
  motorhiz.setSpeed(254);
  motorhiz.run(RELEASE);
  motoryon.setSpeed(254);
  motoryon.run(RELEASE);
}

void loop() {}

void I2CReceived(int NumberOfBytes) {
  ReceivedData = Wire.read();
  int ReceivedDataInt = (int)ReceivedData;
  String ReceivedDataStr = String(ReceivedData);
  Serial.println(ReceivedDataInt);
  if (ReceivedDataInt >= 100) { // X Data
    Serial.println("DataX :" + ReceivedDataStr);
    if (ReceivedDataInt > 145 && ReceivedDataInt < 154) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 100 && ReceivedDataInt < 104) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 155) {
      ReceivedDataInt -= 155;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed);
      motorhiz.run(BACKWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    } else if (ReceivedDataInt >= 105) {
      ReceivedDataInt -= 105;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed);
      motorhiz.run(FORWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    }
  } else { // Y Data
    Serial.println("DataY :" + ReceivedDataStr);
    if (ReceivedDataInt > 45 && ReceivedDataInt < 54) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 0 && ReceivedDataInt < 4) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 55) {
      ReceivedDataInt -= 55;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed);
      motoryon.run(BACKWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    } else if (ReceivedDataInt >= 5) {
      ReceivedDataInt -= 5;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed);
      motoryon.run(FORWARD);
      Serial.println("MotorHiz :" + String(motorSpeed));
    }
  }
}

void I2CRequest() {
  // Wire.write(DataToBeSend, 1);
}

Android Remote Controller

C#

Download only – keine Vorschau.

Windows IoT Web Server

C#

Download only – keine Vorschau.

Custom Parts & Enclosures

Arduino ↔ Raspberry Pi Verdrahtungsdiagramm

Schaltpläne

Details: Hackster.io Projekt