Arduino WiFi 小车

arduino_car.ino

int led = 13;

int m1a = 5;
int m1b = 6;
int m2a = 10;
int m2b = 11;

int s1q = 220;
int s1s = 150;
int s2q = 220;
int s2s = 120;

int STAY = 400;
int stay_ms = 0;

int inByte = 0;

void setup() {
  pinMode(m1a, OUTPUT);
  pinMode(m1b, OUTPUT);
  pinMode(m2a, OUTPUT);
  pinMode(m2b, OUTPUT);
  pinMode(led, OUTPUT);

  Serial.begin(9600);

  blinkcode();
  blinkcode();
  Serial.print("AT+CIPMUX=1\r\n");
  delay(800);
  Serial.print("AT+CIPSERVER=1,1313\r\n");
  blinkcode();
}

void loop() {
  delay(1);
  if (stay_ms > 0) {
    stay_ms--;
  }
  else {
    stand_up();
  }
  if (Serial.available() > 0) {
    inByte = Serial.read();
    switch(inByte) {
      case '@': stand_up(); stay_ms = STAY; break;
      case '<': left_forward(); stay_ms = STAY; break;
      case '^': forward(); stay_ms = STAY; break;
      case '>': right_forward(); stay_ms = STAY; break;
      case '/': left_back(); stay_ms = STAY; break;
      case '_': back(); stay_ms = STAY; break;
      case '\\': right_back(); stay_ms = STAY; break;
      default : break;
    }
  }
}

void stand_up() {
  analogWrite(m1a, 0);
  analogWrite(m1b, 0);
  analogWrite(m2a, 0);
  analogWrite(m2b, 0);
}

void forward() {
  analogWrite(m1a, 0);
  analogWrite(m1b, s1q);
  analogWrite(m2a, 0);
  analogWrite(m2b, s2q);
}

void left_forward() {
  analogWrite(m1a, 0);
  analogWrite(m1b, s1q);
  analogWrite(m2a, 0);
  analogWrite(m2b, s2s);
}

void right_forward() {
  analogWrite(m1a, 0);
  analogWrite(m1b, s1s);
  analogWrite(m2a, 0);
  analogWrite(m2b, s2q);
}

void back() {
  analogWrite(m1a, s1q);
  analogWrite(m1b, 0);
  analogWrite(m2a, s2q);
  analogWrite(m2b, 0);
}

void left_back() {
  analogWrite(m1a, s1q);
  analogWrite(m1b, 0);
  analogWrite(m2a, s2s);
  analogWrite(m2b, 0);
}

void right_back() {
  analogWrite(m1a, s1s);
  analogWrite(m1b, 0);
  analogWrite(m2a, s2q);
  analogWrite(m2b, 0);
}

void blinkcode() {
//Simply loop a few times flashing the status light (this is used during boot up)
  int i;
  for (i = 1; i <= 10; i++){
    delay (100);
    digitalWrite(led,HIGH);
    delay (100);
    digitalWrite(led,LOW);
  }
}

cli_car.py

class _Getch:
    """Gets a single character from standard input.  Does not echo to the
screen."""
    def __init__(self):
        try:
            self.impl = _GetchWindows()
        except ImportError:
            self.impl = _GetchUnix()

    def __call__(self): return self.impl()


class _GetchUnix:
    def __init__(self):
        import tty, sys

    def __call__(self):
        import sys, tty, termios
        fd = sys.stdin.fileno()
        old_settings = termios.tcgetattr(fd)
        try:
            tty.setraw(sys.stdin.fileno())
            ch = sys.stdin.read(1)
        finally:
            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
        return ch


class _GetchWindows:
    def __init__(self):
        import msvcrt

    def __call__(self):
        import msvcrt
        return msvcrt.getch()


getch = _Getch()


import socket


# TCP_IP = '127.0.0.1'
# TCP_PORT = 5005
TCP_IP = '192.168.1.63'
TCP_PORT = 1313
BUFFER_SIZE = 1024

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))

print 'Yeeeeeeeah!!! Connected!'

print """
Control with your keyboard!

----------------------------------------
left front       front       right front
     [q]          [w]             [e]

                STOP [s]

     [z]          [x]             [c]
left back        back        right back
----------------------------------------

[#] to quit
"""

def transend(c):
    b = ''
    if c == 'q':
        b = '<'
    elif c == 'w':
        b = '^'
    elif c == 'e':
        b = '>'
    elif c == 's':
        b = '@'
    elif c == 'z':
        b = '/'
    elif c == 'x':
        b = '_'
    elif c == 'c':
        b = '\\'
    else:
        b = c
    return b

while True:
    c = getch()
    if c == '#':
        break
    s.send(transend(c))

s.close()

print '--- Bye~ ---'

请连接 xcf_2.4GHz 路由器！

然后用 Python 2 执行上面的 cli_car.py 脚本就可以玩了！

arduino_car.ino 是车上的程序。

有关那个 wifi 模块的资料

• A newbie's guide to setup ESP8266 with Arduino Mega 2560 or Uno
• shinajaran: noob's guide to ESP8266 with Arduino Mega 2560 or Uno
• 这里有连接图和有简单的命令：Connect to ESP8266 ONLY using Arduino Uno
• Arduino ESP8266 Tutorial - Web Server Monitor Example
• ESP8266 Webserver Tutorial - The Commands You Need To Send - YouTube
• ESP8266 Thing Hookup Guide - learn.sparkfun.com
• Webserver for Arduino ESP8266