WiFi远程监控加网页控制智能Arduino小车制作过程介绍，持续... DF创客社区

sxmwhl 发表于 2015-11-16 14:09:43

WiFi远程监控加网页控制智能Arduino小车制作过程介绍，持续...

本帖最后由 sxmwhl 于 2015-11-16 19:32 编辑

先晒晒我的Arduino小车，加无线路由模块，刷openwrt可以实现远程监控和网页控制

优酷视频观看：
http://v.youku.com/v_show/id_XMTM3NjYxOTE2MA==.html

制作过程，以后慢慢更新。。。

先说所需硬件：
1、小车部分主体硬件见某淘宝店；
2、需另加WiFi部分，用刷了openwrt的路由器，我用的GL-inet；
3、添加lcd1602显示屏和i2c模块；
4、添加两个超声波测距模块，增加小车检测障碍面积。
硬件部分组装：
1、贴几张关键的图
http://www.3dant.cn/Public/upload/UEditor/image/20151106/1446781530569954.png
http://www.3dant.cn/Public/upload/UEditor/image/20151106/1446782000212259.png
详细我写的文章：《Arduino智能小车硬件安装说明》

sxmwhl 发表于 2015-11-16 14:12:16

新人处女贴，自己顶起，吸引人气:victory:

丄帝De咗臂 发表于 2015-11-16 14:29:28

很不错，顶一个，我也想做

hnyzcj 发表于 2015-11-16 17:58:22

顶起，求分享。

大连林海 发表于 2015-11-16 18:25:07

很不错，顶一个，我也想做

sxmwhl 发表于 2015-11-16 19:33:03

大连林海发表于 2015-11-16 18:25
很不错，顶一个，我也想做

慢慢来，我也在琢磨着搞:loveliness:。。。

孙毅发表于 2015-11-17 09:30:27

帮顶一个！强悍

dsweiliang 发表于 2015-11-17 09:56:26

很期待，赶紧更新

visionsl 发表于 2015-11-17 15:59:24

舵机控制超声波的部分挺有意思

吹口琴的钢铁侠 发表于 2015-11-21 08:56:30

其实不加openwrt也能远程控制

eversence213 发表于 2015-12-10 13:42:11

期待跟新！

sxmwhl 发表于 2016-1-23 17:28:00

好久没来，没法编辑了，在后面给贴吧
该上代码了。
小车部分
#include <IRremote.h>
#include <LiquidCrystal_I2C.h>
#include <Wire.h>
#include <Servo.h>
Servo myservo;//定义舵机变量名
LiquidCrystal_I2C lcd(0x27, 16, 2); // set the LCD address to 0x27 for a 16 chars and 2 line display
unsigned long lastMillis = millis();
const int LightPin = 0;
const int TemPin = 3;
const int L298nIn1 = 2;
const int L298nIn2 = 3;
const int L298nIn3 = 4;
const int L298nIn4 = 5;
const int EchoPinR = 6;
const int TrigPinR = 7;
const int TrigPinM = 8;
const int EchoPinM = 9;
const int EchoPinL = 11;
const int TrigPinL = 12;
const int ServoPin = 10;
const int IRPin = 11;
const long on0 = 0x00FF6897;
const long on1 = 0x00FF30CF;
const long on2 = 0x00FF18E7;
const long on3 = 0x00FF7A85;
const long on4 = 0x00FF10EF;
const long on5 = 0x00FF38C7;
const long on6 = 0x00FF5AA5;
const long on7 = 0x00FF42BD;
const long on8 = 0x00FF4AB5;
const long on9 = 0x00FF52AD;
const int KeepAway = 25;
const int KeepAwayS = 10;
const int LookDelay = 300;
const int TurnDelay = 500;
const int BackDelay = 600;
const int ReboundDelay = 150;
String Mode = "M";
IRrecv irrecv(IRPin);
decode_results results;
void setup()
{
Serial.begin(115200);
myservo.attach(10);//定义舵机接口（9、10 都可以，缺点只能控制2 个）
lcd.init();
lcd.backlight();
pinMode(EchoPinM, INPUT);
pinMode(TrigPinM, OUTPUT);
pinMode(EchoPinL, INPUT);
pinMode(TrigPinL, OUTPUT);
pinMode(EchoPinR, INPUT);
pinMode(TrigPinR, OUTPUT);
pinMode(IRPin, INPUT);
pinMode(L298nIn1, OUTPUT);
pinMode(L298nIn2, OUTPUT);
pinMode(L298nIn3, OUTPUT);
pinMode(L298nIn4, OUTPUT);
irrecv.enableIRIn(); // Start the receiver
lcd.print("I am Dogeva!");
}
int readTem() {
int val;//定义变量
int dat;//定义变量
val = analogRead(TemPin); // 读取传感器的模拟值并赋值给val
dat = map(val, 0, 1023, 0, 100);
//dat = (125 * val) >> 8; //温度计算公式
return dat;
}
int readLight() {
int val;
val = analogRead(LightPin);
val = map(val, 0, 1023, 0, 1000);
return 1000 - val;
}
void goForward() {
digitalWrite(L298nIn1, HIGH);
digitalWrite(L298nIn2, LOW);
digitalWrite(L298nIn3, LOW);
digitalWrite(L298nIn4, HIGH);
}
void goBack() {
digitalWrite(L298nIn1, LOW);
digitalWrite(L298nIn2, HIGH);
digitalWrite(L298nIn3, HIGH);
digitalWrite(L298nIn4, LOW);
}
void goStop() {
digitalWrite(L298nIn1, LOW);
digitalWrite(L298nIn2, LOW);
digitalWrite(L298nIn3, LOW);
digitalWrite(L298nIn4, LOW);
}
void goRebound() {
digitalWrite(L298nIn1, LOW);
digitalWrite(L298nIn2, HIGH);
digitalWrite(L298nIn3, HIGH);
digitalWrite(L298nIn4, LOW);
delay(ReboundDelay);
goStop();
}
void turnRight1() {
digitalWrite(L298nIn1, LOW);
digitalWrite(L298nIn2, HIGH);
digitalWrite(L298nIn3, LOW);
digitalWrite(L298nIn4, HIGH);

}
void turnRight2() {
digitalWrite(L298nIn1, LOW);
digitalWrite(L298nIn2, HIGH);
digitalWrite(L298nIn3, LOW);
digitalWrite(L298nIn4, HIGH);
}
void turnLeft4() {
digitalWrite(L298nIn1, HIGH);
digitalWrite(L298nIn2, LOW);
digitalWrite(L298nIn3, HIGH);
digitalWrite(L298nIn4, LOW);
}
void turnLeft5() {
digitalWrite(L298nIn1, HIGH);
digitalWrite(L298nIn2, LOW);
digitalWrite(L298nIn3, HIGH);
digitalWrite(L298nIn4, LOW);
}
int IRNumber() {
if (irrecv.decode(&results))
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - lastMillis > 250)
{
   //on = !on;
   //digitalWrite(13, on ? HIGH : LOW);
   IRDump(&results);
}
lastMillis = millis();
irrecv.resume(); // Receive the next value
switch (results.value) {
   case on0:
   return 0;
   case on1:
   return 1;
   case on2:
   return 2;
   case on3:
   return 3;
   case on4:
   return 4;
   case on5:
   return 5;
   case on6:
   return 6;
   case on7:
   return 7;
   case on8:
   return 8;
   case on9:
   return 9;
   default:
   return -1;
}
}
}
void IRDump(decode_results *results) {
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
Serial.println("Could not decode message");
}
else
{
if (results->decode_type == NEC)
{
   Serial.print("Decoded NEC: ");
}
else if (results->decode_type == SONY)
{
   Serial.print("Decoded SONY: ");
}
else if (results->decode_type == RC5)
{
   Serial.print("Decoded RC5: ");
}
else if (results->decode_type == RC6)
{
   Serial.print("Decoded RC6: ");
}
Serial.print(results->value, HEX);
Serial.print(" (");
Serial.print(results->bits, DEC);
Serial.println(" bits)");
}
Serial.print("Raw (");
Serial.print(count, DEC);
Serial.print("): ");

for (int i = 0; i < count; i++)
{
if ((i % 2) == 1) {
   Serial.print(results->rawbuf*USECPERTICK, DEC);
}
else
{
   Serial.print(-(int)results->rawbuf*USECPERTICK, DEC);
}
Serial.print(" ");
}
Serial.println("");
}
float checkDistance(int TrigPin, int EchoPin) {
float distance;
digitalWrite(TrigPin, LOW);
delayMicroseconds(2);
digitalWrite(TrigPin, HIGH);
delayMicroseconds(10);
digitalWrite(TrigPin, LOW);
// 检测脉冲宽度，并计算出距离
distance = pulseIn(EchoPin, HIGH) / 58.00;
return distance;
}
int lookAround() {
lookRight1();
int D1 = checkDistance(TrigPinM, EchoPinM);
lookRight2();
int D2 = checkDistance(TrigPinM, EchoPinM);
lookForward();
int D3 = checkDistance(TrigPinM, EchoPinM);
lookLeft4();
int D4 = checkDistance(TrigPinM, EchoPinM);
lookLeft5();
int D5 = checkDistance(TrigPinM, EchoPinM);
if (D1 > D2 && D1 > D3 && D1 > D4 && D1 > D5 && D1 > KeepAway)return 1;
if (D2 > D1 && D2 > D3 && D2 > D4 && D2 > D5 && D2 > KeepAway)return 2;
if (D3 > D2 && D3 > D1 && D3 > D4 && D3 > D5 && D3 > KeepAway)return 3;
if (D4 > D2 && D4 > D3 && D4 > D1 && D4 > D5 && D4 > KeepAway)return 4;
if (D5 > D2 && D5 > D3 && D5 > D4 && D5 > D1 && D5 > KeepAway)return 5;
return 0;
}
void lookRight1() {
myservo.write(5);
delay(LookDelay);
}
void lookRight2() {
myservo.write(45);
delay(LookDelay);
}
void lookForward() {
myservo.write(90);
delay(LookDelay);
}
void lookLeft4() {
myservo.write(135);
delay(LookDelay);
}
void lookLeft5() {
myservo.write(175);
delay(LookDelay);
}
void autoMove() {
lcd.clear();
lcd.setCursor(0, 1) ; //设置光标位置为第二行第一个位置
lookForward();
int distanceM = checkDistance(TrigPinM, EchoPinM);
int distanceR = checkDistance(TrigPinR, EchoPinR);
int distanceL = checkDistance(TrigPinL, EchoPinL);
if (distanceM > KeepAway && distanceR > KeepAwayS && distanceL > KeepAwayS) {
goForward();
} else {
for (int i = 0; i < 100; i++)
{
   goStop();
   goRebound();
   if (distanceR <= KeepAwayS) {
   turnLeft4();
   return;
   }
   if (distanceL <= KeepAwayS) {
   turnRight2();
   return;
   }
   switch (lookAround()) {
   case 1:
      turnRight1();
      delay(TurnDelay);
      goStop();
      return;
   case 2:
      turnRight2();
      delay(TurnDelay / 2);
      goStop();
      return;
   case 3:
      goForward();
      return;
   case 4:
      turnLeft4();
      delay(TurnDelay / 2);
      goStop();
      return;
   case 5:
      turnLeft5();
      delay(TurnDelay);
      goStop();
      return;
   default:
      break;
   }
   goBack();
   delay(BackDelay);
   goStop();
}
}
}
void manualMove(String s) {
if (s.length() > 0){
lcd.clear();
lcd.setCursor(0, 1) ; //设置光标位置为第二行第一个位置
if (s.length() == 1) {
   if (String(s) == String("0")) {
   lcd.print("Stop");
   goStop();
   }
   if (String(s) == String("1")) {
   lcd.print("Go Forward");
   goForward();
   }
   if (String(s) == String("2")) {
   lcd.print("Turn Left");
   turnLeft5();
   }
   if (String(s) == String("3")) {
   lcd.print("Go Back");
   goBack();
   }
   if (String(s) == String("4")) {
   lcd.print("Turn Right");
   turnRight1();
   }
}
if (s.length() > 1) {
   lcd.print(s);
}
}
}
void loop(){
String comdata = "";
while (Serial.available() > 0) {
comdata += char(Serial.read());
delay(2);
}
if (comdata == "A" && Mode != "A") {
lcd.clear();
lcd.setCursor(0, 0) ; //设置光标位置为第二行第一个位置
lcd.print("Auto Mode");
goStop();
lookForward();
Mode = "A";
}
if (comdata == "M" && Mode != "M") {
lcd.clear();
lcd.setCursor(0, 0) ; //设置光标位置为第二行第一个位置
lcd.print("Manual Mode");
goStop();
lookForward();
Mode = "M";
}
if (Mode == "A") autoMove();
if (Mode == "M") manualMove(comdata);
/*lcd.clear();
lcd.setCursor(0, 1) ; //设置光标位置为第二行第一个位置
lcd.print("Tep:");
lcd.print(readTem());
Serial.println(readTem());
lcd.print("C Lt:");
lcd.print(readLight());
Serial.println(readLight());
delay(1000);
String comdata = "";
while (Serial.available() > 0) {
comdata += char(Serial.read());
delay(2);
}
if (comdata.length() > 0)
{
//lcd.clear();
if (comdata.length() == 1) {
   if (String(comdata) == String("0")) {
   lcd.print("Stop");
   goStop();
   }
   if (String(comdata) == String("1")) {
   lcd.print("Go Forward");
   goForward();
   }
   if (String(comdata) == String("2")) {
   lcd.print("Turn Left");
   turnLeft5();
   }
   if (String(comdata) == String("3")) {
   lcd.print("Go Back");
   goBack();
   }
   if (String(comdata) == String("4")) {
   lcd.print("Turn Right");
   turnRight1();
   }
}
if (comdata.length() > 1) {
   lcd.print(comdata);
}
if (comdata.length() > 16) {
   for (int positionCounter = 0; positionCounter < comdata.length() - 16; positionCounter++) {
   // scroll one position left:
   lcd.scrollDisplayLeft();
   // wait a bit:
   delay(600);
   }
}
comdata = "";
}*/
}
路由器部分
lua 脚本
#!/usr/bin/lua
io.output("/dev/ttyATH0")
io.write(os.getenv("QUERY_STRING"))
web网页部分
<html>
<head>
</head>
<body>
<div style="float:left">
<script>
function sendSer(value){
document.getElementById("ser").src="http://192.168.1.101/cgi-bin/web2ser?"+value;
}
</script>
<table>
<tr><td/><img id="ser" width="1" height="1">
<td><input type="button" value="前进" /></td><td/></tr>
<tr><td><input type="button" value="左转" /></td><td/>
<td><input type="button" value="右转" /></td></tr>
<tr><td/><td><input type="button" value="后退" /></td><td/></tr>
<tr><td colspan="3" align="middle"> <input type="button" value="自动控制" /></td></tr>
<tr><td colspan="3" align="middle"> <input type="button" value="手动控制" /></td></tr>
</table>
</div>
</body>
</html>

凌风清羽 发表于 2016-3-27 20:57:47

怎么能收藏帖子，想试着做一下

sxmwhl 发表于 2016-3-29 22:47:38

凌风清羽发表于 2016-3-27 20:57
怎么能收藏帖子，想试着做一下

点击标题右下角的五角星就可以收藏了:victory:

凌风清羽 发表于 2016-3-30 15:34:46

sxmwhl 发表于 2016-3-29 22:47
点击标题右下角的五角星就可以收藏了

好的，谢谢

WeiSunny0910 发表于 2016-10-12 08:38:29

大大，这款能实现在非同一网络下的远程监控吗？怎么组网呢？

20060606 发表于 2020-8-15 08:59:48

感谢分享

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WiFi远程监控加网页控制智能Arduino小车制作过程介绍，持续...