开贴扯蛋BLUNO乐高小车搭建过程（视频已更新） DF创客社区

Angelo 发表于 2014-2-12 15:34:31

taelons 发表于 2014-2-12 11:48
bluno不支持向下兼容老版本的蓝牙吗？

是的~ 只能支持蓝牙4.0，无法兼容以前蓝牙的版本。

社区活动向导 发表于 2014-2-12 16:43:22

本帖最后由社区活动向导于 2014-2-12 16:48 编辑

楼主果然高效率，作品这么快就出来了。以后用乐高盖个摩天大楼如何？
有空来参加我们的3D打印机大奖：https://mc.dfrobot.com.cn/thread-941-1-1.html，乐高的受欢迎度应该很高！！{:3_59:}

taelons 发表于 2014-2-12 21:36:23

社区活动向导发表于 2014-2-12 16:43
楼主果然高效率，作品这么快就出来了。以后用乐高盖个摩天大楼如何？
有空来参加我们的3D打印机大奖：http: ...

现在还是样子货
我等3D打印版块的高人帮我打印一个电机外壳装上去。听说搬家了，没电没网，只能等下周了。
现在问题是我没有高大上的蓝牙4.0、安卓4.3的手机。
写好了安卓蓝牙控制代码和界面，可是bluno不支持向下兼容哦，等我向某土豪借到手机

乐高是个坑，各位慎入！:-)

gwesley 发表于 2014-2-12 23:22:16

挺厉害iphone4s 以上的机型都支持蓝牙4.0

taelons 发表于 2014-2-21 23:13:01

哈哈，电机乐高外壳出来了，扣在积木上，完美！

taelons 发表于 2014-2-23 20:34:04

由于暂时没有安卓4.3、蓝牙4.0的手机，只有4.04和普通蓝牙手机，不知道以下程序能否和bluno通讯，这里贴出来供参考。
bluno端的arduino程序--

#include <Servo.h>// servo library

const int timing = 100;//value to control delay in reading serial port, useful to control responsiveness to input
int dir = 0;//beginning value for determining last direction indicated, 0 - no direction, 1 - forward, 2 - reverse
int pwm_a = 6; //PWM control for Ardumoto outputs 1 and 2 is on digital pin 3
int dir_a = 7;//direction control for Ardumoto outputs 1 and 2 is on digital pin 12
Servo servo1;// servo control object

void setup()
{
pinMode(pwm_a, OUTPUT);//set control pins to be outputs
pinMode(dir_a, OUTPUT);

Serial.begin(9600);//initialize serial

servo1.attach(8);//start sending control commands to the servo
}

void loop()
{
//forw();
//forward();
char getData = Serial.read();//read the serial port
delay(timing);
if(getData == 'w'){//if 'w' is pressed, set motor to forward and go
   forw();
   forward();
   dir = 1;
}else if(getData == 's'){//if 's' is pressed, set motor to reverse and go
   back();
   backward();
   dir = 2;
}else if(getData == 'a'){//if 'a' is pressed, turn servo 45 degrees to the left and go in the last direction pressed
   if(dir == 0){
   servo1.write(155);
   }else if(dir == 1){
   servo1.write(155);
   forw();
   forward();
   }else if(dir == 2){
   servo1.write(155);
   back();
   backward();
   }
}else if(getData == 'd'){//if 'd' is pressed, turn servo 45 degrees to the right and go in the last direction pressed
   if(dir == 0){
   servo1.write(25);
   }else if(dir == 1){
   servo1.write(25);
   forw();
   forward();
   }else if(dir == 2){
   servo1.write(25);
   back();
   backward();
   }
}else if(getData != 'w' || 'a' || 's' || 'd'){//stop motor and set servo to 90 degrees (center) if nothing is pressed
   stopped();
   servo1.write(90);
}
}

void forw() // no pwm defined
{
digitalWrite(dir_a, HIGH);//set motor direction forward
}

void back() // no pwm defined
{
digitalWrite(dir_a, LOW);//set motor direction back
}

void forward() //full speed forward
{
digitalWrite(dir_a, HIGH);//set motor direction forward
analogWrite(pwm_a, 255); //set motor to run at 100% duty cycle (fast)
}

void backward() //full speed backward
{
digitalWrite(dir_a, LOW);//set motor direction back
analogWrite(pwm_a, 255); //set motor to run at 100% duty cycle (fast)
}

void stopped() //stop
{
digitalWrite(dir_a, LOW); //set motor direction back
analogWrite(pwm_a, 0); //set motor to stop
}

taelons 发表于 2014-2-23 20:36:53

安卓手机程序---

package com.example.myfirstapp;

import java.io.IOException;
import java.io.OutputStream;
import java.util.UUID;

import android.app.Activity;
import android.os.Bundle;

import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.DialogInterface;
import android.content.DialogInterface.OnClickListener;
import android.provider.ContactsContract.CommonDataKinds.Event;

import android.util.Log;
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.Toast;

public class MainActivity extends Activity
{

private static final String TAG = "THINBTCLIENT";

private static final boolean D = true;

private BluetoothAdapter mBluetoothAdapter = null;

private BluetoothSocket btSocket = null;

private OutputStream outStream = null;
Button mButtonF;
Button mButtonB;
Button mButtonL;
Button mButtonR;
Button mButtonS;

private static final UUID MY_UUID = UUID.fromString( "00001101-0000-1000-8000-00805F9B34FB" );

private static String address = "88:33:14:DF:1F:FD";

/** Called when the activity is first created. */
@Override
public void onCreate( Bundle savedInstanceState )
{
super.onCreate(savedInstanceState);
setContentView(R.layout.main);

//前进
mButtonF=(Button)findViewById(R.id.btnF);
mButtonF.setOnTouchListener(new Button.OnTouchListener()
{
@Override
public boolean onTouch(View v, MotionEvent event)
{
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "w";
msgBuffer = message.getBytes();
try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "0";
msgBuffer = message.getBytes();
try
{
outStream.write(msgBuffer);

}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}
return false;
} // end of onTouch
});

//后退
mButtonB=(Button)findViewById(R.id.btnB);
mButtonB.setOnTouchListener(new Button.OnTouchListener()
{
@Override
public boolean onTouch(View v, MotionEvent event)
{
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "s";

msgBuffer = message.getBytes();

try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "0";

msgBuffer = message.getBytes();
try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;
} // end of onTouch
}); // end of setOnTouchListener

//左转
mButtonL=(Button)findViewById(R.id.btnL);
mButtonL.setOnTouchListener(new Button.OnTouchListener()
{
@Override
public boolean onTouch(View v, MotionEvent event)
{
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "a";
msgBuffer = message.getBytes();
try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "0";
msgBuffer = message.getBytes();

try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;
}
});

//右转
mButtonR=(Button)findViewById(R.id.btnR);
mButtonR.setOnTouchListener(new Button.OnTouchListener()
{
@Override
public boolean onTouch(View v, MotionEvent event)
{
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "d";
msgBuffer = message.getBytes();
try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}
message = "0";
msgBuffer = message.getBytes();

try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;
}
});

//停止
mButtonS=(Button)findViewById(R.id.btnS);
mButtonS.setOnTouchListener(new Button.OnTouchListener()
{
@Override
public boolean onTouch(View v, MotionEvent event)
{
// TODO Auto-generated method stub
if (event.getAction()==MotionEvent.ACTION_DOWN)
try
{
outStream = btSocket.getOutputStream();
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

String message = "0";

byte[] msgBuffer = message.getBytes();

try
{
outStream.write(msgBuffer);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
return false;
}
});

if ( D )
Log.e(TAG, "+++ ON CREATE +++");
mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();

if (mBluetoothAdapter == null)
{
Toast.makeText(this, "Bluetooth is not available.", Toast.LENGTH_LONG).show();
finish();
return;
}

if (!mBluetoothAdapter.isEnabled())
{
Toast.makeText(this, "Please enable your Bluetooth and re-run this program.", Toast.LENGTH_LONG).show();
finish();
return;
}

if ( D )
Log.e(TAG, "+++ DONE IN ON CREATE, GOT LOCAL BT ADAPTER +++");
} // end of onCreate

@Override
public void onStart()
{
super.onStart();
if (D)
Log.e(TAG, "++ ON START ++");
}

@Override
public void onResume()
{
super.onResume();
if ( D )
{
Log.e(TAG, "+ ON RESUME +");
Log.e(TAG, "+ ABOUT TO ATTEMPT CLIENT CONNECT +");
}
BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);

try
{
btSocket = device.createRfcommSocketToServiceRecord(MY_UUID);
}
catch (IOException e)
{
Log.e(TAG, "ON RESUME: Socket creation failed.", e);
}
mBluetoothAdapter.cancelDiscovery();
try
{
btSocket.connect();
Log.e(TAG, "ON RESUME: BT connection established, data transfer link open.");
}
catch (IOException e)
{
try
{
btSocket.close();
}
catch (IOException e2)
{
Log .e(TAG,"ON RESUME: Unable to close socket during connection failure", e2);
}
}

// Create a data stream so we can talk to server.
if ( D )
Log.e(TAG, "+ ABOUT TO SAY SOMETHING TO SERVER +");
/* try {
outStream = btSocket.getOutputStream();
} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

String message = "1";

byte[] msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
*/
}

@Override
public void onPause()
{
super.onPause();

if ( D )
Log.e(TAG, "- ON PAUSE -");
if (outStream != null)
{
try
{
outStream.flush();
}
catch (IOException e)
{
Log.e(TAG, "ON PAUSE: Couldn't flush output stream.", e);
}
}

try
{
btSocket.close();
}
catch (IOException e2)
{
Log.e(TAG, "ON PAUSE: Unable to close socket.", e2);
}

}

@Override
public void onStop()
{
super.onStop();

if ( D )
Log.e(TAG, "-- ON STOP --");
}

@Override
public void onDestroy()
{
super.onDestroy();

if ( D )
Log.e(TAG, "--- ON DESTROY ---");
}

// @Override
// protected void onCreate(Bundle savedInstanceState) {
// super.onCreate(savedInstanceState);
// setContentView(R.layout.activity_main);
// }
//
// @Override
// public boolean onCreateOptionsMenu(Menu menu) {
// // Inflate the menu; this adds items to the action bar if it is present.
// getMenuInflater().inflate(R.menu.main, menu);
// return true;
// }
}

taelons 发表于 2014-2-23 20:41:57

打开手机的USB调试模式，在google的ADT中运行上面的安卓程序，手机上出现四个按钮，分别上‘前进’、‘后退’、‘左转’、‘右转’、‘停止’，
可能不支持4.04和普通蓝牙，无法连接bluno。求有经验的高人指点。。。。。。

To be continue......

taelons 发表于 2014-2-24 22:52:03

没有安卓4.3、蓝牙4.0手机的情况下，bluno上的arduino程序还是可以调试的（某宝上dfrobot的技术支持人员还是要不断学习啊。。。。。）方法是使用串口助手----

通过串口助手，连续发送字符w、s、a、d，验证bluno上的arduino程序运行完全正确，能够带动电机、舵机前进后退、左右转向

to be continue......

taelons 发表于 2014-2-26 09:04:09

社区活动向导发表于 2014-2-12 16:43
楼主果然高效率，作品这么快就出来了。以后用乐高盖个摩天大楼如何？
有空来参加我们的3D打印机大奖：http: ...

盖个摩天大楼难道是为了DFcity?

何处不江南 发表于 2014-2-26 13:12:22

taelons 发表于 2014-2-26 09:04
盖个摩天大楼难道是为了DFcity?

呵呵有没有对Bluno的使用建议？

taelons 发表于 2014-2-28 23:46:19

定制的十字轴已到货，套在电机轴上，另一端套齿轮---

准备做最后测试----

格鲁发表于 2014-3-1 08:20:13

taelons 发表于 2014-2-12 11:48
bluno不支持向下兼容老版本的蓝牙吗？

楼主，最近忙啥呢？期待小车视频。

taelons 发表于 2014-3-1 23:32:29

何处不江南发表于 2014-2-26 13:12
呵呵有没有对Bluno的使用建议？

不兼容老版蓝牙，主要是太贵了:lol

taelons 发表于 2014-3-1 23:40:54

格鲁发表于 2014-3-1 08:20
楼主，最近忙啥呢？期待小车视频。

琐事缠身。。。。。。
没有蓝牙4.0手机，等下周红米手机到货
9g舵机需要用老版的，否则无法连乐高十字轴
电池需要一个转接头，我看df商城上有，2块多，现在暂时直接插在电脑上供电
线还没焊，直接插在板子和电机上

主要是第一个问题，只等测手机上的程序就OK了，再录视频

格鲁发表于 2014-3-2 21:00:26

有朋友在乐高工作，看到你的小车非常感兴趣，嚷着让我更新报告进度。

taelons 发表于 2014-3-4 13:48:35

格鲁发表于 2014-3-2 21:00
有朋友在乐高工作，看到你的小车非常感兴趣，嚷着让我更新报告进度。

没秒到红米手机，20万部5分钟就秒完了？
哪位借我一台安卓4.3、蓝牙4.0手机测试？
pc上插个usb蓝牙4.0配合google adt环境能不能测？

jxgx0720 发表于 2014-3-14 09:57:12

taelons 发表于 2014-3-4 13:48
没秒到红米手机，20万部5分钟就秒完了？
哪位借我一台安卓4.3、蓝牙4.0手机测试？
pc上插个usb蓝牙4.0配 ...

现在貌似还真挺少手机支持4.3的……不知道小米春季发布会不会把系统更新到4.3

taelons 发表于 2014-3-15 00:43:02

      前段时间一直忙店铺的时，每天备货到很晚，没时间搞小车，这两天没啥生意，总算有时了，今天继续---       由于没有安卓4.3、蓝牙4.0手机，哥用一个变通方法，买了块DF的BLE-Link和电源转接头

   BLE-Link接电脑USB，和bluno蓝牙配对，BLE-Link为“主”，bluno为“从”，具体方法见DF官方资料，配置主从设置前，
BLE-Link和bluno都要拨到"AT"模式，配置好后，都拨回“Normal"模式，BLE-Link上绿色Link灯亮，同时bluno上红色Link灯亮，
表示自动配对成功，非常简单。
   bluno通过电源转接头用jst口的锂电池供电

   之后打开OpenJumper串口助手，切换到键盘模式，电脑就可以遥控乐高小车了。
   一个人不方便拍视频，用手机简单拍了一下，不太习惯键盘操控，小车还要用乐高加固一下，明天上视频。

taelons 发表于 2014-3-15 21:17:43

本帖最后由 taelons 于 2014-3-16 16:24 编辑

http://v.youku.com/v_show/id_XNjg1OTM5NjQ4.html

赛外奇雪 发表于 2014-3-19 15:40:43

我的天，顶礼膜拜！

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