开贴扯蛋BLUNO乐高小车搭建过程（视频已更新）

为什么剩下的实在评论里发的

大佬，想入坑，没钱啊

吊吊吊…………6666666666666

教程很详细呀

这么高端，乐高兼容性太强了，搭原型不能更方便

请问去那里下载BLUNO的USB驱动呀？

为方便调整，视频里小车的后翼拆下来，装上后翼还是很有型的，键盘“驾驶技术”有待提高:-)，大家将就看看，提提意见。
感觉键盘操控，小车反应有点延迟，程序里delay(100)太大了？隔了两层无线，无线键盘和pc、pc再通过串口助手、ble-link和bluno蓝牙通讯
开源硬件代替lego nxt还是有些空间的，一个nxt要900多rmb，大家可以玩玩:)

我的天，顶礼膜拜！

[media=x,500,375]http://v.youku.com/v_show/id_XNjg1OTM5NjQ4.html[/media]

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。

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。

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----

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......

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......

安卓手机程序---
[code]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;
// }
}
[/code]

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--
[code]#include // 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
}
[/code]

哈哈，电机乐高外壳出来了，扣在积木上，完美！

挺厉害 iphone4s 以上的机型都支持蓝牙4.0

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！！

安卓代码需要安卓4.3的手机，无法装到手头安卓4.04的三星手机里，下载了
google的安卓开发环境，准备自己改写控制代码。。。。。。
这个真不好搞，蓝牙4.0是4.3系统以后才开始支持的。。