BLE模块与手机APP mRobots通信示例

BLE模块与手机APP mRobots通信示例 此示例给出了BLE模块与手机APP mRobots通信的方法，可以用APP mRobots来控制小车的运动。 所需硬件 mCookie-Core mCookie-Battery MCookie-BLE MCookie-Motor/zh N20电机*2 小车轮*2 600px 电路搭建 将Battery、Core、BLE、Motor堆叠在一起，通过MicroUSB数据线接入电脑。初次使用请参考：Getting Started。 600px 代码 #include <Microduino_Protocol.h> #include <Microduino_Motor.h> #define _DEBUG //DEBUG调试 #define BLE_SPEED 9600 //蓝牙接口速度 #define CHANNEL_NUM 8 #define SAFE_TIME_OUT 250 //失控保护时间 #define MAX_THROTTLE 255 //最大油门 < 255 #define MAX_STEERING 512 //最大转向 < 512 #define CHANNEL_THROTTLE 1 //油门通道 #define CHANNEL_STEERING 0 //转向通道 Motor MotorLeft(MOTOR0_PINA, MOTOR0_PINB); Motor MotorRight(MOTOR1_PINA, MOTOR1_PINB); #define ProSerial Serial ProtocolSer bleProtocol(&ProSerial, 16); //采用ProSerial，数据长度为16个字节 /////////////////////////////////////////////////////////// uint16_t channalData[CHANNEL_NUM]; //8通道数据 int16_t throttle = 0; //油门 int16_t steering = 0; //转向 unsigned long safe_ms = millis(); uint8_t recCmd; void setup() { Serial.begin(9600); Serial.println("Hello Microduino!"); bleProtocol.begin(BLE_SPEED); MotorLeft.begin(); //电机MotorLeft初始化 MotorRight.begin(); //电机MotorLeft初始化 } void loop() { if (bleProtocol.available()) { bleProtocol.readWords(&recCmd, channalData, 8); throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE); steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING); MotorLeft.setSpeed((throttle + steering / 2)); MotorRight.setSpeed(-(throttle - steering / 2)); #ifdef _DEBUG Serial.print("DATA OK :["); for (int a = 0; a < CHANNEL_NUM; a++) { Serial.print(channalData[a]); Serial.print(" "); } Serial.print("],throttle:"); Serial.print(throttle); Serial.print(",steering:"); Serial.println(steering); #endif safe_ms = millis(); } if (safe_ms > millis()) safe_ms = millis(); if (millis() - safe_ms > SAFE_TIME_OUT) { MotorLeft.setSpeed(FREE); //设置电机MotorLeft为释放状态，即速度为0 MotorRight.setSpeed(FREE); } } 相关案例

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