与mRobots连接控制小车

参照:【使用mRobot通信制作小车】示例，在APP STORE下载mRobots。

#include <Microduino_Protocol.h>
#include <Microduino_Motor.h>

#define _DEBUG  //DEBUG调试

#define BLE_SPEED 57600  //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() {

  bleProtocol.begin(BLE_SPEED);
  pinMode(D6,OUTPUT);
  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);  //+153
    Serial.print(",steering:");
    Serial.println(steering);
    if(throttle>128)
    {
      digitalWrite(D6,HIGH);
    }else
    {
      digitalWrite(D6,LOW);
    }
    if(steering>256)
    {
      digitalWrite(D8,HIGH);
    }else
    {
      digitalWrite(D8,LOW);
    }
#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);
  }
}