通过专用 Android App 蓝牙控制 Arduino 机械臂

组件与物料

应用与在线服务

项目简介

本教程基于该页面资源。LittleArm 传统上使用在 Windows 和 Linux 上运行的免费桌面应用程序控制，这要求机械臂必须连接电脑。我们终于完成了 LittleArm 的 Android App，让你能通过蓝牙无线控制 Arduino。

App 可控制 LittleArm 的所有自由度，还能录制指令集并回放。Arduino 端代码与桌面版软件包中的传统代码一致。

LittleArm App 下载地址：[此处]

代码

Arduino 代码

#include  // Arduino 库
#include   // 标准 C 库
#define PI 3.141

Servo baseServo;
Servo shoulderServo;
Servo elbowServo;
Servo gripperServo;

int command;
struct jointAngle {
  int base;
  int shoulder;
  int elbow;
};
int desiredGrip;
int gripperPos;
int desiredDelay;
int servoSpeed = 15;
int ready = 0;
struct jointAngle desiredAngle; // 舵机目标角度

//+++++++++++++++ 函数声明 +++++++++++++++++++++++++++
int servoParallelControl(int thePos, Servo theServo, int theSpeed);
//++++++++++++++++++++++++++++++++++++++++++++++++++++

void setup() {
  Serial.begin(9600);
  baseServo.attach(9);   // 舵机连接引脚 9
  shoulderServo.attach(10);
  elbowServo.attach(11);
  gripperServo.attach(6);
  Serial.setTimeout(50); // 避免串口读取过长
  Serial.println("started");
  baseServo.write(90);   // 舵机初始位置
  shoulderServo.write(150);
  elbowServo.write(110);
  ready = 0;
}

// 主循环
void loop() {
  if (Serial.available()) {
    ready = 1;
    desiredAngle.base = Serial.parseInt();
    desiredAngle.shoulder = Serial.parseInt();
    desiredAngle.elbow = Serial.parseInt();
    desiredGrip = Serial.parseInt();
    desiredDelay = Serial.parseInt();
    if (Serial.read() == '\n') { // 最后一个字节为 'd' 则停止读取并执行命令，'d' 代表 'done'
      Serial.flush(); // 清空缓冲区堆积的其它命令
      Serial.print('d'); // 发送命令完成标志
    }
  }
  int status1 = 0, status2 = 0, status3 = 0, status4 = 0;
  int done = 0;
  while (done == 0 && ready == 1) {
    // 并行移动舵机至目标位置
    status1 = servoParallelControl(desiredAngle.base, baseServo, desiredDelay);
    status2 = servoParallelControl(desiredAngle.shoulder, shoulderServo, desiredDelay);
    status3 = servoParallelControl(desiredAngle.elbow, elbowServo, desiredDelay);
    status4 = servoParallelControl(desiredGrip, gripperServo, desiredDelay);
    if (status1 == 1 && status2 == 1 && status3 == 1 && status4 == 1) {
      done = 1;
    }
  }
}

//++++++++++++++++++++++++++++++ 函数定义 ++++++++++++++++++++++++++++++++++++++++
int servoParallelControl(int thePos, Servo theServo, int theSpeed) {
  int startPos = theServo.read(); // 读取当前位置
  int newPos = startPos;
  // 当前位置小于目标位置（含 5 度容差）则递增
  if (startPos < (thePos - 5)) {
    newPos = newPos + 1;
    theServo.write(newPos);
    delay(theSpeed);
    return 0;
  }
  // 当前位置大于目标位置（含 5 度容差）则递减
  else if (newPos > (thePos + 5)) {
    newPos = newPos - 1;
    theServo.write(newPos);
    delay(theSpeed);
    return 0;
  }
  else {
    return 1; // 已到达目标位置
  }
}

原理图