ROBOT पर आधारित: android, arduino, bluetooth। पलटा। भाग २

//  char incomingbyte; //     //motors A (RIGHT) int R_A_IA = 9; // A-IA int R_A_IB = 10; // A-IB //motors B (LEFT) int L_B_IA = 11; // B-IA int L_B_IB = 12; // B-IB //  void setup() { Serial.begin(38400); //motors RIGHT pinMode(R_A_IA,OUTPUT); digitalWrite(R_A_IA, HIGH); pinMode(R_A_IB,OUTPUT); digitalWrite(R_A_IB, HIGH); //motors LEFT pinMode(L_B_IA,OUTPUT); digitalWrite(L_B_IA, HIGH); pinMode(L_B_IB,OUTPUT); digitalWrite(L_B_IB, HIGH); } void go_forward(){ //motors LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, HIGH); //motors RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, HIGH); } void go_back(){ //motors LEFT digitalWrite(L_B_IA, HIGH); digitalWrite(L_B_IB, LOW); //motors RIGHT digitalWrite(R_A_IA, HIGH); digitalWrite(R_A_IB, LOW); } void go_right(){ //motors LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, HIGH); //motors RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, LOW); } void go_left(){ //motors LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, LOW); //motors RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, HIGH); } void stop_robot(){ //motors LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, LOW); //motors RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, LOW); } //   void loop() { if (Serial.available() > 0){ incomingbyte = Serial.read(); if (incomingbyte == '1'){ go_forward(); Serial.println("FORWARD"); } if (incomingbyte == '2'){ go_back(); Serial.println("BACK"); } if (incomingbyte == '3'){ go_right(); Serial.println("RIGHT"); } if (incomingbyte == '4'){ go_left(); Serial.println("LEFT"); } if (incomingbyte=='0'){ stop_robot(); Serial.println("STOP"); } } } 

 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="fill_parent" android:orientation="vertical" > <TextView android:id="@+id/txtrobot" android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="  " /> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <Button android:id="@+id/b1" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> </LinearLayout> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <LinearLayout android:layout_width="wrap_content" android:layout_height="match_parent" android:layout_weight="100" > <Button android:id="@+id/b4" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> <Button android:id="@+id/b0" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> <Button android:id="@+id/b3" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> </LinearLayout> </LinearLayout> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <Button android:id="@+id/b2" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_weight="100" android:text="" /> </LinearLayout> </LinearLayout> 

 package com.example.rob_2_3_0; import java.io.IOException; import java.io.InputStream; import java.io.OutputStream; import java.util.UUID; import com.example.rob_2_3_0.R; import android.os.Bundle; import android.os.Handler; import android.app.Activity; import android.util.Log; import android.view.View; import android.view.View.OnClickListener; import android.widget.Button; import android.widget.TextView; import android.widget.Toast; import android.bluetooth.*; import android.content.Intent; public class MainActivity extends Activity { private static final int REQUEST_ENABLE_BT = 1; final int ArduinoData = 1; final String LOG_TAG = "myLogs"; private BluetoothAdapter btAdapter = null; private BluetoothSocket btSocket = null; private static String MacAddress = "20:11:02:47:01:60"; // MAC-   private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"); private ConnectedThred MyThred = null; public TextView mytext; Button b0, b1, b2, b3, b4; boolean fl=false; Handler h; @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); btAdapter = BluetoothAdapter.getDefaultAdapter(); mytext = (TextView) findViewById(R.id.txtrobot); if (btAdapter != null){ if (btAdapter.isEnabled()){ mytext.setText("Bluetooth .  ."); }else { Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE); startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT); } }else { MyError("Fatal Error", "Bluetooth "); } b0 = (Button) findViewById(R.id.b0);// b1 = (Button) findViewById(R.id.b1);// b2 = (Button) findViewById(R.id.b2);// b3 = (Button) findViewById(R.id.b3);// b4 = (Button) findViewById(R.id.b4);// b0.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("0"); } }); b1.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("1"); } }); b2.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("2"); } }); b3.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("3"); } }); b4.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("4"); } }); h = new Handler() { public void handleMessage(android.os.Message msg) { switch (msg.what) { case ArduinoData: byte[] readBuf = (byte[]) msg.obj; String strIncom = new String(readBuf, 0, msg.arg1); mytext.setText("  Arduino: " + strIncom); break; } }; }; } @Override public void onResume() { super.onResume(); if (btAdapter != null){ if (btAdapter.isEnabled()){ BluetoothDevice device = btAdapter.getRemoteDevice(MacAddress); Log.d(LOG_TAG, "***  Device***"+device.getName()); try { btSocket = device.createRfcommSocketToServiceRecord(MY_UUID); Log.d(LOG_TAG, "... ..."); } catch (IOException e) { MyError("Fatal Error", " onResume()    : " + e.getMessage() + "."); } btAdapter.cancelDiscovery(); Log.d(LOG_TAG, "***   ***"); Log.d(LOG_TAG, "***...***"); try { btSocket.connect(); Log.d(LOG_TAG, "***  ***"); } catch (IOException e) { try { btSocket.close(); } catch (IOException e2) { MyError("Fatal Error", " onResume()    " + e2.getMessage() + "."); } } MyThred = new ConnectedThred(btSocket); MyThred.start(); } } } @Override public void onPause() { super.onPause(); Log.d(LOG_TAG, "...In onPause()..."); if (btAdapter != null){ if (btAdapter.isEnabled()){ if (MyThred.status_OutStrem() != null) { MyThred.cancel(); } try { btSocket.close(); } catch (IOException e2) { MyError("Fatal Error", " onPause()    " + e2.getMessage() + "."); } } } }//OnPause private void MyError(String title, String message){ Toast.makeText(getBaseContext(), title + " - " + message, Toast.LENGTH_LONG).show(); finish(); } //     private class ConnectedThred extends Thread{ private final BluetoothSocket copyBtSocket; private final OutputStream OutStrem; private final InputStream InStrem; public ConnectedThred(BluetoothSocket socket){ copyBtSocket = socket; OutputStream tmpOut = null; InputStream tmpIn = null; try{ tmpOut = socket.getOutputStream(); tmpIn = socket.getInputStream(); } catch (IOException e){} OutStrem = tmpOut; InStrem = tmpIn; } public void run() { byte[] buffer = new byte[1024]; int bytes; while(true){ try{ bytes = InStrem.read(buffer); h.obtainMessage(ArduinoData, bytes, -1, buffer).sendToTarget(); }catch(IOException e){break;} } } public void sendData(String message) { byte[] msgBuffer = message.getBytes(); Log.d(LOG_TAG, "*** : " + message + "***" ); try { OutStrem.write(msgBuffer); } catch (IOException e) {} } public void cancel(){ try { copyBtSocket.close(); }catch(IOException e){} } public Object status_OutStrem(){ if (OutStrem == null){return null; }else{return OutStrem;} } } } 

 #include "Ultrasonic.h" //  char incomingbyte; int i=0; //motors A (LEFT) int R_A_IA = 9; // A-IA int R_A_IB = 10; // A-IB //motors B (RIGHT) int L_B_IA = 11; // B-IA int L_B_IB = 12; // B-IB //      Ultrasonic ultrasonic(5, 6); //  void setup() { Serial.begin(38400); //RIGHT pinMode(R_A_IA,OUTPUT); digitalWrite(R_A_IA, HIGH); pinMode(R_A_IB,OUTPUT); digitalWrite(R_A_IB, HIGH); //LEFT pinMode(L_B_IA,OUTPUT); digitalWrite(L_B_IA, HIGH); pinMode(L_B_IB,OUTPUT); digitalWrite(L_B_IB, HIGH); } void go_forward(){ //LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, HIGH); //RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, HIGH); } void go_back(){ //LEFT digitalWrite(L_B_IA, HIGH); digitalWrite(L_B_IB, LOW); //RIGHT digitalWrite(R_A_IA, HIGH); digitalWrite(R_A_IB, LOW); } void go_right(){ //LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, HIGH); //RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, LOW); } void go_left(){ //LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, LOW); //RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, HIGH); } void stop_robot(){ //LEFT digitalWrite(L_B_IA, LOW); digitalWrite(L_B_IB, LOW); //RIGHT digitalWrite(R_A_IA, LOW); digitalWrite(R_A_IB, LOW); } //   void loop() { if (Serial.available() > 0){ incomingbyte = Serial.read(); if (incomingbyte == '1'){ go_forward(); } if (incomingbyte == '2'){ go_back(); } if (incomingbyte == '3'){ go_right(); } if (incomingbyte == '4'){ go_left(); } if (incomingbyte=='0'){ stop_robot(); } } float dist_cm = ultrasonic.Ranging(CM); //    Serial.print("*"); Serial.print(dist_cm); Serial.print("#"); } 

 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="fill_parent" android:orientation="vertical" > <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <Button android:id="@+id/b5" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="1" android:text="" /> </LinearLayout> <TextView android:id="@+id/txtrobot" android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="  " /> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <Button android:id="@+id/b1" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> </LinearLayout> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <LinearLayout android:layout_width="wrap_content" android:layout_height="match_parent" android:layout_weight="100" > <Button android:id="@+id/b4" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> <Button android:id="@+id/b0" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> <Button android:id="@+id/b3" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_weight="100" android:text="" /> </LinearLayout> </LinearLayout> <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" > <Button android:id="@+id/b2" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_weight="100" android:text="" /> </LinearLayout> </LinearLayout> 

 package com.robot.rob_2_3; import java.io.IOException; import java.io.InputStream; import java.io.OutputStream; import java.net.Socket; import java.util.UUID; import com.robot.rob_2_3.R; import android.os.Bundle; import android.os.CountDownTimer; import android.os.Handler; import android.app.Activity; import android.util.Log; import android.view.View; import android.view.View.OnClickListener; import android.widget.Button; import android.widget.TextView; import android.widget.Toast; import android.bluetooth.*; import android.content.Intent; public class MainActivity extends Activity { private static final int REQUEST_ENABLE_BT = 1; final int ArduinoData = 1; final String LOG_TAG = "myLogs"; private BluetoothAdapter btAdapter = null; private BluetoothSocket btSocket = null; private static String MacAddress = "20:11:02:47:01:60"; // MAC-   private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"); private static final long MILLIS_PER_SECOND = 0; private ConnectedThred MyThred = null; public TextView mytext; Button b0, b1, b2, b3, b4, b5; boolean fl=false; Handler h; private StringBuilder sb = new StringBuilder(); @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); btAdapter = BluetoothAdapter.getDefaultAdapter(); mytext = (TextView) findViewById(R.id.txtrobot); if (btAdapter != null){ if (btAdapter.isEnabled()){ mytext.setText("Bluetooth .  ."); }else { Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE); startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT); } }else { MyError("Fatal Error", "Bluetooth "); } b0 = (Button) findViewById(R.id.b0);// b1 = (Button) findViewById(R.id.b1);// b2 = (Button) findViewById(R.id.b2);// b3 = (Button) findViewById(R.id.b3);// b4 = (Button) findViewById(R.id.b4);// b5 = (Button) findViewById(R.id.b5);// b0.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("0"); if (fl) { fl = false; b1.setEnabled(true); b2.setEnabled(true); b3.setEnabled(true); b4.setEnabled(true); } } }); b1.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("1"); } }); b2.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("2"); } }); b3.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("3"); } }); b4.setOnClickListener(new OnClickListener() { public void onClick(View v) { MyThred.sendData("4"); } }); b5.setOnClickListener(new OnClickListener() { public void onClick(View v) { Log.d(LOG_TAG, " "); if (!fl){ Log.d(LOG_TAG, "  "); fl=true; b1.setEnabled(false); b2.setEnabled(false); b3.setEnabled(false); b4.setEnabled(false); MyThred.sendData("1"); Log.d(LOG_TAG, " 1"); } } }); h = new Handler() { public void handleMessage(android.os.Message msg) { switch (msg.what) { case ArduinoData: byte[] readBuf = (byte[]) msg.obj; String strIncom = new String(readBuf, 0, msg.arg1); sb.append(strIncom);//   int beginOfLineIndex = sb.indexOf("*");//    int endOfLineIndex = sb.indexOf("#");//    //     *#    if ((endOfLineIndex > 0) && (beginOfLineIndex == 0)) { //    , String sbprint = sb.substring(beginOfLineIndex+1, endOfLineIndex-3); //    mytext.setText("  Arduino: " + sbprint); if (fl){ int dist = Integer.parseInt(sbprint); if (dist<50) { MyThred.sendData("3"); } else { MyThred.sendData("1"); } } } sb.delete(0, sb.length()); break; } }; }; } @Override public void onResume() { super.onResume(); if (btAdapter != null){ if (btAdapter.isEnabled()){ BluetoothDevice device = btAdapter.getRemoteDevice(MacAddress); Log.d(LOG_TAG, "***  Device***"+device.getName()); try { btSocket = device.createRfcommSocketToServiceRecord(MY_UUID); Log.d(LOG_TAG, "... ..."); } catch (IOException e) { MyError("Fatal Error", " onResume()    : " + e.getMessage() + "."); } btAdapter.cancelDiscovery(); Log.d(LOG_TAG, "***   ***"); Log.d(LOG_TAG, "***...***"); try { btSocket.connect(); Log.d(LOG_TAG, "***  ***"); } catch (IOException e) { try { btSocket.close(); } catch (IOException e2) { MyError("Fatal Error", " onResume()    " + e2.getMessage() + "."); } } MyThred = new ConnectedThred(btSocket); MyThred.start(); } } } @Override public void onPause() { super.onPause(); Log.d(LOG_TAG, "...In onPause()..."); if (btAdapter != null){ if (btAdapter.isEnabled()){ if (MyThred.status_OutStrem() != null) { MyThred.cancel(); } try { btSocket.close(); } catch (IOException e2) { MyError("Fatal Error", " onPause()    " + e2.getMessage() + "."); } } } }//OnPause private void MyError(String title, String message){ Toast.makeText(getBaseContext(), title + " - " + message, Toast.LENGTH_LONG).show(); finish(); } //     private class ConnectedThred extends Thread{ private final BluetoothSocket copyBtSocket; private final OutputStream OutStrem; private final InputStream InStrem; public ConnectedThred(BluetoothSocket socket){ copyBtSocket = socket; OutputStream tmpOut = null; InputStream tmpIn = null; try{ tmpOut = socket.getOutputStream(); tmpIn = socket.getInputStream(); } catch (IOException e){} OutStrem = tmpOut; InStrem = tmpIn; } public void run() { byte[] buffer = new byte[1024]; int bytes; while(true){ try{ bytes = InStrem.read(buffer); h.obtainMessage(ArduinoData, bytes, -1, buffer).sendToTarget(); }catch(IOException e){break;} } } public void sendData(String message) { byte[] msgBuffer = message.getBytes(); Log.d(LOG_TAG, "*** : " + message + "***" ); try { OutStrem.write(msgBuffer); } catch (IOException e) {} } public void cancel(){ try { copyBtSocket.close(); }catch(IOException e){} } public Object status_OutStrem(){ if (OutStrem == null){return null; }else{return OutStrem;} } } }