micro:Maqueen - Android 원격 제어 (BLE : App Inventor)

출처

• microbit-touchdevelop/bitvm.cpp at master · microsoft/microbit-touchdevelop · GitHub (i2cWriteBuffer)
• GitHub - DFRobot/pxt-maqueen
• GitHub - kd8bxp/micro-Maqueen-Arduino-Library: A Simple Library for use with the DF Robot micro:Maqueen Robot and the BBC Micro:Bit

micro:Maqueen - BLE RC Car 제어 (App Inventor) pulse-combined.zip

micro:Maqueen을 안드로이드 폰으로 제어하기 위해서 micro:bit는 BLE로 구현하고, 안드로이드개발은 App Inventor를 이용해서 개발했습니다.

micro:bit의 BLE 개발은 이전 게시물의 내용을 참고 하시면 됩니다.

micro:bit - BLE 서버

Maqueen 제어용 상수

#define MOTOR_M1 0
#define MOTOR_M2 1
#define MOTOR_ALL 2

#define MOTOR_CW 0x0
#define MOTOR_CCW 0x1

#define MOTOR_ADDRESSS 0x10 << 1

Maqueen 모터 제어 - 100 스피드로 앞으로 전진

char buf[]={0x00,0x0,100};
uBit.i2c.write(MOTOR_ADDRESSS, buf, 3, true);

micro:bit - main.cpp 소스

#include "MicroBit.h"
#include "MicroBitUARTService.h"
 
MicroBit uBit;
MicroBitUARTService *uart;
MicroBitI2C i2c(I2C_SDA0, I2C_SCL0);

#define MOTOR_M1 0
#define MOTOR_M2 1
#define MOTOR_ALL 2

#define MOTOR_CW 0x0
#define MOTOR_CCW 0x1

#define MOTOR_ADDRESSS 0x10 << 1
 
int connected = 0;

void motorRun(int index, char direction, char speed) {
	
  //char buf[]={0x00,0x0,100};
	//uBit.i2c.write(MOTOR_ADDRESSS, buf, 3, true);	
	
	if (index == MOTOR_M1) {
	  char buf[]={0x00,direction,speed};
	  i2c.write(MOTOR_ADDRESSS, buf, 3);
	}
	if (index == MOTOR_M2) {
		char buf[]={0x02,direction,speed};
    i2c.write(MOTOR_ADDRESSS, buf, 3);
	}
	if (index == MOTOR_ALL) {
	  char buf[]={0x00,direction,speed};
	  i2c.write(MOTOR_ADDRESSS, buf, 3);
    buf[0] = 0x02;
    i2c.write(MOTOR_ADDRESSS, buf, 3);
	}
}

void motorStop(int motors) {
  if (motors == MOTOR_M1) {
	  char buf[]={0x00,0x0,0};
	  i2c.write(MOTOR_ADDRESSS, buf, 3);
  }
  if (motors == MOTOR_M2) {
		char buf[]={0x02,0x0,0};
    i2c.write(MOTOR_ADDRESSS, buf, 3);
  }
  if (motors == MOTOR_ALL) {
	  char buf[]={0x00,0x0,0};
	  i2c.write(MOTOR_ADDRESSS, buf, 3);
    buf[0] = 0x02;
    i2c.write(MOTOR_ADDRESSS, buf, 3);
  }
}

// 
void centerMotor(char direction, char speed) {
	motorRun(MOTOR_ALL, direction, speed);
}
 
// 
void rightMotor(char direction, char speed) {
	motorRun(MOTOR_M1, direction, speed);
}
 
// 
void leftMotor(char direction, char speed) {
	motorRun(MOTOR_M2, direction, speed);
}

// BLE 접속 이벤트
void onConnected(MicroBitEvent e) {
  uBit.display.scroll("C");

  connected = 1;

  // my client will send ASCII strings terminated with the colon character
  ManagedString eom(":");

  while (connected == 1) {
    ManagedString msg = uart->readUntil(eom);
    //uBit.display.scroll(msg);
    
    char command = msg.charAt(0);
    //uBit.display.scroll(command);
      
    if (command == 'S') {
	    motorStop(MOTOR_ALL);
	  } else {
		  int speed = 100;
		  ManagedString s = msg.substring(2, msg.length());
		  speed = atoi(s.toCharArray());
		  //uBit.display.scroll(speed);
		  
		  char direction = MOTOR_CW;
		  if (msg.charAt(0) == 'F') {
	      direction = MOTOR_CW;
	    } else if (msg.charAt(0) == 'B') {
	      direction = MOTOR_CCW;
	    }
	 
	    if (msg.charAt(1) == 'C') {
	      centerMotor(direction, speed);
	    } else if (msg.charAt(1) == 'L') {
	      leftMotor(direction, speed);
	    } else if (msg.charAt(1) == 'R') {
	      rightMotor(direction, speed);
	    }
    }
  }
}

// BLE 접속 해지 이벤트
void onDisconnected(MicroBitEvent e) {
    uBit.display.scroll("D");
    connected = 0;
    motorStop(MOTOR_ALL);
}

// 메인 함수
int main() {
    // micro:bit 초기화.
    uBit.init();
 
    // BLE 접속 상태 변경 리스터 등록
    uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected);
    uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected);
 
    // Note GATT table size increased from default in MicroBitConfig.h
    // #define MICROBIT_SD_GATT_TABLE_SIZE             0x500
    uart = new MicroBitUARTService(*uBit.ble, 32, 32); 
    uBit.display.scroll("AVM");
    
    /*
    motorRun(MOTOR_ALL, MOTOR_CW, 100);
    wait(3);
    motorStop(MOTOR_ALL);
    */
    
    // If main exits, there may still be other fibers running or registered event handlers etc.
    // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
    // sit in the idle task forever, in a power efficient sleep.
    release_fiber();
}

App Inventor 소스 (안드로이드) microbit_ble_rccar.zip

App Inventor 디자인

App Inventor 블럭

실행결과