[App Inventor 物聯網應用-藍牙4.0 BLE] Lesson 4 – 機器手臂

本篇文章示範如何使用 App Inventor 之 BLE (Bluetooth Low Energy) 元件控制 Arduino 101 機器手臂 (架構比照 mearm,為四個自由度之桌上型機器手臂)。請注意,BLE元件尚未正式發布,請用 http://ble-test.apinventor.mit.edu 這個測試用伺服器來測試。 13161730_1434718456554194_3789265564649173881_o

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[Make雜誌國際中文版]Arduino 101 介紹 Arduino.cc 論壇的 callbackLED 教學(手機端並非使用 App Inventor ) Arduino 101 購買連結 Arduino 101 開箱文 Arduino 101 BLE 第二課 LED呼吸燈(PWM) Arduino 101 BLE 第三課 讀取類比腳位狀態 Arduino 101 BLE 第四課 控制機器手臂

硬體架構

  1. Arduino 101
  2. Android 手機
  3. MeArm 或任何類似架構的四軸裝上型機器手臂,請參考我們的說明

App Inventor 程式說明

Designer頁面

使用到的元件除了 BLE 之外,其他幾乎都是 Button / Label 等基礎元件。概念上就是一大堆按鈕, 您可以自由安排版面的配置,本app操作的概念是按下某個按鈕就會發送訊號讓 Arduino 機器手臂執行某個動作,只要放開按鈕就會馬上停止,這是使用 Button 的 TouchUp / TouchDown 事件。

bl3_007

Blocks頁面

初始化:程式啟動時,要求 BLE 元件進行掃描。

arm_004

連線與斷線:按下連線按鈕時,對指定 BLE 裝置 (Arduino 101) 發起連線,成功的話會在 Screen1.Title 顯示相關訊息。斷線時則執行相反的操作,會讓畫面上所有的按鈕變成不可操作(Enabled = false)

arm_007

arm_003

arm_005

按下按鈕:在此只介紹 ButtonArmB1 (伸出前臂的這個按鈕),請注意我們在此使用按鈕的 TouchUpTouchdown 等兩個事件。畫面上一共有八個按鈕,搭配各自的TouchUpTouchdown 等事件,畫面非常滿啊!

arm_001

實際上這樣寫法也太冗長了,您可以使用副程式來管理,其實只是送入不同的參數而已,很容易就可以讓程式變得更清爽喔!

arm_006

 

Arduino 101 code

#include <Servo.h>
#include <SoftwareSerial.h>
#include <CurieBLE.h>
Servo Bottom;
Servo Clamp;
Servo ArmA;
Servo ArmB;
BLEPeripheral blePeripheral;
BLEService MeArm("19B10010-E8F2-537E-4F6C-D104768A1214");
BLEUnsignedIntCharacteristic readchar("19B10011-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite | BLENotify);
#define Bottom_pin  3
#define Clamp_pin  9
#define ArmA_pin  5
#define ArmB_pin  6

#define Bottom_max  170
#define Bottom_min  0
#define Clamp_max  140
#define Clamp_min  50
#define ArmA_max  150
#define ArmA_min  50
#define ArmB_max  210
#define ArmB_min  120

int Clamp_pos = Clamp_max;
int Bottom_pos = (Bottom_max + Bottom_min)/2;
int ArmA_pos = ArmA_min;
int ArmB_pos = ArmB_max;
int delta = 10;

void setup() {
  Serial.begin(9600);
  blePeripheral.setLocalName("MeArm");
  blePeripheral.setAdvertisedServiceUuid(MeArm.uuid());
  blePeripheral.addAttribute(MeArm);
  blePeripheral.addAttribute(readchar);
  readchar.setValue(0);
  blePeripheral.begin();
  Init_Pin();
}

void loop() {
  BLECentral central = blePeripheral.central();
  if (central) {
    Serial.print("Connected to central: ");
    Serial.println(central.address());
    while(central.connected())
    {
       if(readchar.written())
       {
        Serial.println(readchar.value());
        switch (readchar.value()){
        case 1:
          Serial.println("Turn Left");
          stopp();
          delay(100);
          BottomLeft();
          delay(100);
          break;

        case 3:
          Serial.println("Turn Right");
          stopp();
          BottomRight();
          delay(100);
          break;

        case 8:
         Serial.println("Clamp Open");
         stopp();
         delay(100);
         ClampOpen();
         delay(100);
         break;

       case 5:
        Serial.println("Clamp Close");
        stopp();
        delay(100);
        ClampClose();
        delay(100);
        break;

      case 7:
        Serial.println("Arm A Up");
        stopp();
        delay(100);
        ArmAUp();
        delay(100);
        break;

      case 4:
        Serial.println("Arm A Down");
        stopp();
        delay(100);
        ArmADown();
        delay(100);
        break;

      case 9:
        Serial.println("Arm B Up");
        stopp();
        delay(100);
        ArmBUp();
        delay(100);
        break;

      case 6:
        Serial.println("Arm B Down");
        stopp();
        delay(100);
        ArmBDown();
        delay(100);
        break;
      case 0:
        Serial.println("Stop");
        stopp();
        delay(100);
      }
       }//if
    }//while
    Serial.print(F("Disconnected from central: "));
    Serial.println(central.address());
  }//if
  
}
  
void Init_Pin() {
  Bottom.attach(Bottom_pin);
  Clamp.attach(Clamp_pin);
  ArmA.attach(ArmA_pin);
  ArmB.attach(ArmB_pin);
}

void ClampOpen() {
  Clamp_pos = Clamp_min;
  Clamp.write(Clamp_pos);
  
}
void ClampClose() {
  Clamp_pos = Clamp_max;
  Clamp.write(Clamp_pos);
  
}

void BottomRight() {
  if(Bottom_pos - delta > Bottom_min) 
    Bottom_pos -= delta;
  Bottom.write(Bottom_pos);
  
}
void BottomLeft() {
  if(Bottom_pos + delta < Bottom_max) 
    Bottom_pos += delta;
  Bottom.write(Bottom_pos);
  
}

void ArmAUp() {
  if(ArmA_pos + delta < ArmA_max) ArmA_pos += delta; ArmA.write(ArmA_pos); } void ArmADown() { if(ArmA_pos - delta > ArmA_min)
    ArmA_pos -= delta;
  ArmA.write(ArmA_pos);
}

void ArmBUp() {
  if(ArmB_pos - delta > ArmB_min)
    ArmB_pos -= delta;
  ArmB.write(ArmB_pos);
}
void ArmBDown() {
  if(ArmB_pos + delta < ArmB_max)
    ArmB_pos += delta;
  ArmB.write(ArmB_pos);
}
void stopp() {
  Bottom.write(Bottom_pos);
  Clamp.write(Clamp_pos);
  ArmA.write(ArmA_pos);
  ArmB.write(ArmB_pos);
}
Arduino 101 BLE robotarm

About CAVEDU 阿吉 - 雜工 (2520 Articles)
CAVEDU 教育團隊 打雜
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