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。
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硬體架構
- Arduino 101
- Android 手機
- 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。
Blocks頁面
初始化：程式啟動時，要求 BLE 元件進行掃描。
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）
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 TouchUp 與 Touchdown 等兩個事件。畫面上一共有八個按鈕，搭配各自的TouchUp 與 Touchdown 等事件，畫面非常滿啊！
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！
Arduino 101 code
Arduino 101 BLE robotarm
#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);
}
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