Wifi小车资料

下位机代码

#include <avr/wdt.h>
#include <SoftwareSerial.h>
#include <EEPROM.h>

//设置系统启动指示灯
#define LED 13
#define ENA  5
#define ENB  6
#define INPUT2  7
#define INPUT1  8
#define INPUT3  12
#define INPUT4 13
#define FIREPIN 9
#define MOTOR_GO_FORWARD  {digitalWrite(INPUT1,LOW);digitalWrite(INPUT2,HIGH);digitalWrite(INPUT3,LOW);digitalWrite(INPUT4,HIGH);}
#define MOTOR_GO_BACK      {digitalWrite(INPUT1,HIGH);digitalWrite(INPUT2,LOW);digitalWrite(INPUT3,HIGH);digitalWrite(INPUT4,LOW);}
#define MOTOR_GO_RIGHT      {digitalWrite(INPUT1,HIGH);digitalWrite(INPUT2,LOW);digitalWrite(INPUT3,LOW);digitalWrite(INPUT4,HIGH);}
#define MOTOR_GO_LEFT      {digitalWrite(INPUT1,LOW);digitalWrite(INPUT2,HIGH);digitalWrite(INPUT3,HIGH);digitalWrite(INPUT4,LOW);}
#define MOTOR_GO_STOP      {digitalWrite(INPUT1,LOW);digitalWrite(INPUT2,LOW);digitalWrite(INPUT3,LOW);digitalWrite(INPUT4,LOW);}    

SoftwareSerial mySerial(, ); // RX, TX

int Left_Speed[]={,,,,,,,,,};//左侧速度档位
int Right_Speed[]={,,,,,,,,,};//右侧速度档位

int Left_Speed_Hold=;//定义左侧速度变量
int Right_Speed_Hold=;//定义右侧速度变量

byte Fireing=;
long FireStopTime=;
unsigned long lastSendTime=;
unsigned long lastReceiveTime=;
byte RecCache[];
volatile int CacheIndex=;

void setup() {
  // put your setup code here, to run once:
 Serial.begin();
 initWifi();
 initIO();
 setCache(,);
}

void loop() {
  // put your main code here, to run repeatedly:

   handleTXR();
   checkStopFire();
}

void  initWifi(){
   mySerial.begin();

  delayAndRead();
  mySerial.println("AT+CIOBAUD=19200");
  delayAndRead();
  mySerial.println("AT+RST");
  delayAndRead();
  mySerial.begin();
  mySerial.println("AT+CIPMUX=1");
  delayAndRead();
  mySerial.println("AT+CIPSERVER=1");
  delayAndRead();
  mySerial.println("AT+CIPSTO=60");
  delayAndRead(); 

}
void initIO()
{

    pinMode(LED,OUTPUT);
    pinMode(ENA,OUTPUT);
    pinMode(ENB,OUTPUT);
    pinMode(INPUT1,OUTPUT);
    pinMode(INPUT2,OUTPUT);
    pinMode(INPUT3,OUTPUT);
    pinMode(INPUT4,OUTPUT);
    pinMode(FIREPIN,OUTPUT);
    digitalWrite(FIREPIN,LOW);

    for(int i=;i<;i++)
    {
        digitalWrite(LED,LOW);
        delay();
        digitalWrite(LED,HIGH);
        delay();
    }
    digitalWrite(LED,LOW);

    //half speed
    analogWrite(ENA,Left_Speed[Left_Speed_Hold]);
   analogWrite(ENB,Right_Speed[Right_Speed_Hold]);

}
void fire(long fireDelay){
  if(Fireing==)return;
  digitalWrite(FIREPIN,HIGH);
  Fireing=;
  FireStopTime=millis() + fireDelay;
  Serial.println(FIREPIN);
  Serial.println("fireDelay" + (String)fireDelay);
  Serial.println(FireStopTime);
}
void checkStopFire(){
      //check stop fire
    if(Fireing== && (FireStopTime <=millis())){
       Fireing=;
       digitalWrite(FIREPIN,LOW);
    }
}

void reply(bool isOk,String cmd,String msg){
 String rStr="";
 if(isOk){
  rStr="$FOK-" + cmd +":" +msg +"$E";
  mySerial.println("AT+CIPSEND=0," + (String)rStr.length());
  delay();
  mySerial.println(rStr);
 }else{
    rStr="$FEE-" + cmd +":" +msg +"$E";
    mySerial.println("AT+CIPSEND=0," + (String)rStr.length());
    delay();
    mySerial.println(rStr);

 } 

}

void replyBytes(bool isOk,String cmd,byte msg[],int msgLen){
 String rStr="";
 int  sendLen=;
 if(isOk){
  rStr="$FOK-" + cmd +":" ;
    sendLen= rStr.length() + msgLen +; //2 is "$E"
  mySerial.println("AT+CIPSEND=0," + (String)sendLen);
  delay();
  mySerial.print(rStr);
  for(int i=;i<msgLen;i++){
    mySerial.write(msg[i]);
  }
  mySerial.println("$E");
 }else{
  rStr="$FEE-" + cmd +":" ;
  sendLen= rStr.length() + msgLen +; //2 is "$E"
  mySerial.println("AT+CIPSEND=0," + (String)sendLen);
  delay();
  mySerial.print(rStr);
  for(int i=;i<msgLen;i++){
    mySerial.write(msg[i]);
  }
  mySerial.println("$E");
 } 

}

void cls(){
   while(mySerial.available()){
     mySerial.read();
  }
}

void delayAndRead(int waitTime){
   delay(waitTime);
   while(mySerial.available()){
     Serial.write(mySerial.read());
   }
}

void handleTXR(){

  while(mySerial.available()){
    byte c=(byte) mySerial.read();
    RecCache[CacheIndex++]=c;

  }
   if(CacheIndex>){
      CacheIndex=;
      setCache(,);
      Serial.println("Cut");
    }

  int bIndex=bIndexOf("$F",);
  if(bIndex>=){
    int eIndex=bIndexOf("$E",bIndex);
    if(eIndex>bIndex){
       //Extra Data
       int dataLen= eIndex - (bIndex +);
       byte data[dataLen];
       for(int i=;i<dataLen;i++){
         data[i]= RecCache[bIndex+ +i] ;

       }

       for(int w=(eIndex +);w<CacheIndex && w<;w++){
          RecCache[w-(eIndex + )]=RecCache[w];
       }
       CacheIndex = CacheIndex - (eIndex +);
       setCache(CacheIndex,);

       lastReceiveTime=millis();
       handleCmd(data,dataLen);

    }
  }

    if(CacheIndex>){
      CacheIndex=;
      setCache(,);
    }

}

void setCache(int start,int endIndex){
  for(int i=start;i<endIndex;i++){
     RecCache[i]=;
  }
}
boolean bStartsWith(byte data[],int len, String fStr){
    int fLen=fStr.length() ;
   byte fBytes[fLen + ];
   fStr.getBytes(fBytes,fLen+);

   if(len<=)return false;
   if(len<fLen)return false;
   byte flag=;
   for(int j=;j<fLen;j++){
       if(fBytes[j]!=data[j])
       {
                flag=;
                break;
        }

    }
   if(flag) return true; 

   return false;
}

int bIndexOf(String fStr,int start){
    int fLen=fStr.length() ;
   byte fBytes[fLen + ];
   fStr.getBytes(fBytes,fLen+);

   for(int i=start;i<(CacheIndex +  -fLen);i++){

       if(RecCache[i]==fBytes[])
       {
         byte flag=;
          for(int j=;j<fLen;j++){
              if(fBytes[j]!=RecCache[i+j])
              {
                flag=;
                break;
              }
          }
          if(flag)return i;
       }
   }
   return -;
}

void handleCmd(byte data[], int len){

//    Serial.println("\n=============");
//  for(int i=0;i<len;i++){
//    Serial.print(data[i],DEC);
//    Serial.print(",");
//  }

 if(bStartsWith(data,len,"HB:")){
     hbCmd();
 }else if(bStartsWith(data,len,"F:")){
    fireCmd(data,len);
 }else if(bStartsWith(data,len,"C:")){
    controlCmd(data,len);
 }
}

void hbCmd(){
    byte bs[];
    unsigned long mlis=millis();
    long2byte(mlis,bs);
    Serial.println(mlis);
    replyBytes(true,"HB",bs,);
}

void fireCmd(byte data[], int len){

  byte duration=data[];
  if(duration>) duration=;
  if(duration<=)duration=;

  long longDuration= duration * ;
  fire(longDuration);
  reply(true,"F","");
}

void controlCmd(byte data[], int len){
  byte bs[]={,};
  bs[]=data[];bs[]=data[];
  byte isMatch=;

  if(data[]==0x01 && data[]==0x01){
    //Forward
    isMatch=;
    MOTOR_GO_FORWARD;
  }else if(data[]==0x01 && data[]==0x02){
    //Back
     isMatch=;
     MOTOR_GO_BACK;
  }else if(data[]==0x01 && data[]==0x03){
    //Turn Left
     isMatch=;
     MOTOR_GO_LEFT;
  }else if(data[]==0x01 && data[]==0x04){
    //Turn Right
     isMatch=;
     MOTOR_GO_RIGHT;
  }else if(data[]==0x01 && data[]==0x05){
    //Stop
     isMatch=;
     MOTOR_GO_STOP;
     Serial.println("Stop");
  }else if(data[]==0x02 && data[]==0x01){
    //Left Speed
     isMatch=;
     byte ena=data[];
     if(ena>= && ena<=){
        Left_Speed_Hold=ena;
        analogWrite(ENA,Left_Speed[Left_Speed_Hold]);
     }

  }else if(data[]==0x02 && data[]==0x02){
    //Right Speed
     isMatch=;
     byte enb=data[];
     if(enb>= && enb<=){
        Right_Speed_Hold=enb;
        analogWrite(ENB,Right_Speed[Right_Speed_Hold]);
     }

  }
  if(isMatch==)replyBytes(true,"C",bs,); 

}

 void long2byte(unsigned long res,byte targets[] ) {
        targets[] = (byte) (res & 0xff);// 鏈�浣庝綅
        targets[] = (byte) ((res >> ) & 0xff);// 娆′綆浣�
        targets[] = (byte) ((res >> ) & 0xff);// 娆￠珮浣�
        targets[] = (byte) (res >> );// 鏈�楂樹綅,鏃犵鍙峰彸绉汇��  

    }  

unsigned long bytes2long(byte buf[]) {
        unsigned long firstByte = ;
        unsigned long secondByte = ;
        unsigned long thirdByte = ;
        unsigned long fourthByte = ;
        int index = ;
        firstByte = (0x000000FFU & ( buf[index+]));
        secondByte = (0x000000FFU & ( buf[index + ]));
        thirdByte = (0x000000FFU & ( buf[index + ]));
        fourthByte = (0x000000FFU & ( buf[index ]));
        index = index + ;
        return ((unsigned long) (firstByte <<  | secondByte <<  | thirdByte <<  | fourthByte)) & 0xFFFFFFFFUL;
    }  

上位机Android，参考QQ云盘