Arduino RF 探索者機器人—第2部分—組裝所有元件

Tiberia Todeila

Published by Tiberia Todeila at 2022.11.16

硬體

Arduino Uno
2x 收發器 NRF24l01+
2x Pololu 發動機 100:1
4x 車輪
穩壓器
水晶玻璃
L298
nRF24L01
氣壓感測器 BMP085
距離感測器 HC-SR04

軟體

Arduino IDE
C#
GitHub

工具

Eagle CAD

圖1：第1部分中的RF機器人設置

步驟1：結構和機械元件

遠端控制器將從筆記型電腦的USB埠獲取資訊，並透過第二個nRF24l01+模組進行重定向。遠端控制器由Arduino開發板和帶有NRF連接器和電源的板組成，這個板將被安裝在Uno上方，以避免使用電線。

圖2：遠程控制器原理圖

圖3：遠程控制器PCB

圖4：安裝有連接到Arduino Uno 的NRF24L01+模組的遠端控制器

您還會看到我們安裝的兩個LED燈，用來指示電路的功能和上述的其他元件。我們將會使用一些用於穩壓器和NPN電晶體過熱保護的小冷卻器。電路板將會被放置于電池上方，如圖5所示。

圖5：安裝在電池上方的遠程控制器

步驟2：模組

我們正在使用的是nRF24L01+無線收發器模組。nRF24L01+是一款超低功耗的無線射頻收發器。對於此類應用程式，該模組是最佳選擇。它以其出色的性能和低廉的價格成為最受歡迎的型號之一，同時，該模組通用的通信協定使其能夠與全球廣泛使用的軟體相容。

nRF24L01+ 資料表

規格：

工作頻率2.4GHz – 126 通道
速度： 250kbps, 1 和2 Mbps
發射器：輸出功率為0dBm 時是11.3mA
最大功率：100mW (由於前置放大器)
介面：4引腳 SPI – 有效負載： 32 位元組

圖6：NRF24L01+模組

為了獲取壓力和溫度資料，我們將使用Sparkfun BMP085氣壓感測器。該感測器提供300至110 kPa的測量範圍，誤差為0.03 kPa。BMP085還可以提供0至65 °C範圍內的溫度測量功能。其承受的電壓必須在1.8-3.6V範圍內，並透過l2C直接與微控制器建立連接。

BMP085 資料表

規格：

介面(l2C)
寬氣壓範圍
寬電壓範圍
極低的電流損耗
低噪環境測量
完全較准
含運動感測器

圖7：BMP085氣壓感測器

現在我們將要安裝HC-SR04超聲波感測器。HC-SR04的檢測範圍為2-200釐米。微控制器向感測器發送激發聲波的脈衝。當感測器感知到聲波已返回時，將向微控制器發送回脈衝，計算發送脈衝的時間與接收到脈衝的時間之間的差值即可算出距離。

𝐷=(𝑡2−𝑡1)×170

圖8：位於車體正面的HC-SR04距離感測器

步驟3：數據路由

Arduino平臺提供了預定義的功能，使用者無需對一些寄存器進行配置。可以透過一些庫來實現平臺與其他週邊設備的介面。使用一根Arduino-PC電纜就可以以非常簡單地完成程式設計。該開發板配有USB-UART轉換器。

在本專案中，需要有兩個程式：一個用於機器人的功能，另一個用於遠端控制器。這兩個程式透過nRF24101+模組以無線電的方式相互通信。資料流程圖如圖9所示。有兩種方式。正向傳遞：首先，資訊被應用程式發送到Arduino。然後由收發器接管的資訊將進一步發送到第二個收發器，再返回到微控制器。這將用於控制機器人的機體運動。

圖9：資料流程圖

反向傳遞：控制器從感測器獲取資訊並進行處理，然後將其發送到OTA（空中下載技術），使其最終到達PC端。

步驟4：應用程式

該應用程式是透過Microsoft Visual Studio 2010使用Visual C#程式設計語言來完成的。Visual Studio在編輯部分融入視覺元素，具有非常簡潔直觀的介面。這有助於實現一些複雜的應用程式。該應用程式可以發送指令，接收資料並進行顯示。機器人的控制由鍵盤上的箭頭按鍵來實現。當您按下箭頭按鍵的時候，運動按鈕會亮起，表示指令已經被接收到。這些指令其實是串列傳送的字母，最後會到達機器人控制器進行解碼。例如，當您按下“向上”鍵時，應用程式透過USB在序列埠發送“U”，指令的解碼表如下所示：

字母	動作
U	前進
R	右轉
D	向後移動
L	左轉
N	更新
B	打開燈光
O	發送PWM值

為了達到該效果，我們應用了以下演算法：應用程式發送LED燈“打開”指令，然後遠端控制器接收指令並將其發送給機器人。一旦機器人接收到指令，就會打開LED並向應用程式發送指令打開指示燈。我們引入該演算法來避免產生不同步的問題（LED熄滅但指示燈亮起的情況）。

另一個重要問題是介面中資訊的導入和顯示。為了使應用程式能夠區分資訊並知道在哪裡顯示，我們實施了以下方法：一旦機器人從遠端控制器接收到資訊，它不僅僅只是進行簡單的傳送，還會對其進行處理並發送類似這樣的指令：“CMD: TE =” + val.marime。應用程式就會在透過序列埠檢索到以“CMD”開頭的資訊時刪除掉“：”並讀取之後的兩個字母，這兩個字母表示的是資訊將會被寫入的區域。“val. marime”會在“=”之後被讀取，對於以上示例，程式將會把讀取到的資料分配到溫度區域中。

為了使應用程式能夠識別同時按下的兩個按鍵，我們已經為每個按鍵初始化了一個變數。當按下一個按鍵時，對應事件就會其變數的值增加到1；當釋放按鍵時，對應事件就會將其變數減少到0。計時器將會持續計算這些變數的值。

圖10：設計應用程式

步驟5：關於程式

機器人使用的是在Arduino IDE中編譯的程式，比遠端控制器的程式要複雜的多：

程式定義了向前/向後移動，轉彎，開燈，計算距離、溫度和壓力的函數。
主程序是一個無限迴圈程式，將會持續判斷無線電模組是否接收到資訊，如果有，就會對輸入的代碼進行處理。
如果輸入資訊與程式中的一條預設指令匹配，那麼將根據收到的字母執行相應功能。
當從感測器接收到傳遞資訊的指令時，將會運行多個函數來對資訊進行收集，並將其添加到將被傳遞的向量中。
如果我們要運行的是有關運動的函數，則當收到“U”，“D”，“R”或“L”時，程式將執行一個指令20ms。儘管這個時間很短，但透過持續按下筆記型電腦上的按鍵，就可以非常快速地發送一連串的指令。

步驟6：代碼

1. 遠程控制器

#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
char cmd[3];
RF24 radio(9,10);
const uint64_t pipes[2] ={ 0xE8E8F0F0E1LL, 0xDEDEDEDEE7LL} ;
float bar[7];
char arc[3];
int cifra[3];
int val;
int a;
void setup(void){
Serial.begin(9600);
radio.begin();
radio.openWritingPipe(pipes[0]);
radio.openReadingPipe(1,pipes[1]);
radio.setDataRate(RF24_250KBPS);
pinMode(6, OUTPUT);
pinMode(5, OUTPUT);
}
void loop(void){
if(Serial) {
digitalWrite(6, HIGH);
digitalWrite(5, LOW);
}
else {
digitalWrite(5, HIGH);
digitalWrite(6, LOW);
}
cmd[0]=Serial.read();

if(cmd[0]=='O') {
delay(20);
arc[0]=Serial.read();
delay(20);
arc[1]=Serial.read();
delay(20);
arc[2]=Serial.read();

//Storing the values
cifra[0]=arc[0]-'0';
cifra[1]=arc[1]-'0';
cifra[2]=arc[2]-'0';
val=10*cifra[0]+cifra[1];
Serial.println(val);
Serial.println(sizeof(cmd));
cmd[0]='X';
cmd[1]=val;
cmd[2]=cifra[2];
radio.write(cmd, sizeof(cmd));
}
a=1;

if(cmd[0]=='N') {
radio.write(cmd, sizeof(cmd));
radio.startListening();

delay(1);
while(a==1) {

if (radio.available()){
a=2;
bool done = false;
while (!done){
done = radio.read(bar, 28);
Serial.print("CMD:X1=");
Serial.println(bar[0]);
delay(5);

Serial.print("CMD:D1=");
Serial.println(bar[1]);
delay(5);
Serial.print("CMD:TE=");
Serial.println(bar[2]);
delay(5);
Serial.print("CMD:PR=");
Serial.println(bar[3]);
delay(5);
Serial.print("CMD:AT=");
Serial.println(bar[4]);
delay(5);
Serial.print("CMD:AL=");
Serial.println(bar[5]);
Serial.print("CMD:LE=");
Serial.println(bar[6]);

}
}
}
}
else {
radio.write(cmd, sizeof(cmd));
}
}

#include <SPI.h>

#include "nRF24L01.h"

#include "RF24.h"

char cmd[3];

RF24 radio(9,10);

const uint64_t pipes[2] ={ 0xE8E8F0F0E1LL, 0xDEDEDEDEE7LL} ;

float bar[7];

char arc[3];

int cifra[3];

int val;

int a;

void setup(void){

Serial.begin(9600);

radio.begin();

radio.openWritingPipe(pipes[0]);

radio.openReadingPipe(1,pipes[1]);

radio.setDataRate(RF24_250KBPS);

pinMode(6, OUTPUT);

pinMode(5, OUTPUT);

}

void loop(void){

if(Serial) {

digitalWrite(6, HIGH);

digitalWrite(5, LOW);

}

else {

digitalWrite(5, HIGH);

digitalWrite(6, LOW);

}

cmd[0]=Serial.read();

if(cmd[0]=='O') {

delay(20);

arc[0]=Serial.read();

delay(20);

arc[1]=Serial.read();

delay(20);

arc[2]=Serial.read();

//Storing the values

cifra[0]=arc[0]-'0';

cifra[1]=arc[1]-'0';

cifra[2]=arc[2]-'0';

val=10*cifra[0]+cifra[1];

Serial.println(val);

Serial.println(sizeof(cmd));

cmd[0]='X';

cmd[1]=val;

cmd[2]=cifra[2];

radio.write(cmd, sizeof(cmd));

}

a=1;

if(cmd[0]=='N') {

radio.write(cmd, sizeof(cmd));

radio.startListening();

delay(1);

while(a==1) {

if (radio.available()){

a=2;

bool done = false;

while (!done){

done = radio.read(bar, 28);

Serial.print("CMD:X1=");

Serial.println(bar[0]);

delay(5);

Serial.print("CMD:D1=");

Serial.println(bar[1]);

delay(5);

Serial.print("CMD:TE=");

Serial.println(bar[2]);

delay(5);

Serial.print("CMD:PR=");

Serial.println(bar[3]);

delay(5);

Serial.print("CMD:AT=");

Serial.println(bar[4]);

delay(5);

Serial.print("CMD:AL=");

Serial.println(bar[5]);

Serial.print("CMD:LE=");

Serial.println(bar[6]);

}

else {

radio.write(cmd, sizeof(cmd));

}

2. 機器人

#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include
#define BMP085_ADDRESS 0x77 // I2C address of BMP085
#define trigPin 2
#define echoPin 4

const unsigned char OSS = 0;
int pwm, test1, test2;
char cmd[3];
RF24 radio(9,10);
const uint64_t pipes[2] ={ 0xE8E8F0F0E1LL, 0xDEDEDEDEE7LL} ;
float bar[7];
int ac1;
int ac2;
int ac3;
unsigned int ac4;
unsigned int ac5;
unsigned int ac6;
int b1;
int b2;
int mb;
int mc;
int md;
float temperature, pressure, atm, altitude,leduri;
long b5;

void bmp085Calibration()
{
ac1 = bmp085ReadInt(0xAA);
ac2 = bmp085ReadInt(0xAC);
ac3 = bmp085ReadInt(0xAE);
ac4 = bmp085ReadInt(0xB0);
ac5 = bmp085ReadInt(0xB2);
ac6 = bmp085ReadInt(0xB4);
b1 = bmp085ReadInt(0xB6);
b2 = bmp085ReadInt(0xB8);
mb = bmp085ReadInt(0xBA);
mc = bmp085ReadInt(0xBC);
md = bmp085ReadInt(0xBE);
}

// Calculate temperature in deg C
float bmp085GetTemperature(unsigned int ut){
long x1, x2;

x1 = (((long)ut - (long)ac6)*(long)ac5) >> 15;
x2 = ((long)mc << 11)/(x1 + md); b5 = x1 + x2; float temp = ((b5 + 8)>>4);
temp = temp /10;

return temp;
}

// Calculate pressure given up
// calibration values must be known
// b5 is also required so bmp085GetTemperature(...) must be called first.
// Value returned will be pressure in units of Pa.
long bmp085GetPressure(unsigned long up){
long x1, x2, x3, b3, b6, p;
unsigned long b4, b7;

b6 = b5 - 4000;
// Calculate B3
x1 = (b2 * (b6 * b6)>>12)>>11;
x2 = (ac2 * b6)>>11;
x3 = x1 + x2;
b3 = (((((long)ac1)*4 + x3)<<OSS) + 2)>>2;

// Calculate B4
x1 = (ac3 * b6)>>13;
x2 = (b1 * ((b6 * b6)>>12))>>16;
x3 = ((x1 + x2) + 2)>>2;
b4 = (ac4 * (unsigned long)(x3 + 32768))>>15;

b7 = ((unsigned long)(up - b3) * (50000>>OSS));
if (b7 < 0x80000000)
p = (b7<<1)/b4;
else
p = (b7/b4)<<1; x1 = (p>>8) * (p>>8);
x1 = (x1 * 3038)>>16;
x2 = (-7357 * p)>>16;
p += (x1 + x2 + 3791)>>4;

long temp = p;
return temp;
}

// Read 1 byte from the BMP085 at 'address'
char bmp085Read(unsigned char address)
{
unsigned char data;

Wire.beginTransmission(BMP085_ADDRESS);
Wire.write(address);
Wire.endTransmission();

Wire.requestFrom(BMP085_ADDRESS, 1);
while(!Wire.available())
;

return Wire.read();
}

// Read 2 bytes from the BMP085
// First byte will be from 'address'
// Second byte will be from 'address'+1
int bmp085ReadInt(unsigned char address)
{
unsigned char msb, lsb;

Wire.beginTransmission(BMP085_ADDRESS);
Wire.write(address);
Wire.endTransmission();

Wire.requestFrom(BMP085_ADDRESS, 2);
while(Wire.available()<2)
;
msb = Wire.read();
lsb = Wire.read();

return (int) msb< }

// Read the uncompensated temperature value
unsigned int bmp085ReadUT(){
unsigned int ut;

// Write 0x2E into Register 0xF4
// This requests a temperature reading
Wire.beginTransmission(BMP085_ADDRESS);
Wire.write(0xF4);
Wire.write(0x2E);
Wire.endTransmission();

// Wait at least 4.5ms
delay(5);

// Read two bytes from registers 0xF6 and 0xF7
ut = bmp085ReadInt(0xF6);
return ut;
}

// Read the uncompensated pressure value
unsigned long bmp085ReadUP(){

unsigned char msb, lsb, xlsb;
unsigned long up = 0;

// Write 0x34+(OSS<<6) into register 0xF4
// Request a pressure reading w/ oversampling setting
Wire.beginTransmission(BMP085_ADDRESS);
Wire.write(0xF4);
Wire.write(0x34 + (OSS<<6));
Wire.endTransmission();

// Wait for conversion, delay time dependent on OSS
delay(2 + (3<<OSS));

// Read register 0xF6 (MSB), 0xF7 (LSB), and 0xF8 (XLSB)
msb = bmp085Read(0xF6);
lsb = bmp085Read(0xF7);
xlsb = bmp085Read(0xF8);

up = (((unsigned long) msb << 16) | ((unsigned long) lsb << 8) | (unsigned long) xlsb) >> (8-OSS);

return up;
}

void writeRegister(int deviceAddress, byte address, byte val) {
Wire.beginTransmission(deviceAddress); // start transmission to device
Wire.write(address); // send register address
Wire.write(val); // send value to write
Wire.endTransmission(); // end transmission
}

int readRegister(int deviceAddress, byte address){

int v;
Wire.beginTransmission(deviceAddress);
Wire.write(address); // register to read
Wire.endTransmission();

Wire.requestFrom(deviceAddress, 1); // read a byte

while(!Wire.available()) {
// waiting
}

v = Wire.read();
return v;
}

float calcAltitude(float pressure){

float A = pressure/101325;
float B = 1/5.25588;
float C = pow(A,B);
C = 1 - C;
C = C /0.0000225577;

return C;
}

int distance2() {

long duration, distance;
digitalWrite(trigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
digitalWrite(trigPin, HIGH);

delayMicroseconds(10); // Added this line
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 4) { // This is where the LED On/Off happens } else { } if (distance >= 200 || distance <= 0){

}
else {

}
return distance;
}

void setup(void){
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
bar[0] ='A';
Serial.begin(9600);
radio.begin();
radio.openReadingPipe(1,pipes[0]);
radio.openWritingPipe(pipes[1]);
radio.startListening();
radio.setDataRate(RF24_250KBPS);

pwm=255;
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(2, OUTPUT);
pinMode(4, INPUT);
pinMode(3, OUTPUT);
Wire.begin();
bmp085Calibration();
}
void mersF(int timp, int pwm) {
analogWrite(5, pwm);
digitalWrite(6, LOW);
digitalWrite(8, LOW);
digitalWrite(7, LOW);
delay(timp);
digitalWrite(5, LOW);
}
void mersS(int timp, int pwm) {
analogWrite(6, pwm);
digitalWrite(5, LOW);
digitalWrite(8, LOW);
digitalWrite(7, LOW);
delay(timp);
digitalWrite(6, LOW);
}
void VirareD(int timp, int pwm) {

analogWrite(5, pwm);
digitalWrite(6, LOW);
digitalWrite(8, HIGH);
digitalWrite(7, LOW);
delay(timp);
digitalWrite(5, LOW);
digitalWrite(8, LOW);
}
void VirareS(int timp, int pwm) {
analogWrite(5, pwm);
digitalWrite(6, LOW);
digitalWrite(7, HIGH);
digitalWrite(8, LOW);
delay(timp);
digitalWrite(7, LOW);
digitalWrite(5, LOW);

}
void VirareDspate(int timp, int pwm) {
analogWrite(6, pwm);
digitalWrite(5, LOW);
digitalWrite(8, HIGH);
digitalWrite(7, LOW);
delay(timp);
digitalWrite(6, LOW);
digitalWrite(8, LOW);
}
void VirareSspate(int timp, int pwm) {
analogWrite(6, pwm);
digitalWrite(5, LOW);
digitalWrite(7, HIGH);
digitalWrite(8, LOW);
delay(timp);
digitalWrite(7, LOW);
digitalWrite(6, LOW);
}

void stop(){
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
}
void trimitere() {
temperature = bmp085GetTemperature(bmp085ReadUT()); //MUST be called first
pressure = bmp085GetPressure(bmp085ReadUP());
atm = pressure / 101325; // "standard atmosphere"
altitude = calcAltitude(pressure); //Uncompensated caculation - in Meters
leduri=digitalRead(3);

radio.stopListening();
bar[0]=analogRead(A2);
bar[1]=distance2();
bar[2]=temperature;
bar[3]=pressure;
bar[4]=atm;
bar[5]=altitude;
bar[6]=leduri;
radio.write(bar, sizeof(bar));
delay(200);
radio.startListening();
}

void aprindere() {
if(digitalRead(3)) digitalWrite(3,LOW);
else digitalWrite(3,HIGH);
delay(30);
}
void loop(void){
if (radio.available()){
bool done = false;
while (!done){
done = radio.read(cmd, 3);
if (cmd[0] == 'U'){
Serial.println("Exec cmd: Up");
mersF(30,pwm);
}
else if (cmd[0] == 'E'){
Serial.println("Exec cmd: Right");
VirareD(30,pwm);
}
else if (cmd[0] == 'C'){
Serial.println("Exec cmd: Right");
VirareDspate(30, pwm);
}
else if (cmd[0] == 'Z'){
Serial.println("Exec cmd: Right");
VirareSspate(30,pwm);
}
else if (cmd[0] == 'D'){
Serial.println("Exec cmd: Down");
mersS(30,pwm);
}
else if (cmd[0] == 'Q'){
Serial.println("Exec cmd: Left");
VirareS(30, pwm);
}
else if (cmd[0] == 'N'){
delay(30);
trimitere();
}
else if (cmd[0] == 'B'){
delay(30);
aprindere();
}
else if (cmd[0] == 'J'){
stop();
delay(30);
}

else if (cmd[0] == 'X'){

test1=cmd[1];
test2=cmd[2];
pwm=test1*10+test2;
delay(30);
}
else {
}
}
}
}

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#include <SPI.h>

#include "nRF24L01.h"

#include "RF24.h"

#include

#define BMP085_ADDRESS 0x77 // I2C address of BMP085

#define trigPin 2

#define echoPin 4

const unsigned char OSS = 0;

int pwm, test1, test2;

char cmd[3];

RF24 radio(9,10);

const uint64_t pipes[2] ={ 0xE8E8F0F0E1LL, 0xDEDEDEDEE7LL} ;

float bar[7];

int ac1;

int ac2;

int ac3;

unsigned int ac4;

unsigned int ac5;

unsigned int ac6;

int b1;

int b2;

int mb;

int mc;

int md;

float temperature, pressure, atm, altitude,leduri;

long b5;

void bmp085Calibration()

{

ac1 = bmp085ReadInt(0xAA);

ac2 = bmp085ReadInt(0xAC);

ac3 = bmp085ReadInt(0xAE);

ac4 = bmp085ReadInt(0xB0);

ac5 = bmp085ReadInt(0xB2);

ac6 = bmp085ReadInt(0xB4);

b1 = bmp085ReadInt(0xB6);

b2 = bmp085ReadInt(0xB8);

mb = bmp085ReadInt(0xBA);

mc = bmp085ReadInt(0xBC);

md = bmp085ReadInt(0xBE);

}

// Calculate temperature in deg C

float bmp085GetTemperature(unsigned int ut){

long x1, x2;

x1 = (((long)ut - (long)ac6)*(long)ac5) >> 15;

x2 = ((long)mc << 11)/(x1 + md); b5 = x1 + x2; float temp = ((b5 + 8)>>4);

temp = temp /10;

return temp;

}

// Calculate pressure given up

// calibration values must be known

// b5 is also required so bmp085GetTemperature(...) must be called first.

// Value returned will be pressure in units of Pa.

long bmp085GetPressure(unsigned long up){

long x1, x2, x3, b3, b6, p;

unsigned long b4, b7;

b6 = b5 - 4000;

// Calculate B3

x1 = (b2 * (b6 * b6)>>12)>>11;

x2 = (ac2 * b6)>>11;

x3 = x1 + x2;

b3 = (((((long)ac1)*4 + x3)<<OSS) + 2)>>2;

// Calculate B4

x1 = (ac3 * b6)>>13;

x2 = (b1 * ((b6 * b6)>>12))>>16;

x3 = ((x1 + x2) + 2)>>2;

b4 = (ac4 * (unsigned long)(x3 + 32768))>>15;

b7 = ((unsigned long)(up - b3) * (50000>>OSS));

if (b7 < 0x80000000)

p = (b7<<1)/b4;

else

p = (b7/b4)<<1; x1 = (p>>8) * (p>>8);

x1 = (x1 * 3038)>>16;

x2 = (-7357 * p)>>16;

p += (x1 + x2 + 3791)>>4;

long temp = p;

return temp;

}

// Read 1 byte from the BMP085 at 'address'

char bmp085Read(unsigned char address)

{

unsigned char data;

Wire.beginTransmission(BMP085_ADDRESS);

Wire.write(address);

Wire.endTransmission();

Wire.requestFrom(BMP085_ADDRESS, 1);

while(!Wire.available())

;

return Wire.read();

}

// Read 2 bytes from the BMP085

// First byte will be from 'address'

// Second byte will be from 'address'+1

int bmp085ReadInt(unsigned char address)

{

unsigned char msb, lsb;

Wire.beginTransmission(BMP085_ADDRESS);

Wire.write(address);

Wire.endTransmission();

Wire.requestFrom(BMP085_ADDRESS, 2);

while(Wire.available()<2)

;

msb = Wire.read();

lsb = Wire.read();

return (int) msb< }

// Read the uncompensated temperature value

unsigned int bmp085ReadUT(){

unsigned int ut;

// Write 0x2E into Register 0xF4

// This requests a temperature reading

Wire.beginTransmission(BMP085_ADDRESS);

Wire.write(0xF4);

Wire.write(0x2E);

Wire.endTransmission();

// Wait at least 4.5ms

delay(5);

// Read two bytes from registers 0xF6 and 0xF7

ut = bmp085ReadInt(0xF6);

return ut;

}

// Read the uncompensated pressure value

unsigned long bmp085ReadUP(){

unsigned char msb, lsb, xlsb;

unsigned long up = 0;

// Write 0x34+(OSS<<6) into register 0xF4

// Request a pressure reading w/ oversampling setting

Wire.beginTransmission(BMP085_ADDRESS);

Wire.write(0xF4);

Wire.write(0x34 + (OSS<<6));

Wire.endTransmission();

// Wait for conversion, delay time dependent on OSS

delay(2 + (3<<OSS));

// Read register 0xF6 (MSB), 0xF7 (LSB), and 0xF8 (XLSB)

msb = bmp085Read(0xF6);

lsb = bmp085Read(0xF7);

xlsb = bmp085Read(0xF8);

up = (((unsigned long) msb << 16) | ((unsigned long) lsb << 8) | (unsigned long) xlsb) >> (8-OSS);

return up;

}

void writeRegister(int deviceAddress, byte address, byte val) {

Wire.beginTransmission(deviceAddress); // start transmission to device

Wire.write(address); // send register address

Wire.write(val); // send value to write

Wire.endTransmission(); // end transmission

}

int readRegister(int deviceAddress, byte address){

int v;

Wire.beginTransmission(deviceAddress);

Wire.write(address); // register to read

Wire.endTransmission();

Wire.requestFrom(deviceAddress, 1); // read a byte

while(!Wire.available()) {

// waiting

}

v = Wire.read();

return v;

}

float calcAltitude(float pressure){

float A = pressure/101325;

float B = 1/5.25588;

float C = pow(A,B);

C = 1 - C;

C = C /0.0000225577;

return C;

}

int distance2() {

long duration, distance;

digitalWrite(trigPin, LOW); // Added this line

delayMicroseconds(2); // Added this line

digitalWrite(trigPin, HIGH);

delayMicroseconds(10); // Added this line

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration/2) / 29.1;

if (distance < 4) { // This is where the LED On/Off happens } else { } if (distance >= 200 || distance <= 0){

}

else {

}

return distance;

}

void setup(void){

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

bar[0] ='A';

Serial.begin(9600);

radio.begin();

radio.openReadingPipe(1,pipes[0]);

radio.openWritingPipe(pipes[1]);

radio.startListening();

radio.setDataRate(RF24_250KBPS);

pwm=255;

pinMode(5, OUTPUT);

pinMode(6, OUTPUT);

pinMode(7, OUTPUT);

pinMode(8, OUTPUT);

pinMode(2, OUTPUT);

pinMode(4, INPUT);

pinMode(3, OUTPUT);

Wire.begin();

bmp085Calibration();

}

void mersF(int timp, int pwm) {

analogWrite(5, pwm);

digitalWrite(6, LOW);

digitalWrite(8, LOW);

digitalWrite(7, LOW);

delay(timp);

digitalWrite(5, LOW);

}

void mersS(int timp, int pwm) {

analogWrite(6, pwm);

digitalWrite(5, LOW);

digitalWrite(8, LOW);

digitalWrite(7, LOW);

delay(timp);

digitalWrite(6, LOW);

}

void VirareD(int timp, int pwm) {

analogWrite(5, pwm);

digitalWrite(6, LOW);

digitalWrite(8, HIGH);

digitalWrite(7, LOW);

delay(timp);

digitalWrite(5, LOW);

digitalWrite(8, LOW);

}

void VirareS(int timp, int pwm) {

analogWrite(5, pwm);

digitalWrite(6, LOW);

digitalWrite(7, HIGH);

digitalWrite(8, LOW);

delay(timp);

digitalWrite(7, LOW);

digitalWrite(5, LOW);

}

void VirareDspate(int timp, int pwm) {

analogWrite(6, pwm);

digitalWrite(5, LOW);

digitalWrite(8, HIGH);

digitalWrite(7, LOW);

delay(timp);

digitalWrite(6, LOW);

digitalWrite(8, LOW);

}

void VirareSspate(int timp, int pwm) {

analogWrite(6, pwm);

digitalWrite(5, LOW);

digitalWrite(7, HIGH);

digitalWrite(8, LOW);

delay(timp);

digitalWrite(7, LOW);

digitalWrite(6, LOW);

}

void stop(){

digitalWrite(5, LOW);

digitalWrite(6, LOW);

digitalWrite(7, LOW);

digitalWrite(8, LOW);

}

void trimitere() {

temperature = bmp085GetTemperature(bmp085ReadUT()); //MUST be called first

pressure = bmp085GetPressure(bmp085ReadUP());

atm = pressure / 101325; // "standard atmosphere"

altitude = calcAltitude(pressure); //Uncompensated caculation - in Meters

leduri=digitalRead(3);

radio.stopListening();

bar[0]=analogRead(A2);

bar[1]=distance2();

bar[2]=temperature;

bar[3]=pressure;

bar[4]=atm;

bar[5]=altitude;

bar[6]=leduri;

radio.write(bar, sizeof(bar));

delay(200);

radio.startListening();

}

void aprindere() {

if(digitalRead(3)) digitalWrite(3,LOW);

else digitalWrite(3,HIGH);

delay(30);

}

void loop(void){

if (radio.available()){

bool done = false;

while (!done){

done = radio.read(cmd, 3);

if (cmd[0] == 'U'){

Serial.println("Exec cmd: Up");

mersF(30,pwm);

}

else if (cmd[0] == 'E'){

Serial.println("Exec cmd: Right");

VirareD(30,pwm);

}

else if (cmd[0] == 'C'){

Serial.println("Exec cmd: Right");

VirareDspate(30, pwm);

}

else if (cmd[0] == 'Z'){

Serial.println("Exec cmd: Right");

VirareSspate(30,pwm);

}

else if (cmd[0] == 'D'){

Serial.println("Exec cmd: Down");

mersS(30,pwm);

}

else if (cmd[0] == 'Q'){

Serial.println("Exec cmd: Left");

VirareS(30, pwm);

}

else if (cmd[0] == 'N'){

delay(30);

trimitere();

}

else if (cmd[0] == 'B'){

delay(30);

aprindere();

}

else if (cmd[0] == 'J'){

stop();

delay(30);

}

else if (cmd[0] == 'X'){

test1=cmd[1];

test2=cmd[2];

pwm=test1*10+test2;

delay(30);

}

else {

}

圖11：完成的RF機器人

圖12：組裝好的RF機器人（側視圖）

現在，我們已經構建了一個自主arduino機器人，該機器人能夠自主導航並從周圍環境中收集資料！這是一個非常具有挑戰性又很有意義的項目。這個原型還可以進行進一步的改善，例如添加用於在崎嶇地形/環境中提供保護的外殼。如果您有任何改進的建議，請隨時與我分享！

Tiberia Todeila

Tiberia目前是羅馬尼亞布加勒斯特理工大學電氣工程學院的大四學生。她非常熱衷於設計和開發讓日常生活更輕鬆的智慧居家設備。

Arduino RF 探索者機器人—第2部分—組裝所有元件

硬體

軟體

工具

步驟1：結構和機械元件

步驟2：模組

步驟3：數據路由

步驟4：應用程式

步驟5：關於程式

步驟6：代碼

Tiberia Todeila

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