自己动手做一个机器人——支持无线和蓝牙

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我是靠谱客的博主朴实寒风，这篇文章主要介绍自己动手做一个机器人——支持无线和蓝牙，现在分享给大家，希望可以做个参考。

[youku id="XNjQ2NTQ1MzQ4"]

第1步：车体结构

我从废品回收站找到了两辆坏掉的儿童玩具车，拆下了电机，变速箱，和轮胎。这些花费了我大概十块钱，我用钢轨和塑料板将框架做好，如图示。

第2步：连接图

robot5

电路部分的关键是使用ATMEGA16单片机的串行口，电路由以下元件组成：

由两个L298组成的H桥驱动
Atmega16 单片机
ULN2003作为LED驱动
串行蓝牙模块
以太网-串口转换器
WiFi接入点
Easy N网络摄像头
12V的电源使用7805和7809为网络摄像头和路由供电
6V电机电源

第3步：H桥电路

两个L298制成的双H桥驱动的连接示意如图，电机在6V，2.4A下运行，L298的最大允许电流请查阅数据手册。

robot6 robot7 robot8

第4步：LED驱动

ULN2003达林顿管阵列是一个较简单的驱动LED的方案，它提供了7个输出，电路如图。数据手册如下。

robot9

第5步：单片机电路

源代码的调试平台是ATMEL AVR studio 4使用AVR MKII ISP下载器。写代码需要：

使能Atmega16单片机的串行输入输出
从PC机或平板上发送ASCII码
将接收到的ASCII码转换成特定的信息输出到端口A和端口C

如图所示，16Mhz外部频率谐振器的熔断位需要设置成：高位0xc9，低位0xff。

robot10

代码如下：

复制代码

/*
ATmega16 16MHz external frequency resonator
Baud Rate 9600 No Parity,1 Stop Bit,Flow Control:None
*/
#include <avr/io.h>
#include <inttypes.h>
#include <util/delay.h>
void USARTInit(uint16_t ubrr_value)
{
//Set Baud rate
UBRRL = ubrr_value;
UBRRH = (ubrr_value>>8);
UCSRC=(1<<URSEL)|(3<<UCSZ0); // Set Asynchronous mode,No Parity ,1 StopBit
UCSRB=(1<<RXEN)|(1<<TXEN); //Enable The receiver and transmitter
}
char USARTReadChar()
{
while(!(UCSRA & (1<<RXC))) {
// do nothing
}
return UDR;
}
void USARTWriteChar(char data)
{
while(!(UCSRA & (1<<UDRE))) {
//do nothing
}
UDR=data;
}
void main()
{
DDRC=0xff;
DDRA=0xff;
char data;
USARTInit(103); //for 16Mhz and baud 9600 UBRR = 103 and for baud 19200 UBRR = 51
while(1) {
data=USARTReadChar();
if (data==0x71) {
PORTC=0b10000000;
USARTWriteChar('Q');
} //q in ascii
if (data==0x77) {
PORTC=0b00001001;
USARTWriteChar('w');
} //w in ascii Forward
if (data==0x65) {
PORTC=0b01000000;
USARTWriteChar('e');
} //e in ascii
if (data==0x61) {
PORTC=0b00000011;
USARTWriteChar('A');
} //a in ascii Left
if (data==0x73) {
PORTC=0b00000000;
USARTWriteChar('s');
} //s in ascii Stop
if (data==0x64) {
PORTC=0b00001100;
USARTWriteChar('d');
} //d in ascii Right
if (data==0x7A) {
PORTC=0b00100000;
USARTWriteChar('z');
} //z in ascii
if (data==0x78) {
PORTC=0b10000110;
USARTWriteChar('x');
} //x in ascii Backward
if (data==0x99) {
PORTC=0b11110000;
USARTWriteChar('c');
} //c in ascii
if (data==0x69) {
PORTC=0b00001001;
_delay_ms(200);
PORTC=0b00000000;
} //i in ascii Forward
if (data==0x6A) {
PORTC=0b00000011;
_delay_ms(200);
PORTC=0b00000000;
} //j in ascii Left
if (data==0x6C) {
PORTC=0b00001100;
_delay_ms(200);
PORTC=0b00000000;
} //l in ascii Right
if (data==0x6B) {
PORTC=0b00000110;
_delay_ms(200);
PORTC=0b00000000;
} //k in ascii Back
if (data==0x31) {
PORTA=0b00000001;
USARTWriteChar('1');
} //1 in ascii //2 LED On
if (data==0x32) {
PORTA=0b00000010;
USARTWriteChar('2');
} //2 in ascii //4 LED on
if (data==0x33) {
PORTA=0b00000111;
USARTWriteChar('3');
} //3 in ascii //6 LED on
if (data==0x34) {
PORTA=0b00001000;
USARTWriteChar('4');
} //4 in ascii //Red LED on
if (data==0x35) {
PORTA=0b00010000;
USARTWriteChar('5');
} //5 in ascii
if (data==0x36) {
PORTA=0b00100000;
USARTWriteChar('6');
} //6 in ascii
if (data==0x37) {
PORTA=0b01000000;
USARTWriteChar('7');
} //7 in ascii
if (data==0x38) {
PORTA=0b10000000;
USARTWriteChar('8');
} //8 in ascii
if (data==0x39) {
PORTA=0b00000000;
USARTWriteChar('9');
} //9 in ascii //All Off
else { }
}
}

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/*
ATmega16 16MHz external frequency resonator
Baud Rate 9600 No Parity,1 Stop Bit,Flow Control:None
*/
#include <avr/io.h>
#include <inttypes.h>
#include <util/delay.h>
void USARTInit(uint16_t ubrr_value)
{
//Set Baud rate
UBRRL = ubrr_value;
UBRRH = (ubrr_value>>8);
UCSRC=(1<<URSEL)|(3<<UCSZ0); // Set Asynchronous mode,No Parity ,1 StopBit
UCSRB=(1<<RXEN)|(1<<TXEN); //Enable The receiver and transmitter
}
char USARTReadChar()
{
while(!(UCSRA & (1<<RXC))) {
// do nothing
}
return UDR;
}
void USARTWriteChar(char data)
{
while(!(UCSRA & (1<<UDRE))) {
//do nothing
}
UDR=data;
}
void main()
{
DDRC=0xff;
DDRA=0xff;
char data;
USARTInit(103); //for 16Mhz and baud 9600 UBRR = 103 and for baud 19200 UBRR = 51
while(1) {
data=USARTReadChar();
if (data==0x71) {
PORTC=0b10000000;
USARTWriteChar('Q');
} //q in ascii
if (data==0x77) {
PORTC=0b00001001;
USARTWriteChar('w');
} //w in ascii Forward
if (data==0x65) {
PORTC=0b01000000;
USARTWriteChar('e');
} //e in ascii
if (data==0x61) {
PORTC=0b00000011;
USARTWriteChar('A');
} //a in ascii Left
if (data==0x73) {
PORTC=0b00000000;
USARTWriteChar('s');
} //s in ascii Stop
if (data==0x64) {
PORTC=0b00001100;
USARTWriteChar('d');
} //d in ascii Right
if (data==0x7A) {
PORTC=0b00100000;
USARTWriteChar('z');
} //z in ascii
if (data==0x78) {
PORTC=0b10000110;
USARTWriteChar('x');
} //x in ascii Backward
if (data==0x99) {
PORTC=0b11110000;
USARTWriteChar('c');
} //c in ascii
if (data==0x69) {
PORTC=0b00001001;
_delay_ms(200);
PORTC=0b00000000;
} //i in ascii Forward
if (data==0x6A) {
PORTC=0b00000011;
_delay_ms(200);
PORTC=0b00000000;
} //j in ascii Left
if (data==0x6C) {
PORTC=0b00001100;
_delay_ms(200);
PORTC=0b00000000;
} //l in ascii Right
if (data==0x6B) {
PORTC=0b00000110;
_delay_ms(200);
PORTC=0b00000000;
} //k in ascii Back
if (data==0x31) {
PORTA=0b00000001;
USARTWriteChar('1');
} //1 in ascii //2 LED On
if (data==0x32) {
PORTA=0b00000010;
USARTWriteChar('2');
} //2 in ascii //4 LED on
if (data==0x33) {
PORTA=0b00000111;
USARTWriteChar('3');
} //3 in ascii //6 LED on
if (data==0x34) {
PORTA=0b00001000;
USARTWriteChar('4');
} //4 in ascii //Red LED on
if (data==0x35) {
PORTA=0b00010000;
USARTWriteChar('5');
} //5 in ascii
if (data==0x36) {
PORTA=0b00100000;
USARTWriteChar('6');
} //6 in ascii
if (data==0x37) {
PORTA=0b01000000;
USARTWriteChar('7');
} //7 in ascii
if (data==0x38) {
PORTA=0b10000000;
USARTWriteChar('8');
} //8 in ascii
if (data==0x39) {
PORTA=0b00000000;
USARTWriteChar('9');
} //9 in ascii //All Off
else { }
}
}