ArduinoCarArm

Arduino bluetooh remote car combined with arm.

The project includes following C#、Python、Android and Arduino programs.

Arduino藍芽遙控車與arm的神奇組合 此專案包含C#、Python、Android和 Arduino程式

• C#：ArduinoCarArm.sln
• Python：ArduinoCarArm.py
• Arduino：Remote_Car_sketch

C# "ArduinoCarArm"

The C# version controller program of CarArm

• Connect:
  • Display available Baudrate,COM port,
  • Rescan ports
  • Connect, Disconnect current serial port
• Direction control:
  • Go forward ▲
  • Go ackward ▼
  • Turn left ◄
  • Turn right ►
• Motor speed control:
  • Adjust PWM value of motor A,B
• Arm control:
  • Move forward▲
  • Move backward▼
  • Rotate conterclockwise ◄
  • Rotate clockwise►
  • Elevate ▲
  • Descend▼
  • Gripper open/close■
  • Homing
  • Manual mode(adjust servo motor angle)
• Connection state indicate:
  • Display current connection state ex:Disconnected, Connected.

Control buttons will be enable after success connection.

CarArm also accepts keyboard interrupt, as following:

• Direction control:
  • Go forward ↑
  • Go ackward ↓
  • Turn left ←
  • Turn right →
  • Brake .
• Arm control:
  • Move forward w
  • Move backward s
  • Rotate conterclockwise a
  • Rotate clockwise d
  • Elevate q
  • Descend e
  • Gripper open/close g

實作連線控制器，操作遙控車與手臂

• 連線控制：選擇Baud rate、COM port，並有重新掃描Rescan，連線Connect、斷線Disconnect按鈕(Serial monitor尚未實作)
• 遙控車控制：前進▲、後退▼、左轉◄、右轉►、剎車■
• 馬達調速：分別控制馬達A、B轉速（PWM）
• 手臂控制：前▲、後▼、左◄、右►、上、下、夾起/放開■，歸零Homing，及手動模式（分別控制伺服馬達角度）
• 連線狀態指示：斷線Disconnected、已連線Connected

有關操控的按鈕在連線成功後才會啟用 其中遙控車控制也接受keyboard interrupt輸入，使用Up、Down、Left、Right，煞車. 手臂控制為前w、後s、逆時針a、順時針d、上升q、下降e

Python "ArduinoCarArm.py"

The Python version controller program of CarArm, using pynupt library to capture keyboard interrupt, functions are similar to C# version.

At first, the program shows available serial ports, user needs to type in serial port name and baud rate to establish connection.

使用pynput library捕捉keyboard interrupt，功能與C#版本類似

程式執行會先顯示目前電腦上available的Serial Port，連線前會提示輸入Serial Port name及Baudrate

Android version

Please refer to xue-ru-workshopby Shen Chang-Shao

請參見xue-ru-workshopby Shen Chang-Shao

Arduino sketch "Remote_Car_Arm"

The Arduino program on the CarArm

• Remote_Car_sketch.ino：Arduino main program
  • Serial connection
  • Serial string split
• Definition.h：Definition of commands, constants
  • Serial port name, baudrate
  • Command characters
  • Hardware pins
• ArmControl.h/ArmControl.cpp：Arm control functions
• CarMotor.h/CarMotor.cpp：Remote car control functions

遙控車端Arduino程式，採物件導向撰寫，架構分為以下部份

• Remote_Car_sketch.ino：Arduino主程式，包含Serial字串拆解、判斷
• Definition.h：Serial相關設定、遙控指令字元定義、硬體pin定義
• ArmControl.h/ArmControl.cpp：手臂控制函式
• CarMotor.h/CarMotor.cpp：遙控車控制函式