基于Android的教育机器人平台设计项目论证报告

....42-/NUM②电机的选择：小车底盘采用两层，每层长为250mm，宽为100mm，约重3mm*3.14*0.125*0.125*1.2*2=353.25g，再加上电池的重量303g以与其它器件的重量，小车约重750g左右，选用直径65mm的常用车轮，车轮与地面的滑动摩擦系数约为0.4，同时，电机的额定功率一般要大于负载功率的1.1～1.6倍，结合电机的参数即可计算出功率、转速等（P=F*V;V=W*R;P=F*R*W=T*W）。经费预算与人员安排4.1经费预算组别原件名称单价（元）数量总价硬件减速电机90.02180超声波传感器7.29643.74温湿度传感器10.59221.18烟雾传感器20.39240.78WIFI模块2091209车轮10220万向轮515亚克力板8432STM32F103VET625125钮扣电池313纽扣电池插座111串口母头111MAX232111PCB开板1601160锂电池1351135铜柱0.1202TLP521-45210LCD1286435135LM1117224LM2576224L298N919软件《疯狂安卓讲义》71.3171.3《STM32开发指南》57.5157.54.2人员安排组员负责任务王栋安卓软件部分何谦单片机软件部分东小车结构和电路设计露文档处理4.3进度安排时间计划任务7月初到7月中旬完成对小车整体设计方案的确立7月中旬到7月底分模块设计完成理论的论证8月中旬到8月底购买器件，制作pcb电路板和小车结构，完善并优化软件8月底到9月初完成小车的制作总结我们认为此项目的独特创新之处在于小车的控制是通过手机来实现，而不是遥控手柄或电脑，从而使得使用更加方便，实现用wifi技术对教育机器人的实时控制。稍微改动就可以用来控制电脑，家用电器等实现智能家居。因此该项目的成果将不仅仅局限于一个遥控小车，更具有价值的是手机远程遥控系统和智能家居。附录超声波蔽障代码#include"UltrasonicWave.h"#include"usart1.h"#include"TIM4.h"#define TRIG_PORTGPIOA #define ECHO_PORTGPIOA #define TRIG_PIN_AGPIO_Pin_1#define ECHO_PIN_AGPIO_Pin_0 #define TRIG_PIN_BGPIO_Pin_3#define ECHO_PIN_BGPIO_Pin_2#define TRIG_PIN_CGPIO_Pin_5#define ECHO_PIN_CGPIO_Pin_4#define TRIG_PIN_DGPIO_Pin_7#define ECHO_PIN_DGPIO_Pin_6unsignedshortintUltrasonicWave_Distance_A,UltrasonicWave_Distance_B;unsignedshortintUltrasonicWave_Distance_C,UltrasonicWave_Distance_D;//计算出的距离/**函数名：DelayTime_us*描述：1us延时函数*输入：Time 延时的时间US*输出：无 */voidDelayTime_us(intTime){unsignedchari;for(;Time>0;Time--)for(i=0;i<72;i++);}/**函数名：UltrasonicWave_Configuration*描述：超声波模块的初始化*输入：无*输出：无 */voidUltrasonicWave_Configuration(void){GPIO_InitTypeDefGPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);GPIO_InitStructure.GPIO_Pin=TRIG_PIN_A|TRIG_PIN_B|TRIG_PIN_C|TRIG_PIN_D; //PC8接TRIGGPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP; //设为推挽输出模式GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; GPIO_Init(TRIG_PORT,&GPIO_InitStructure); //初始化外设GPIOGPIO_InitStructure.GPIO_Pin=ECHO_PIN_A|ECHO_PIN_B|ECHO_PIN_C|ECHO_PIN_D; //PC9接ECH0GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING; //设为输入GPIO_Init(ECHO_PORT,&GPIO_InitStructure); //初始化GPIOA}/**函数名：UltrasonicWave_CalculateTime*描述：计算距离*输入：无*输出：无 */voidUltrasonicWave_CalculateTime_A(void){UltrasonicWave_Distance_A=TIM_GetCounter(TIM4)*5*34/2000;//TIM_GetCounter这个函数太有用了，但后面却是什么意思}voidUltrasonicWave_CalculateTime_B(void){UltrasonicWave_Distance_B=TIM_GetCounter(TIM4)*5*34/2000;}voidUltrasonicWave_CalculateTime_C(void){UltrasonicWave_Distance_C=TIM_GetCounter(TIM4)*5*34/2000;}voidUltrasonicWave_CalculateTime_D(void){UltrasonicWave_Distance_D=TIM_GetCounter(TIM4)*5*34/2000;}/**函数名：UltrasonicWave_StartMeasure*描述：开始测距，发送一个>10us的脉冲，然后测量返回的高电平时间*输入：无*输出：无 */intUltrasonicWave_StartMeasure_A(){GPIO_SetBits(TRIG_PORT,TRIG_PIN_A); //送>10US的高电平DelayTime_us(20); //延时20USGPIO_ResetBits(TRIG_PORT,TRIG_PIN_A); //低电平while(!GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_A)); //等待高电平TIM_Cmd(TIM4,ENABLE);//开启时钟while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_A)); //等待低电平TIM_Cmd(TIM4,DISABLE); //定时器2失能UltrasonicWave_CalculateTime_A(); //计算距离TIM_SetCounter(TIM4,0); //给定时器装入初值 returnUltrasonicWave_Distance_A;// printf("\r\ndistance:%d%dcm\r\n",UltrasonicWave_Distance/256,UltrasonicWave_Distance%256); }intUltrasonicWave_StartMeasure_B(){GPIO_SetBits(TRIG_PORT,TRIG_PIN_B); //送>10US的高电平DelayTime_us(20); //延时20USGPIO_ResetBits(TRIG_PORT,TRIG_PIN_B); //低电平while(!GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_B)); //等待高电平TIM_Cmd(TIM4,ENABLE);//开启时钟while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_B)); //等待低电平TIM_Cmd(TIM4,DISABLE); //定时器2失能UltrasonicWave_CalculateTime_B(); //计算距离TIM_SetCounter(TIM4,0); //给定时器装入初值 returnUltrasonicWave_Distance_B;// printf("\r\ndistance:%d%dcm\r\n",UltrasonicWave_Distance/256,UltrasonicWave_Distance%256); }intUltrasonicWave_StartMeasure_C(){GPIO_SetBits(TRIG_PORT,TRIG_PIN_C); //送>10US的高电平DelayTime_us(20); //延时20USGPIO_ResetBits(TRIG_PORT,TRIG_PIN_C); //低电平while(!GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_C)); //等待高电平TIM_Cmd(TIM4,ENABLE);//开启时钟while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_C)); //等待低电平TIM_Cmd(TIM4,DISABLE); //定时器2失能UltrasonicWave_CalculateTime_C(); //计算距离TIM_SetCounter(TIM4,0); //给定时器装入初值 returnUltrasonicWave_Distance_C;// printf("\r\ndistance:%d%dcm\r\n",UltrasonicWave_Distance/256,UltrasonicWave_Distance%256); }intUltrasonicWave_StartMeasure_D(){GPIO_SetBits(TRIG_PORT,TRIG_PIN_D); //送>10US的高电平DelayTime_us(20); //延时20USGPIO_ResetBits(TRIG_PORT,TRIG_PIN_D); //低电平while(!GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_D)); //等待高电平TIM_Cmd(TIM4,ENABLE);//开启时钟while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN_D)); //等待低电平TIM_Cmd(TIM4,DISABLE); //定时器2失能UltrasonicWave_CalculateTime_D(); //计算距离TIM_SetCounter(TIM4,0); //给定时器装入初值 returnUltrasonicWave_Distance_D;// printf("\r\ndistance:%d%dcm\r\n",UltrasonicWave_Distance/256,UltrasonicWave_Distance%256); }重力感应核心代码package.example.wifi_car;importandroid.app.Activity;importandroid.content.Context;importandroid.hardware.Sensor;importandroid.hardware.SensorEvent;importandroid.hardware.SensorEventListener;importandroid.hardware.SensorManager;importandroid.os.Bundle;importandroid.os.Handler;importandroid.os.Message;importandroid.widget.EditText;importandroid.widget.TextView;publicclasszhongliganyingextendsActivity implementsSensorEventListener{ //定义系统的Sensor管理器 Handlerhandler; SensorManagersensorManager; TextViewwendu,shidu,COnongdu; ClientThreadclientThread; Override publicvoidonCreate(BundlesavedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.zhongliganying); //获取程序界面上的文本框组件 wendu=(TextView)findViewById(R.id.wed); shidu=(TextView)findViewById(R.id.shi); COnongdu=(TextView)findViewById(R.id.co); //获取系统的传感器管理服务 sensorManager=(SensorManager)getSystemService( Context.SENSOR_SERVICE);//① handler=newHandler() { Override publicvoidhandleMessage(Messagemsg) { if(msg.what==0x123) { //show.append("\n"+msg.obj.toString()); } } }; clientThread=newClientThread(handler); newThread(clientThread).start(); } Override protectedvoidonResume() { super.onResume(); //为系统的加速度传感器注册监听器 sensorManager.registerListener(this, sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER), SensorManager.SENSOR_DELAY_NORMAL);//② } Override protectedvoidonStop() { //取消注册 sensorManager.unregisterListener(this); super.onStop(); } //以下是实现SensorEventListener接口必须实现的方法 //当传感器的值发生改变时回调该方法 Override publicvoidonSensorChanged(SensorEventevent) { //floatx=event.values[SensorManager.DATA_X],y=event.values[SensorManager.DATA_Y],z=event.values[SensorManager.DATA_Z]; floatvalues[]=event.values; floatx=values[0],y=values[1],z=values[2]; Strings=null; StringBuildersb=newStringBuilder(); sb.append("X方向上的加速度："); sb.append(values[0]); sb.append("\nY方向上的加速度："); sb.append(values[1]); sb.append("\nZ方向上的加速度："); sb.append(values[2]); //show.setText(sb.toString()); if(x<-3&&z>3)s="top"; elseif(x>3&&z>3)s="bottom"; elseif(y>3&&z>0)s="right"; elseif(y<-3&&z>0)s="left"; elses="stop"; try { Messagemsg=newMessage(); msg.what=0x345; msg.obj=s; clientThread.revHandler.sendMessage(msg); } catch(Exceptione) { e.printStackTrace(); } } //当传感器精度改变时回调该方法。 Override publicvoidonAccuracyChanged(Sensorsensor,intaccuracy) { }}sockets通信核心代码package.example.wifi_car;importjava.io.BufferedReader;importjava.io.IOException;importjava.io.InputStreamReader;importjava.io.OutputStream;.Socket;.SocketTimeoutException;importandroid.app.Activity;importandroid.content.Context;importandroid.content.res.Resources;importandroid.os.Handler;importandroid.os.Looper;importandroid.os.Message;publicclassClientThreadimplementsRunnable{ privateSockets; //定义向UI线程发送消息的Handler对象 privateHandlerhandler; //定义接收UI线程的消息的Handler对象 publicHandlerrevHandler; //该线程所处理的Socket所对应的输入流 BufferedReaderbr=null; OutputStreamos=null; MyAppmy; Stringip=my.getIp(); Stringport=my.getPort(); publicClientThread(Handlerhandler) { this.handler=handler; } publicvoidrun() { try { s=newSocket(ip,Integer.parseInt(port)); br=newBufferedReader(newInputStreamReader( s.getInputStream())); os=s.getOutputStream(); //启动一条子线程来读取服务器响应的数据 newThread() { Overr