YFRobot蓝牙小车之Arduino控制程序 - YFROBOT创客社区

之前写的Arduino测试程序，也没有仔细优化，总之发出来给大家参考下吧！！！

/**
* 蓝牙控制小车
* BY YFRobot
* //16进制数据（前进、后退、左转、右转、停止）
* FORWARD = {(byte) 0xFF, 0x5A, 0x5B, 0x00, 0x01, (byte) 0xFF};
* BACK = {(byte) 0xFF, 0x5A, 0x5B, 0x00, 0x05, (byte) 0xFF};
* STOP = {(byte) 0xFF, 0x5A, 0x5B, 0x00, 0x03, (byte) 0xFF};
* LEFT = {(byte) 0xFF, 0x5A, 0x5B, 0x00, 0x02, (byte) 0xFF};
* RIGHT = {(byte) 0xFF, 0x5A, 0x5B, 0x00, 0x04, (byte) 0xFF};
**/
char BT_val;
int BT_array[5];
int E1 = 3;
int M1 = 4;
int E2 = 6;
int M2 = 7;
void setup(){
Serial.begin(9600); //设置波特率为9600
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
}
/* 小车前进 */
void Forward(){
digitalWrite(M1,LOW);
digitalWrite(E1, 1); //PWM调速
digitalWrite(M2,LOW);
digitalWrite(E2, 1); //PWM调速
}
/* 小车后退 */
void Back(){
digitalWrite(M1,HIGH);
digitalWrite(E1, 1); //PWM调速
digitalWrite(M2,HIGH);
digitalWrite(E2, 1); //PWM调速
}
/* 小车左转 */
void Left(){
digitalWrite(M1,LOW);
digitalWrite(E1, 1); //PWM调速
digitalWrite(M2,HIGH);
digitalWrite(E2, 1); //PWM调速
}
/* 小车右转 */
void Right(){
digitalWrite(M1,HIGH);
digitalWrite(E1, 1); //PWM调速
digitalWrite(M2,LOW);
digitalWrite(E2, 1); //PWM调速
}
/* 小车停止 */
void Stop(){
digitalWrite(E1, 0);
digitalWrite(E2, 0);
}
void cmd(){
int n ;
for(n=0;n<=5;n++){
BT_val = Serial.read();
BT_array[n]=BT_val;
}
}
void loop(){
cmd();
Serial.println(BT_array[3],HEX);
Serial.println(BT_array[4],HEX);
if(BT_array[0]==0XFFFFFFFF && BT_array[1]==0x5A
&& BT_array[2]==0x5B && BT_array[5]==0XFFFFFFFF){
switch (BT_array[3]=0x00) //根据键值不同，执行不同的内容
{
case 0x00:
switch(BT_array[4]) //根据数据位的值来进行选择执行不同的动作
{
case 0x01:
Forward(); break;
case 2:
Left(); break;
case 3:
Stop(); break;
case 4:
Right(); break;
case 5:
Back(); break;
}
break;
}
}
}

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