Vehículo Controlado por Android con Raspberry Pi, Arduino y Motor Shield: Guía Completa

Componentes y Suministros

Dispositivo Android	×1
Arduino 101	×1
Raspberry Pi 2 Model B	×1
Dk Electronic Motor Shield	×1
Wifi Dongle Oficial Raspberry	×1
Power Bank Trust 5V	×1

Aplicaciones y Servicios en Línea

• Microsoft Windows 10 IoT Core
• Arduino IDE
• Microsoft Visual Studio 2015

Sobre el Proyecto

Al final controlaremos un vehículo todo terreno mediante el sensor acelerómetro de un dispositivo Android.

El proyecto integra Motor Shield, Raspberry Pi, Arduino y motores DC.

PASO 1: Bus I2C entre Raspberry Pi y Arduino

Primero establecemos bus I2C entre Raspberry Pi y Arduino. Ver por qué elegir I2C.

Código completo (I2C + control Motor Shield) para Arduino:

#include <Wire.h>
#define MyAddress 0x40
#include <AFMotor.h>
AF_DCMotor motorhiz(3);
AF_DCMotor motoryon(4);
byte DataToBeSend[1];
byte ReceivedData;
int counter = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin(MyAddress);
  Wire.onReceive(I2CReceived);
  Wire.onRequest(I2CRequest);
  motorhiz.setSpeed(254); motorhiz.run(RELEASE);
  motoryon.setSpeed(254); motoryon.run(RELEASE);
}

void loop() {
  // DataToBeSend[0] = (DataToBeSend[0] >= 99) ? 0 : DataToBeSend[0] + 1;
}

void I2CReceived(int NumberOfBytes) {
  ReceivedData = Wire.read();
  int ReceivedDataInt = (int)ReceivedData;
  String ReceivedDataStr = String(ReceivedData);
  Serial.println(ReceivedDataInt);

  if (ReceivedDataInt >= 100) { // Datos X
    Serial.println("DataX: " + ReceivedDataStr);
    if (ReceivedDataInt > 145 && ReceivedDataInt < 154) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 100 && ReceivedDataInt < 104) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 155) {
      ReceivedDataInt -= 155;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed); motorhiz.run(BACKWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    } else if (ReceivedDataInt >= 105) {
      ReceivedDataInt -= 105;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed); motorhiz.run(FORWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    }
  } else { // Datos Y
    Serial.println("DataY: " + ReceivedDataStr);
    if (ReceivedDataInt > 45 && ReceivedDataInt < 54) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 0 && ReceivedDataInt < 4) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 55) {
      ReceivedDataInt -= 55;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed); motoryon.run(BACKWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    } else if (ReceivedDataInt >= 5) {
      ReceivedDataInt -= 5;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed); motoryon.run(FORWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    }
  }
}

void I2CRequest() {
  // Wire.write(DataToBeSend, 1);
}

Esquema pines I2C para comunicación Arduino-Raspberry Pi. No necesita alimentación externa para Arduino: se alimenta del pin Vout de Raspberry Pi.

PASO 2: Código Raspberry Pi (Servidor Web)

Código para Raspberry Pi (funciona como servidor web) que envía datos a Arduino vía I2C. Código al final (sección Código).

PASO 3: Aplicación Android (Visual Studio Cordova)

Desarrollamos app Android Cordova en Visual Studio que envía datos del acelerómetro al servidor web vía peticiones AJAX. Código al final (sección Código).

RESUMEN FLUJO

1. App Android → datos acelerómetro → servidor web en Raspberry Pi
2. Servidor web (Raspberry Pi) → datos → Arduino vía I2C
3. Arduino procesa datos → controla motores vía Motor Shield

Código

Wire.h I2C Comunicación y Motor Shield (Arduino)

Arduino

Comunicación I2C entre Arduino y Raspberry Pi. Para comunicación serie entre dos dispositivos con mínimo I/O.

#include <Wire.h>
#define MyAddress 0x40
#include <AFMotor.h>
AF_DCMotor motorhiz(3);
AF_DCMotor motoryon(4);
byte DataToBeSend[1];
byte ReceivedData;
int counter = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin(MyAddress);
  Wire.onReceive(I2CReceived);
  Wire.onRequest(I2CRequest);
  motorhiz.setSpeed(254); motorhiz.run(RELEASE);
  motoryon.setSpeed(254); motoryon.run(RELEASE);
}

void loop() { }

void I2CReceived(int NumberOfBytes) {
  ReceivedData = Wire.read();
  int ReceivedDataInt = (int)ReceivedData;
  String ReceivedDataStr = String(ReceivedData);
  Serial.println(ReceivedDataInt);

  if (ReceivedDataInt >= 100) {
    Serial.println("DataX: " + ReceivedDataStr);
    if (ReceivedDataInt > 145 && ReceivedDataInt < 154) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 100 && ReceivedDataInt < 104) {
      Serial.println("RELEASE"); motorhiz.run(RELEASE);
    } else if (ReceivedDataInt >= 155) {
      ReceivedDataInt -= 155;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed); motorhiz.run(BACKWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    } else if (ReceivedDataInt >= 105) {
      ReceivedDataInt -= 105;
      int motorSpeed = (ReceivedDataInt * 10) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motorhiz.setSpeed(motorSpeed); motorhiz.run(FORWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    }
  } else {
    Serial.println("DataY: " + ReceivedDataStr);
    if (ReceivedDataInt > 45 && ReceivedDataInt < 54) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 0 && ReceivedDataInt < 4) {
      Serial.println("RELEASE"); motoryon.run(RELEASE);
    } else if (ReceivedDataInt >= 55) {
      ReceivedDataInt -= 55;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed); motoryon.run(BACKWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    } else if (ReceivedDataInt >= 5) {
      ReceivedDataInt -= 5;
      int motorSpeed = (ReceivedDataInt * 12) + 50;
      if (motorSpeed > 254) motorSpeed = 254;
      motoryon.setSpeed(motorSpeed); motoryon.run(FORWARD);
      Serial.println("MotorHiz: " + String(motorSpeed));
    }
  }
}

void I2CRequest() {
  // Wire.write(DataToBeSend, 1);
}

Control Remoto Android

C#

Sin vista previa (solo descarga).

Servidor Web Windows IoT

C#

Sin vista previa (solo descarga).

Piezas Personalizadas y Carcasas

Diagrama pines Arduino-Raspberry Pi

Esquemáticos

Para detalles: hackster.io/AnuragVasanwala/home-automation-0dcefc