【Arduino 动手做】如何使用蓝牙通过 Arduino 微控制器控制无人机 简单

#include "PPMEncoder.h"

//Choose either pin 2 or pin 3 because they are interrupt pins. On other boards you can use any pin that has an interrupt
#define OUTPUT_PIN 3 

// This value will store the input from the Bluetooth Controller
char state = '0';     

// These variables represent the values of each channel, from 1 - 8. You can change how many variables you have depending on the number of channels you have.
int v1 = 50,v2 = 50,v3 = 0,v4 = 50,v5 = 0, v6= 0, v7 = 0, v8 = 0;

//These are the values used to increment or decrement each channel's percent when they are triggered by your input.
int inc1 = 2, inc2 = 2, inc3 = 2, inc4 = 2;

void setup() {
  //Begin serial communication.
  Serial.begin(9600);
  
  //Configure and initiate the encoder. The encoder will send the PPM Signals to the drone.
  ppmEncoder.begin(OUTPUT_PIN);
  
  //Set default values so that the drone start abruptly. 
  //This is how to set values of each channel: ppmEncoder.setChannelPercent(channel, percent). The channels are 0-indexed (so they start at 0) and the percent is from 1-100.
  ppmEncoder.setChannelPercent(0, 50);
  ppmEncoder.setChannelPercent(1, 50);
  ppmEncoder.setChannelPercent(3, 50);
}

void loop() {

  if(Serial.available() > 0){
    state = Serial.read();
     switch(state){
      //This controls the throttle value, +inc3 (+2%).
      case 'U': v3 += inc3; v3 = min(v3, 100); ppmEncoder.setChannelPercent(2, v3); break; 
      
      //This controls the throttle value, -inc3 (-2%).
      case 'D': v3 -= inc3; v3 = max(v3, 0); ppmEncoder.setChannelPercent(2, v3); break; 
      
      //This controls the yaw value, -inc4 (-2%). The rate at which drone will turn left.
      case 'T': (v4 > 50) ? v4 = 50 + inc4: v4 = v4;v4 -= inc4; v4 = max(v4, 0); ppmEncoder.setChannelPercent(3, v4);break; 
      
      //This controls the yaw value, +inc4 (+2%). The rate at which the drone will roll right.
      case 'X': (v4 < 50) ? v4 = 50 - inc4: v4 = v4;v4 += inc4; v4 = min(v4, 100); ppmEncoder.setChannelPercent(3, v4);break; 
      
      //This controls the pitch, +inc2 (+2%) The rate at which the drone will pitch downwards.
      case 'F': (v2 < 50) ? v2 = 50 - inc2: v2 = v2;v2 += inc2; v2 = min(v2, 100); ppmEncoder.setChannelPercent(1, v2);break; 
      
      //This controls the pitch, -inc2 (-2%). The rate at which the drone will pitch upwards.
      case 'B': (v2 > 50) ? v2 = + inc2: v2 = v2;v2 -= inc2; v2 = max(v2, 0); ppmEncoder.setChannelPercent(1, v2);break; 
      
      //This controls the roll, -inc1 (-2%). The rate at which the drone will roll left.
      case 'L': (v1 > 50) ? v1 = 50 + inc1: v1 = v1;v1 -= inc1; v1 = max(v1, 0); ppmEncoder.setChannelPercent(0, v1);break; 
      
      //This controls the roll, +inc1 (+2%). The rate at which the drone will roll right.
      case 'R': (v1 < 50) ? v1 = 50 - inc1: v1 = v1;v1 += inc1; v1 = min(v1, 100); ppmEncoder.setChannelPercent(0, v1);break; 

      //This controls Aux1
      case '1': if(v5 == 100){ 
        v5 = 0;
        ppmEncoder.setChannelPercent(4, v5);
      }
      else{
        v5 = 100;
        v1 = 50, v2 = 50, v3 = 0, v4 = 50;
        ppmEncoder.setChannelPercent(0, v1);
        ppmEncoder.setChannelPercent(1, v2);
        ppmEncoder.setChannelPercent(2, v3);
        ppmEncoder.setChannelPercent(3, v4);
        ppmEncoder.setChannelPercent(4, v5);
      }
      break;

      //This controls Aux2
      case '2': (v6 == 100) ? v6 = 0 : v6 = 100; ppmEncoder.setChannelPercent(5, v6);break;

      //This controls Aux3
      case '3': (v7 == 50) ? v7 = 0 : v7 = 50; ppmEncoder.setChannelPercent(6, v7); break;

      //This controls Aux4
      case '4': (v8 == 100) ? v8 = 0 : v8 = 100; ppmEncoder.setChannelPercent(7, v8); break;
     }
     //Print the input, this is to check that everything is functioning correctly
     //Serial.println(state);
}
}