20181011 蓝牙控制小车

app传送门：

Blue Dot.apk

1 。首先在’菜单－》首选项－》Raspberry Pi Configuration‘中。修改树梅派主机的名称统一为：pixx（其中xx为组号），防止找蓝牙设备的时候找不要到自己的主机。

修改完后，主机需要重启。

2. 开启蓝牙的发现模式，点击蓝牙图标－》选择make discoverable,进入配对模式。

3。打开手机蓝牙设置，找到并配对你对应的树梅派主机。

4。树梅派会跳出一个是否允许配对对话框，选择ok允许。配对成功。若没有成功配对，则重复上述步骤。

5。完成上述步骤后，打开blue dot 应用app，则在app中能找到你的树梅派主机了。

6。在树梅派中安装blue dot库

打开命令行：运行安装指令。

sudo pip3 install bluedot

1	sudo pip3 install bluedot

安装完成后，方可进行下一步操作。

7。运行控制程序（运行控制程序后，才能用blue dot APP连接）

from bluedot import BlueDot
from gpiozero import Robot
from signal import pause
from gpiozero.pins.pigpio import PiGPIOFactory


bd = BlueDot()
#robot = Robot(left=(4, 14), right=(17, 18))
factory = PiGPIOFactory(host='raspberry00.local')
robot = Robot(left=(15, 14), right=(18, 23),pin_factory=factory)


bd.when_pressed = lambda:robot.forward()
bd.when_released =lambda:robot.stop()

pause()

from bluedot import BlueDot

from gpiozero import Robot

from signal import pause

from gpiozero.pins.pigpio import PiGPIOFactory

bd = BlueDot()

#robot = Robot(left=(4, 14), right=(17, 18))

factory = PiGPIOFactory(host='raspberry00.local')

robot = Robot(left=(15, 14), right=(18, 23),pin_factory=factory)

bd.when_pressed = lambda:robot.forward()

bd.when_released =lambda:robot.stop()

pause()

8。运行blue dot应用

9.控制小车方向：

from bluedot import BlueDot
from gpiozero import Robot
from signal import pause
from time import sleep
from gpiozero.pins.pigpio import PiGPIOFactory
factory = PiGPIOFactory(host='raspberry00.local')

bd = BlueDot()
robot = Robot(left=(15, 14), right=(18, 23),pin_factory=factory)

robot.stop()

def move(pos):
    #print(pos.distance)
    if pos.top:
        robot.forward()
    elif pos.bottom:
        robot.backward()
    elif pos.left:
        robot.left()
    elif pos.right:
        robot.right()
    #sleep(0.2)

bd.when_pressed = move
#bd.when_moved = move
bd.when_released = lambda:robot.stop()

pause()

from bluedot import BlueDot

from gpiozero import Robot

from signal import pause

from time import sleep

from gpiozero.pins.pigpio import PiGPIOFactory

factory = PiGPIOFactory(host='raspberry00.local')

bd = BlueDot()

robot = Robot(left=(15, 14), right=(18, 23),pin_factory=factory)

robot.stop()

def move(pos):

#print(pos.distance)

if pos.top:

robot.forward()

elif pos.bottom:

robot.backward()

elif pos.left:

robot.left()

elif pos.right:

robot.right()

#sleep(0.2)

bd.when_pressed = move

#bd.when_moved = move

bd.when_released = lambda:robot.stop()

pause()

10.控制小车方向与速度

from gpiozero import Robot
from time import sleep
from gpiozero.pins.pigpio import PiGPIOFactory
from bluedot import BlueDot
from signal import pause

factory = PiGPIOFactory(host='raspberry00.local')
robot = Robot(left=(15, 14), right=(18, 23),pin_factory=factory)

def pos_to_values(x, y):
    left = y if x > 0 else y + x
    right = y if x < 0 else y - x
    return (clamped(left), clamped(right))

def clamped(v):
    return max(-1, min(1, v))

def drive():
    while True:
        if bd.is_pressed:
            x, y = bd.position.x, bd.position.y
            yield pos_to_values(x, y)
        else:
            yield (0, 0)

bd = BlueDot()

robot.source = drive()

pause()