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Apache-2.0

开源大师兄项目: PzCar项目

PzCar是基于开源大师兄的一个智能小车项目。

该项目以小车的工作模式和工作状态数据为中心,其他的硬件(如LED灯、OLED显示屏、电机驱动的左右轮等)根据这些数据做出与之对应的反应,以实现小车的自动控制或手动控制。

核心数据

小车的核心数据包括了工作模式和工作状态,以及其他一些辅助的数据

工作模式

小车目前支持以下几种工作模式(Mode):

  • 自动模式:小车自动按固定路线运行一组测试模式
  • 循迹模式:小车根据循着轨迹运行【待实现和验证】
  • 声控模式:通过语音控制小车运行
  • 网络控制模式:小车进入接收网络控制命令的运行模式,小车默认启动UDP Server

自动模式

小车自动按固定路线运行一组测试模式

循迹模式

待实现和验证。

声控模式

小车在任何模式和任何工作状态下,通过语音"你好大师兄"唤醒语音识别功能,并进入声控模式;在声控模式下,支持响应如下命令并执行相应的动作:

前进、停止、左转、右转、后退

网络控制模式

通过按键选中进入“NetCtrl”网络控制模式后,手机/PC/平板电脑/DAYU200开发板等设备可以直接接入PzCar创建的热点:SSID【HiCar001】PSWD【12345678】,然后通过UDP客户端发送命令给小车的UDP服务端,以此控制小车的工作状态,也可以通过向小车发送指定的接入点信息,实现小车的配网。

UDP客户端连接上该服务器后,可以向服务器发送如下命令,切换工作模式:

Mode:Auto     # 切换到自动模式
Mode:Track    # 切换到循迹模式
Mode:AudCmd   # 切换到声控模式
Mode:NetCtrl  # 切换到控制模式
....          # 可根据需要增加控制模式

在切换到网络控制模式之后,小车才会响应如下的状态切换命令和修改速度等命令:

State:Stop         # 停止
State:Forward      # 前进
State:TurnLeft     # 左转
State:TurnRight    # 右转
State:Backward     # 后退
State:BackLeft     # 向左后方退
State:BackRight    # 向右后方退

Speed:数字     # 修改小车速度为【数字】指定的数值,数字取值范围是[0, 3600]
Duration:数字  # 修改小车在某个命令下运行的持续时间:【数字】毫秒,数字[0]表示持续运行

工作状态

每一种模式下都支持以下几种工作状态(State):

  • Stop # 停止
  • Forward # 前进
  • TurnLeft # 左转
  • TurnRight # 右转
  • Backward # 后退
  • BackLeft # 向左后方退
  • BackRight # 向右后方退

工作状态还包含了一组速度参数用于描述小车的轮子转速,目前暂时只使用到默认的速度参数,也可以通过网络发送参数改变默认的速度,不过暂未引入更复杂的速度参数进行控制。

辅助数据

辅助数据包括了小车的联网状态、配网状态等,可以让小车更方便地接入网络以及通过网络控制小车的行为。

硬件模块

按键

小车在所有工作模式和任意状态下,按左键会停止并回到主菜单,等待选择工作模式;在自动模式、循迹模式、声控模式下,按右键会循环切换当前模式下的工作状态,在网络控制模式下,可以按右键选中进入网络控制模式或配网模式,两种模式下都可以再次通过右键显示网络相关信息,方便控制设备连接热点和发送命令等操作。

LED灯

小车在不同的工作状态下,点亮或闪烁对应的指示灯。

显示屏

通过左右按键显示、选择不同的工作模式、工作状态和网络状态相关信息

应用程序

PzCar APP是通过网络控制PzCar智能小车的应用程序,该程序适用于OpenHarmony系统和HarmonyOS系统;使用该程序控制PzCar智能小车前,需要先将本设备接入PzCar创建的热点或者与PzCar接入同一个网络中。可以通过开源大师兄主板上的按键进入"NetCtrl"模式的子页面中,在主板的显示屏上查看PzCar的IP地址和监听的端口号。进入本程序的"配网模式",按照页面中提示的步骤进行操作,正确填写PzCar的信息和待接入的网络接入点信息后,便可以对PzCar配置联网。进入本程序的"UDP控制模式",按照页面中提示的步骤进行操作,正确填写PzCar的信息后,便可以控制PzCar的运动。

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