智慧垃圾桶
功能模块
- 树莓派主控
- oled显示屏
- 显示温度
- 时间
- 树莓派IP
- 超声波模块
- 识别丢垃圾的动作
- 识别障碍物
- 温度传感器
- 读取当前环境的温度
- SG90舵机
- 打开清洁桶的盖子
- 马达及轮子
- L9110s
- 控制马达正转反转，实现转弯
- 清洁桶
架构
- 远程服务端
- 树莓派
- 远程控制客户端
- linux虚拟机
- 多线程及锁
- tcp ip网络编程
- 文件操作——日志模块
编程
超声波模块
#include
#include
#include
#include "chaosbo.h"
#define echo 2
#define trig 0
void initchaosbo() {
int a_init = wiringPiSetup();
if (a_init == 0) {
printf("init sucess\n");
}
pinMode(echo, INPUT);
pinMode(trig, OUTPUT);
}
float getdis() {
struct timeval t1;
struct timeval t2;
long start;
long stop;
float dis;
digitalWrite(trig,0);
digitalWrite(trig,0);
delay(5);
digitalWrite(trig, 1);
delayMicroseconds(10); // 10us
digitalWrite(trig, 0);
while (!(digitalRead(echo)) == 1) {
gettimeofday(&t1, NULL);
}
while (!(digitalRead(echo)) == 0) {
gettimeofday(&t2, NULL);
}
start = t1.tv_sec * 1000000 + t1.tv_usec;
stop = t2.tv_sec * 1000000 + t2.tv_usec;
dis = (float)(stop - start)/1000000*(34000/2);
return dis;
}
日志模块
#include "log.h"
#include
#include
#include
FILE *g_log = NULL;
void log_create(const char *filename) {
g_log = fopen(filename, "a+");
if (NULL == g_log) {
printf("fopen %s failed\n", filename);
}
}
void log_destroy() {
fclose(g_log);
g_log = NULL;
}
void log_write(const char *format, ...) {
va_list args;
va_start(args, format);
vfprintf(g_log, format, args);
va_end(args);
fflush(g_log);
}
马达模块
#include
#define A1 23
#define B1 22
#define BA1 28
#define BA2 29
void initmada()
{
wiringPiSetup();
pinMode(A1,OUTPUT);
pinMode(B1,OUTPUT);
pinMode(BA1,OUTPUT);
pinMode(BA2,OUTPUT);
digitalWrite(23,0);
digitalWrite(22,0);
digitalWrite(28,0);
digitalWrite(29,0);
}
void left()
{
digitalWrite(23,1);
digitalWrite(22,0);
digitalWrite(28,0);
digitalWrite(29,1);
}
void right()
{
digitalWrite(23,0);
digitalWrite(22,1);
digitalWrite(28,1);
digitalWrite(29,0);
}
void back()
{
digitalWrite(23,1);
digitalWrite(22,0);
digitalWrite(28,1);
digitalWrite(29,0);
}
void forword()
{
digitalWrite(23,0);
digitalWrite(22,1);
digitalWrite(28,0);
digitalWrite(29,1);
}
显示屏模块，设计点阵，代码存放在码云中。
服务端
#include
#include /* See NOTES */
#include
#include "log.h"
#include
#include "chaosbo.h"
#include
#include "sg900.h"
#include
#include "mada.h"
#include
#include "wendu.h"
#include "oled.h"
void *controldir(void *arg) {
char buf[32];
int ret_recv;
int sock = *(int *)arg;
while (1) {
ret_recv = recv(sock, buf, 32, 0);
if (ret_recv > 0) {
log_write("recv success\n");
log_write("neirong:%s\n", buf);
}
if (strncmp(buf, "w", 1) == 0) {
initmada();
forword();
} else if (strncmp(buf, "s", 1) == 0) {
initmada();
back();
} else if (strncmp(buf, "d", 1) == 0) {
initmada();
right();
} else if (strncmp(buf, "a", 1) == 0) {
initmada();
left();
} else if(strncmp(buf,"q",1)==0){
initmada();
}
memset(buf, 0, sizeof(buf));
}
}
void *dispalydata(void *arg){
float wd;
char msg[4][16];
while(1){
memset(msg,0,sizeof(msg));
wd = wendudisplay();
sprintf(msg[0],"t = %f c",wd);
oleddisplay(msg);
}
}
int main() {
pthread_t t1;
pthread_t t2;
wiringPiSetup();
log_create("serve.txt");
int fd = socket(AF_INET, SOCK_STREAM, 0);
if (fd != -1) {
log_write("creat socket sucess\n");
}
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = 8888;
addr.sin_addr.s_addr = htonl(INADDR_ANY);
int ret_bind = bind(fd, (struct sockaddr *)&addr, sizeof(struct sockaddr_in));
if (ret_bind == 0) {
log_write("bind sucess\n");
}
int ret_listen = listen(fd, 10);
if (ret_listen == 0) {
log_write("listen sucess\n");
}
int sock = accept(fd, NULL, 0);
if (sock != -1) {
log_write("sock success\n");
}
initchaosbo();// init chaosbo
pthread_create(&t1, NULL, controldir, &sock);
pthread_create(&t2,NULL,dispalydata,NULL);
while (1) {
if(getdis() <= 20){
duoji();
initmada();
while(getdis()<=20);
duojik();
}
}
log_destroy();
}
sg900模块
#include
#include
#include
#include
#include
#include
#include "sg900.h"
#define RANGE 200 // 1 means 100 us , 200 means 20 ms 1等于100微妙，200等于20毫秒
void duoji(){
//wiringPiSetup();
softPwmCreate(3, 15, RANGE); //创建一个使舵机转到90的pwm输出信号
delay(100);
softPwmWrite(3, 5); //将pwm输出复写为使舵机转到0
delay(100);
/*softPwmWrite(3, 15); //再次复写pwm输出
delay(100);
softPwmWrite(3, 15);*/
}
void duojik(){
// wiringPiSetup();
softPwmCreate(3, 15, RANGE); //创建一个使舵机转到90的pwm输出信号
softPwmWrite(3, 15); //再次复写pwm输出
delay(100);
softPwmWrite(3, 15);
}
温度模块
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include "oled.h"
#include "wendu.h"
float wendudisplay(){
int fd;
int ret;
float wd;
char *tmp;
char buf[128];
char msg[4][16];
while (1) {
memset(msg,0,sizeof(msg));
fd = open("/sys/bus/w1/devices/28-031597792ce7/w1_slave",
O_RDONLY); //以只读方式打开ds18b20设备文件
if (-1 == fd) { //打开设备文件出错
perror("open device file error"); //打印出错信息（原因）
}
ret = read(fd, buf, 128); //将设备文件中的内容读入buf中
if (-1 == ret) { //返回0表示读文件结束
break; //跳出循环体
}
if (-1 == ret) { //读文件出错
if (errno == EINTR) { //出错是由中断引起的
continue; //继续读文件
}
perror("read()"); //打印出错信息（原因）
close(fd); //关闭文件
}
tmp = strstr(buf, "t=");
tmp = tmp + 2;
wd = atof(tmp) / 1000;
//sprintf(msg[0],"t=%0.2f",wd);
//oleddisplay(msg);
return wd;
sleep(2);
close(fd); //关闭文件
}
}