树莓派 垃圾桶相关

原理：通过Linux客户端发送"w" “a” “s” "d"指令到树莓派实现控制垃圾桶的上、下、左、右移动

功能需求：
避障小车模式
. 避障移动
清洁桶模式
. 手伸过去，自动把盖子打开
. 屏幕显示状态
. 检测温湿度
. 远程控制，客户端发送控制命令
功能模块：
. 树莓派主控
. oled显示屏
. 超声波模块
. 温湿度传感器
. SG90舵机
. 马达及轮子
. 清洁桶
架构：
远程控制服务端
树莓派
远程控制客户端
linux虚拟机
模块对应的功能：
oled显示屏
. 温度
. 时间
. 树莓派IP

超声波模块
. 识别手扔垃圾的动作
. 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
通过热熔胶黏在筒底
相关程序：

超声波模块：
#include
#include
#include
#include
#include"chaoshen.h"
#include"duoji.h"
float chaoshen()
{
// wiringPiSetup();
pinMode(16,INPUT);
pinMode(15,OUTPUT);

while(1){
        digitalWrite(15,LOW);
        digitalWrite(15,HIGH);
        delayMicroseconds(10);
        digitalWrite(15,LOW);

        while(1){
                 if(digitalRead(16)==1){
                       break;
                 }
        }
        struct timeval t1;
        gettimeofday(&t1,NULL);

        while(1){
                 if(digitalRead(16)==0){
                       break;
                 }
        }
        struct timeval t2;
        gettimeofday(&t2,NULL);
       
        long start,stop;
        start=t1.tv_sec*1000000+t1.tv_usec;
        stop=t2.tv_sec*1000000+t2.tv_usec;

        float dis;

        dis=(float)(stop-start)/1000000*340/2*100;
        printf("dis=%f\n",dis);
        return dis;
        delay(500);
}
  pthread_exit(NULL);        

}
电机模块：
#include
#include
#include
#include
#include
#include"dianji.h"
#include
#include
int Left_motor_go = 28;
int Left_motor_back = 29;

int Right_motor_go = 24;
int Right_motor_back = 25;

// int Left_motor_pwm = 27;
// int Right_motor_pwm = 23;
/*wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);

delay(2000);/
void dianji_shan() {
/ wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);

 delay(500); */
digitalWrite(Left_motor_go,1);
digitalWrite(Left_motor_back,0);
//  softPwmWrite(Left_motor_pwm, 150);

digitalWrite(Right_motor_go,1);
digitalWrite(Right_motor_back,0);
// softPwmWrite(Right_motor_pwm, 150);

delay(1000);
return;

}
void dianji_xia() {
/*/ wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);
delay(500);
*/
digitalWrite(Left_motor_go,0);
digitalWrite(Left_motor_back,1);
// softPwmWrite(Left_motor_pwm, 150);

digitalWrite(Right_motor_go,0);
digitalWrite(Right_motor_back,1);
// softPwmWrite(Right_motor_pwm, 150);

delay(1000);
return;

}
void dianji_zhuo() {
/* wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);
delay(500);
*/
digitalWrite(Left_motor_go,0);
digitalWrite(Left_motor_back,0);
// softPwmWrite(Left_motor_pwm, 150);

digitalWrite(Right_motor_go,1);
digitalWrite(Right_motor_back,0);
// softPwmWrite(Right_motor_pwm, 150);

delay(1000);
return;

}
void dianji_you() {
/*/ wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);
delay(500);
*/
digitalWrite(Left_motor_go,1);
digitalWrite(Left_motor_back,0);
// softPwmWrite(Left_motor_pwm, 150);

digitalWrite(Right_motor_go,0);
digitalWrite(Right_motor_back,0);
// softPwmWrite(Right_motor_pwm, 150);

delay(1000);
return;

}
void dianji_tinzhi() {
/*/ wiringPiSetup();
pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);
delay(500);
*/
digitalWrite(Left_motor_go,0);
digitalWrite(Left_motor_back,0);
// softPwmWrite(Left_motor_pwm, 150);

digitalWrite(Right_motor_go,0);
digitalWrite(Right_motor_back,0);
// softPwmWrite(Right_motor_pwm, 150);

delay(1000);
return;

}

void dianji(void*x) {
// wiringPiSetup();

pinMode(Left_motor_go, OUTPUT);
pinMode(Left_motor_back, OUTPUT);
pinMode(Right_motor_go, OUTPUT);
pinMode(Right_motor_back, OUTPUT);

delay(500);
int fd=*((int *)x);
 char i;

while (1) {
    recv(fd,&i,sizeof(i),0);
    switch (i) {
        case 'w':
            dianji_shan();
            break;
        case 's':
            dianji_xia();
            break;
        case 'a':
            dianji_zhuo();
            break;
        case 'd':
            dianji_you();
            break;
        case 'q':
            dianji_tinzhi();
            break;
        default:
            break;
    }
   // getchar();
}
pthread_exit(NULL);

return;
}
舵机模块：

#include
#include
#include
#include
#include"duoji.h"

void duoji() {
int pwmPin = 18;
wiringPiSetupGpio();
pinMode(pwmPin, PWM_OUTPUT);
pwmSetMode(PWM_MODE_MS);
pwmSetRange(2000);

pwmSetClock(192);
pwmWrite(pwmPin, 50);
delay(5000);
pwmWrite(pwmPin, 200);

}
日志模块：

#include
#include
#include “log.h”
FILE *g_log=NULL;
void log_creat() {
g_log = fopen("./servermylog", “a+”);
if (NULL == g_log) {
printf(“鎵撳紑澶辫触\n”);
}
}
void log_destroy() {
fclose(g_log);
g_log = NULL;
}
void log_write(const char *format, …) {
va_list args;
// char *para;

va_start(args, format);

vfprintf(g_log, format,args);

fflush(g_log);
va_end(args);//閿€姣?}

/int main() {
log_creat();
log_write("%s%s%s",“hello”,“xiaoyang”,“nigechun”);
log_destroy();
return 0;
}/

OLED模块部分程序：

#include
#include
#include
#include"wendu.h"
#include
#include
int fd;
unsigned char yi[4][16] = {" ", //绗竴琛? " “, //绗簩琛? " “, //绗笁琛? " 192.168.43.61 “, //绗洓琛?}; //鏄剧ず鍐呭
const unsigned char zi[];
void init(void) //鍒濆鍖?{
// wiringPiSetup();
fd = wiringPiI2CSetup(0x3c); // i2c鍒濆鍖?0x3c鏄痮led鐨勪粠鏈哄湴鍧€
wiringPiI2CWriteReg8(fd, 0x00, 0xa1); //鍥惧儚鍙嶄簡淇敼鎴?xa0
wiringPiI2CWriteReg8(fd, 0x00, 0xc8); //琛岃緭鍑哄弽浜嗕慨鏀规垚0xc0
wiringPiI2CWriteReg8(fd, 0x00, 0x8d); //鍏佽鐢佃嵎娉? wiringPiI2CWriteReg8(fd, 0x00, 0x14);
wiringPiI2CWriteReg8(fd, 0x00, 0xa6); //鎯冲弽鐩告樉绀烘敼鎴?xa7
wiringPiI2CWriteReg8(fd, 0x00, 0x21); //閲嶇疆鍒楀湴鍧€
wiringPiI2CWriteReg8(fd, 0x00, 0x00);
wiringPiI2CWriteReg8(fd, 0x00, 0x7f);
wiringPiI2CWriteReg8(fd, 0x00, 0xaf); //寮€鏄剧ず
}
void qingping(void) //娓呭睆
{
char zt1, zt2;
for (zt1 = 0; zt1 < 8; zt1++) {
wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + zt1);
for (zt2 = 0; zt2 < 128; zt2++) wiringPiI2CWriteReg8(fd, 0x40, 0x00);
}
}
void ascii(void) //鏄剧ずASCII鐮?*16
{
int zt;
char zt3, zt4;
for (zt3 = 0; zt3 < 4; zt3++) {
wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + (zt3 * 2));
for (zt4 = 0; zt4 < 16; zt4++)
for (zt = 0; zt < 8; zt++)
wiringPiI2CWriteReg8(fd, 0x40, zi[yi[zt3][zt4] * 16 + zt]);
wiringPiI2CWriteReg8(fd, 0x00, 0xb0 + (zt3 * 2) + 1);
for (zt4 = 0; zt4 < 16; zt4++)
for (zt = 0; zt < 8; zt++)
wiringPiI2CWriteReg8(fd, 0x40, zi[yi[zt3][zt4] * 16 + zt + 8]);
}
}
void shijian(void) //褰撳墠鏃堕棿
{
struct tm *ptr;
time_t lt;
lt = time(<);
ptr = localtime(<);
sprintf(yi[0],”%3.3f\n”,wendu());
strftime(yi[1], 16, “%m/%d %a”, ptr); //鏈?鏃?鍛ㄥ嚑
strftime(yi[2], 16, “%R %p”, ptr); //鏃?鍒?am鎴杙m
}
void oled(void) {
init();
qingping();
while (1) {
shijian();
ascii();
delay(1000);
}
pthread_exit(NULL);
}
温度模块：
#include
#include
#include
#include
#include
#include
#include
#include"wendu.h”
float wendu() {
char path[50] = “/sys/bus/w1/devices/”;
char rom[20];
char buf[100];
DIR *dirp;
struct dirent *direntp;
int fd = -1;
char *temp;
float value;

system("sudo modprobe w1-gpio");
system("sudo modprobe w1-therm");
if ((dirp = opendir(path)) == NULL) {
    printf("opendir error\n");
    return 1;
}

while ((direntp = readdir(dirp)) != NULL) {
    if (strstr(direntp->d_name, "28-031697792d2c")) {
        strcpy(rom, direntp->d_name);
        printf(" rom: %s\n", rom);
    }
}
closedir(dirp);

strcat(path, rom);
strcat(path, "/w1_slave");

    if ((fd = open(path, O_RDONLY)) < 0) {
        printf("open error\n");
        return 1;
    }

    if (read(fd, buf, sizeof(buf)) < 0) {
        printf("read error\n");
        return 1;
    }

    temp = strchr(buf, 't');
    sscanf(temp, "t=%s", temp);
    value = atof(temp) / 1000;
    printf(" temp : %3.3f\n", value);

    sleep(1);

   	return value;

}
客户端：

#include
#include
#include
#include
#include
#include
#include
#include /* See NOTES */
#include
#include
#include
#include
#include
#include
#include “log.h”
//#include"utils.h"
int main(){
int c_fd;
int ret;
char c_send;
// char *c_send;
// c_send=(char *)malloc(100);

log_creat();
c_fd = socket(AF_INET, SOCK_STREAM, 0);  //濂楁帴瀛楀垱寤?    if (c_fd < 0) {
    perror(" 鍒涘缓濂楁帴瀛楀け璐?);
    exit(-1);
}

struct sockaddr_in clientaddr;  //閰嶇疆IP鍜岀鍙ｏ紝涓庢湇鍔＄涓€鑷?
memset(&clientaddr, 0, sizeof(struct sockaddr_in));  //娓呯┖
clientaddr.sin_family = AF_INET;
clientaddr.sin_port = htons(8333);
clientaddr.sin_addr.s_addr = inet_addr("192.168.43.61");

ret = connect(c_fd, (struct sockaddr *)&clientaddr,sizeof(struct sockaddr_in));
if (ret < 0) {
 perror("connect");  //閾炬帴鏈嶅姟绔?        exit(-1);
}
log_write("閾炬帴鎴愬姛");
while(1){
       printf("shu ru:\n");
       scanf("%c",&c_send);
      ret=send(c_fd,&c_send,sizeof(c_send),0);
      log_write("%d\n",ret);
      getchar();
}
 
 return 0;

}
服务端：
#include
#include
#include
#include
#include
#include
#include
#include /* See NOTES */
#include
#include
#include
#include
#include
#include
#include “oled.h”
#include “duoji.h”
#include “dianji.h”
#include “log.h”
#include"chaoshen.h"
#include"juli.h"
int main() {
wiringPiSetup();
int s_fd;
int ret;
int c_fd;
log_creat();

s_fd = socket(AF_INET, SOCK_STREAM, 0);  
   if (s_fd < 0) {
    perror("socket");
    exit(-1);
}

struct sockaddr_in serveraddr;
struct sockaddr_in clientaddr;

memset(&serveraddr, 0, sizeof(struct sockaddr_in));  
memset(&clientaddr, 0, sizeof(struct sockaddr_in));
serveraddr.sin_family = AF_INET;                           serveraddr.sin_port = htons(8333);                             serveraddr.sin_addr.s_addr = inet_addr("192.168.43.61");  

ret =
    bind(s_fd, (struct sockaddr *)&serveraddr, sizeof(struct sockaddr_in));
if (ret < 0) {
    perror("bind");
    exit(-1);
}

ret = listen(s_fd, 10);
if (ret < 0) {

    perror("listen");

    exit(-1);
}

c_fd = accept(s_fd, NULL, NULL);  

if (c_fd < 0) {
perror(“accept”);
exit(-1);
}
log_write(“server%s\n”, “鎴愬姛閾炬帴”);

pthread_t t1;
pthread_t t2;
pthread_t t3;

ret = pthread_create(&t1, NULL,(void*)oled, NULL);
ret = pthread_create(&t2, NULL,(void*)juli, NULL);
ret = pthread_create(&t3, NULL,(void*)dianji,(void *)&c_fd);

pthread_join(t1, NULL);
pthread_join(t2, NULL);
pthread_join(t3, NULL);
    log_destroy();
    return 0;

}

遇见的难题：

1、多次使用wiringPiSetup()造成程序段错误，只要在main函数一开始调用一次，不需要每个模块都调用，这会导致进程崩溃
2、在写OLED模块代码时在while中又使用了一次whie,导致进程一进oled,就出不去了，造成其他进程不能运行。显示IP地址时直接用fscanf函数直接把IP地址写入数组。
3、在写服务端代码时，创建线程时，传参的问题，传递套接字描述符c_fd,时需要用（void*）强转类型，调用这个形参时需要int fd=*((int *)x);，把这个形参转换成需要的参数类型再取值，注意括号。
4、注意树莓派与各个模块的接线。
5、注意.h文件的引用。
6、要使各个模块同时运行需要使用多线程，多线程的使用需要注意参数的传递与使用，线程中不能while中嵌套while,这会造成死循环。