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README
Apache-2.0

HiSpark-Pegasus 智能小车样例

一、智能小车套件外设控制样例

1.1 文件说明

文件 说明
robot_hcsr04.c 超声波测距样例
robot_l9110s.c 电机驱动样例
robot_sg90.c 舵机控制样例
robot_sg90_mid.c 舵机校准
robot_tcrt5000.c 红外传感器样例

1.2 使用方法

1、直接将robot文件夹拷贝到OpenHarmony源码applications/sample/wifi-iot/app目录下。

2、需要编译哪个样例,就将对应的文件的注释打开,将其他的文件注释掉

​ 比如需要编译超声波样例,BUILD.gn文件修改为如下内容:

static_library("robot_demo") {
    sources = [
        "robot_hcsr04.c",
        #"robot_l9110s.c",
        #"robot_sg90_mid.c",
        #"robot_sg90.c",
        #"robot_tcrt5000.c"
        #"l9110s_pwm_control.c"
    ]

    include_dirs = [
        "//utils/native/lite/include",
        "//kernel/liteos_m/kal/cmsis",
        "//base/iot_hardware/peripheral/interfaces/kits",
    ]
}

3、修改app目录下的BUILD.gn文件

import("//build/lite/config/component/lite_component.gni")

lite_component("app") {
    features = [
        "robot:robot_demo"
    ]
}

二、智能循迹避障小车样例代码

2.1 文件说明

文件 说明
ssd1306 ssd1306驱动代码
robot_control.c 智能小车主要控制代码
robot_hcsr04.c 智能小车超声波测距代码
robot_l9110s.c 智能小车电机控制代码
robot_sg90.c 智能小车舵机控制代码
ssd1306_test.c 智能小车OLED显示屏代码
trace_model.c 智能小车循迹功能代码

2.2 使用方法

1、直接将robot_demo文件夹拷贝到OpenHarmony源码applications/sample/wifi-iot/app目录下。

2、需要编译哪个样例,就将对应的文件的注释打开,将其他的文件注释掉

​ 比如需要编译超声波样例,BUILD.gn文件修改为如下内容:

static_library("robot_demo") {
    sources = [
        "robot_hcsr04.c",
        "robot_l9110s.c",
        "robot_sg90.c",
        "trace_model.c",
        "ssd1306_test.c",
        "robot_control.c"
    ]

    include_dirs = [
        "./ssd1306",
        "//utils/native/lite/include",
        "//kernel/liteos_m/kal/cmsis",
        "//base/iot_hardware/peripheral/interfaces/kits",
    ]
}

3、修改app目录下的BUILD.gn文件

import("//build/lite/config/component/lite_component.gni")

lite_component("app") {
    features = [
        "robot_demo:robot_demo"
    ]
}

三、DAYU200遥控HiSpark-Pegasus智能小车样例

本样例通过TCP socket通信实现DAYU200开发板(OpenHarmony标准系统) 遥控 HiSpark-Pegasus智能小车(OpenHarmony轻量系统)前进、后退、左转、右转、停止等操作,实现了一个简单的OpenHarmony南北向互通案例。

3.1 目录及文件说明

   DAYU200遥控HiSpark-Pegasus智能小车样例
    ├── DAYU200(3568)                    # DAYU200端hap应用(基于DevEco Studio 3.1.0.500、sdk 3.2.12.2)
    │    ├── entry-default-signed.hap    # DAYU200端hap应用安装包
    │    └── car_socket_control          # DAYU200端hap应用源码
    ├── HiSpark-Pegasus-smart-car(3861)  
    │    ├── Hi3861_wifiiot_app_allinone.bin # HiSpark-Pegasus智能小车源码编译好的固件(热点名称jjh,密码jjhjjhjjh,TCP端口号5678)
    │    └── car_tcp_control                 # HiSpark-Pegasus智能小车源码
    └── README.md
  • HiSpark-Pegasus-smart-car(3861)/car_tcp_control文件说明
文件名 说明
BUILD.gn OpenHarmony构建脚本
demo_entry_cmsis.c OpenHarmony liteos-m程序入口
net_common.h 系统网络接口头文件
net_demo.h demo脚手架头文件
net_params.h 网络参数,包括WiFi热点信息、端口信息
car_tcp_server_test.c TCP socket控制小车实现代码
wifi_connecter.c OpenHarmony WiFi STA模式API的封装实现文件
wifi_connecter.h OpenHarmony WiFi STA模式API的封装头文件

3.2 使用方法

3.2.1 3861侧

1、直接将HiSpark-Pegasus-smart-car(3861)下的car_tcp_control文件夹拷贝到OpenHarmony源码applications/sample/wifi-iot/app目录下。

2、修改net_params.h文件的相关代码: PARAM_HOTSPOT_SSID 设置为要连接的热点名称、 PARAM_HOTSPOT_PSK 设置为要连接的热点密码、 PARAM_SERVER_PORT 设置 3861开发板(作为TCP服务端) TCP socket端口号。

3、将car_tcp_control加入到OpenHarmony源码的编译

import("//build/lite/config/component/lite_component.gni")

lite_component("app") {
    features = [
        "car_tcp_control:car_tcp_control_demo"
    ]
}

3.2.2 3568侧

DAYU200端hap应用基于OpenHarmony3.2release DevEco Studio 3.1.0.500、sdk 3.2.12.2环境开发。

1、DAYU200(3568)目录下提供了编译好了的安装包entry-default-signed.hap,安装好应用。

2、在应用中填写3861开发板的ip(串口打印出来的)和3861侧net_params.h中填写的TCP socket端口号到3568端,以连接3861开发板。

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