原创 ExBot机器人 PC控制调试端

ExBot机器人 PC控制调试端程序（基于Java，可嵌入到网页中）

 /*
 Created 12 Dec. 2010

 by JinTao Liu 
 
 Email;  top1944@163.com
 WEB:    blog/ednchina.com/exbot

 */ 

import processing.serial.*;
Serial port; // Create object from Serial class

class ArduinoData{
  public
  int sonic1;
  int sonic2;
  int ultra;
  int rhumb;
  int counter;
  int servo_pos;
  int PWM_val;
  int current;//current monit  
};

int Width=900;
int Height=600;

void setup() {
size(Width, Height);
frameRate(30);
smooth();
println(Serial.list());
String arduinoPort = Serial.list()[1];
port = new Serial(this, arduinoPort, 115200);
background(0);

exbotlogo(0,0);
}
///////////////////////////////////////////////////////////////////////
//    draw
///////////////////////////////////////////////////////////////////////
int i=0;
int loopNum=0 ,penguinNum=0;
float val; // Data received from the serial port
int x;
int[] arduino = new int[8];

float easing=0.1;
float easingHead=0;
int headTem;
//ArduinoData ard=new ArduinoData();
////////////////////////////////////////////////////////////
void draw() {
    if ( port.available() > 14)
    // If data is available,
    {
    val = readSerial(arduino);// read it and store it in val
    movePenguin();
    }

sonicLine(arduino[0],arduino[1],arduino[2]);
exbotDirect(450, 150,arduino[3]); //exbotDirect(x,y,head)
}

int readSerial(int a[])
{
  int i, val,valLow;
  int num2read=8; //8 is the mumber of datas to read

       while(port.available() >0) // If data is available,
       {
         val = port.read(); // read it and store it in val
         if (val !='A') continue;
         val = port.read();
         if (val !='R') continue;
         val = port.read();
         if (val !='D') continue;
         for(i = 0; i<num2read; i ++)//num2read is the mumber of datas to read
           {
             val = port.read(); //low byte first. o is low byte
             valLow=val;
             val = port.read(); //high byte first. o is high byte
             a=valLow+(val<<8);
           }
           for(i = 0; i<num2read; i ++)//num2read is the mumber of datas to read
           {print(i);print(" = ");print(a);print("   ");}
           println();
           return 1;//Finish receiving
       }
      
       return 0;//No data
}
void exbotlogo(int x, int y)
{
  PImage img,penguin;
  penguin=loadImage("penguin.jpg");//Before that,Add the image to the sketch鈥檚 data folder.(Sketch/Add file)
  img = loadImage("exbot.png");//Before that,Add the image to the sketch鈥檚 data folder.(Sketch/Add file)
  image(penguin, x+10, y+100);
  image(img, x, y);
//  Devide Line   //  
    stroke(0,255,0);
    line(0, Height/2, Width,  Height/2);
    //grid on
    stroke(0,100,0);
    for(i=1;i<Height;i=i+50)
    line(0, Height/2+i, Width,  Height/2+i);
    stroke(0,100,0);
    for(i=1;i<Width;i=i+50)
    line(i, Height/2, i,  Height);
// text  //
    textSize(20);
    fill(255,0,0);
    text("Sonic_1", 10, Height/2-60);
    fill(0,255,0);
    text("Sonic_2", 10, Height/2-40);
    fill(0,0,255);
    text("Ultra", 10, Height/2-20);
   
    //video window
 
    rect(605,5,290,290);
   
    img = loadImage("demo.jpg");//Before that,Add the image to the sketch鈥檚 data folder.(Sketch/Add file)
    image(img, 610, 10);
}