WisCam video car

在一些恶劣施工现场，或夜晚安全巡逻等场景中都需要一台能代替人眼睛的装备，因此视频小车就被需要了。WisCam通过Wi-Fi连接网络/工作在AP模式，上位机软件发送控制指令到WisCam，然后透传数据到串口，并与Arduino串口连接，硬件连接成功之后，手机或者电脑就可以通过TCP Client 连接到wiscam的TCP server,端口号是502，建立链接之后就可以通过硬件串口透传数据了。最后通过GPIO、PWM控制L298N，驱动电机速度和正反转。

1) arduino R3开发板一块

2) WisCam视频开发板一块

3) L298N电机驱动板两块

4) 四轮驱动小车一台

5) 12V电源

arduino：更多资料去官网：https://www.arduino.cc/
    arduino它构建于开放原始码simple I/O介面版，并且具有使用类似Java、C语言的Processing/Wiring开发环境。主要包含两个主要的部分：硬件部分是可以用来做电路连接的Arduino电路板；另外一个则是Arduino IDE，你的计算机中的程序开发环境。你只要在IDE中编写程序代码，将程序上传到Arduino电路板后，程序便会告诉Arduino电路板要做些什么了。

WisCam是一款超低成本物联网WIFI视频评估套件，集成强大的ARM9处理器，Nabto P2P云服务器实现视频远程播放，2.4G WI-FI模组，硬件兼容Arduino等。WisCam可以通过Wi-Fi传输视频到APP，APP源码，硬件设计资料源文件，软件代码均已上传到Github。因此可快速帮助开发人员使用Linux操作系统设计Wi-Fi视频产品。

WisCam支持YUV RAW DATA，开发人员可以进行视频缩放（1〜8倍缩放），视频裁剪，视频层叠，更改CMOS图像传感器等。

4、硬件连接

https://github.com/galaxyofo/wiscam_car_controller.git

下载并编译，输入./controller [wisCam ip] 502

通过键盘的方向键控制小车前进转向

/******************************************************

***定义前进、后退引脚**********************************

******************************************************/

int forward_r1 = 2;/控制向前右

int forward_r2 = 4;/控制向前右

int forward_l1 = 6;/控制向前左

int forward_l2 = 7;/控制向前左

int forward_pwm1 = 3;/控制速度

int forward_pwm2 = 5;/控制速度

int back_r1 = 8;

int back_r2 = 9;

int back_l1 = 12;

int back_l2 = 13;

int back_pwm1 = 10;

int back_pwm2 = 11;

int driver_status = -1;

int stop_delay = 0;

int duration = 0;

#define MAX_SPEED 0x60

#define ACC_SPEED 2

void setup()

{

  pinMode(forward_r1, OUTPUT);

  pinMode(forward_r2, OUTPUT);

  pinMode(forward_l1, OUTPUT);

  pinMode(forward_l2, OUTPUT);

  pinMode(back_r1, OUTPUT);

  pinMode(back_r2, OUTPUT);

  pinMode(back_l1, OUTPUT);

  pinMode(back_l2, OUTPUT);

  analogWrite(forward_pwm1,0x00);

  analogWrite(forward_pwm2,0x00);   

  analogWrite(back_pwm1,0x00);

  analogWrite(back_pwm2,0x00);

  Serial.begin(115200);

}

void loop() {

  if (Serial.available() > 0) {

    char cmd = Serial.read();

    if (driver_status != cmd) {

      switch (cmd) {

      case '0':

        driver_stop();/停止

        break;

      case '1':

        driver_forward();

        duration = 600;

        break;

      case '2':

        driver_backward();

        duration = 600;

        break;

      case '3':

        driver_left();

        duration = 300;

        break;

      case '4':

        driver_right();

        duration = 300;

        break;

      default:

        break;

      }

      driver_status = cmd;

    }

    stop_delay = 0;

  } else {

  if (stop_delay++ > duration) {

    stop_delay = 0;

    driver_status = 0;

    driver_stop();

  }

  delay(1);

  }

}

/**********************************************

***********************向后******************

**********************************************/

void driver_backward()

{

  digitalWrite(forward_r1, HIGH);

  digitalWrite(forward_r2, LOW);

  digitalWrite(forward_l1, HIGH);

  digitalWrite(forward_l2, LOW);

  digitalWrite(back_r1, HIGH);

  digitalWrite(back_r2, LOW);

  digitalWrite(back_l1, HIGH);

  digitalWrite(back_l2, LOW);

  for (int i = 0x10; i < MAX_SPEED; i += ACC_SPEED) {

    analogWrite(forward_pwm1,i);

    analogWrite(forward_pwm2,i);

    analogWrite(back_pwm1,i);

    analogWrite(back_pwm2,i);

  }

}

/**********************************************

***********************向前******************

**********************************************/

void driver_forward()

{

  digitalWrite(forward_r1, LOW);

  digitalWrite(forward_r2, HIGH);

  digitalWrite(forward_l1, LOW);

  digitalWrite(forward_l2, HIGH);

  digitalWrite(back_r1, LOW);

  digitalWrite(back_r2, HIGH);

  digitalWrite(back_l1, LOW);

  digitalWrite(back_l2, HIGH);

  for (int i = 0x10; i < MAX_SPEED; i += ACC_SPEED) {

    analogWrite(forward_pwm1,i);

    analogWrite(forward_pwm2,i);

    analogWrite(back_pwm1,i);

    analogWrite(back_pwm2,i);   

  }

}

/**********************************************

***********************停止******************

**********************************************/

void driver_stop()

{

  analogWrite(forward_pwm1,0x00);

  analogWrite(forward_pwm2,0x00);   

  analogWrite(back_pwm1,0x00);

  analogWrite(back_pwm2,0x00);

}

/**********************************************

***********************向右******************

**********************************************/

void driver_right()

{  

  analogWrite(back_pwm2, 0);  

  analogWrite(forward_pwm1, 0);

  for (int i = 0X20; i < MAX_SPEED; i += ACC_SPEED) {

    analogWrite(back_pwm1, i);

    analogWrite(forward_pwm2, i);

  }

}

/**********************************************

***********************向左******************

**********************************************/

void driver_left()

{  

  analogWrite(back_pwm1, 0);  

  analogWrite(forward_pwm2, 0);

  for (int i = 0X20; i < MAX_SPEED; i += ACC_SPEED) {

    analogWrite(back_pwm2, i);

    analogWrite(forward_pwm1, i);

  }

}