Robô controlado por voz 2WD com Arduino e BitVoicer Server

Ferramentas e máquinas necessárias

	Ferro de soldar (genérico)
	Alicates
	Chave de fenda

Aplicativos e serviços online

Sobre este projeto

• 1. As ondas de áudio serão capturadas e amplificadas pela placa Sparkfun Electret Breakout;
• 2. O sinal amplificado será digitalizado e armazenado em buffer no Arduino usando seu conversor analógico-digital (ADC);
• 3. As amostras de áudio serão transmitidas para o BitVoicer Server usando o módulo Microchip WiFi;
• 4. O BitVoicer Server processará o fluxo de áudio e reconhecerá a fala que ele contém;
• 5. A fala reconhecida será mapeada para comandos predefinidos que serão enviados para o Arduino;
• 6. O Arduino identificará o comando e definirá quais motores CC serão usados, por quanto tempo e em que velocidade;
• 7. O driver do motor será ativado para fornecer a tensão e a corrente necessárias para mover os motores.

• Arduino UNO:~ U $ 25,00
• Escudo do driver do motor Pololu Dual MC33926:EUA 29,95
• SparkFun XBee Shield:U $ 14,95
• Módulo Microchip RN171VX com antena:U $ 34,95
• Breakout do microfone de eletreto SparkFun:U $ 7,95
• BitVoicer Server 1.0:U $ 8,90
• Chassi do carro robô 2WD:U $ 15,95
• Regulador de tensão Texas Instruments LM1117 (TO-220):~ U $ 1,95
• Capacitor eletrolítico de 10μF:~ U $ 0,35
• 4 x LEDs:~ US 1,00
• 4 x 330 Ohms resistores:~ U $ 0,75
• 4 pilhas AA de 1,5 V:~ US 2,00
• Bateria 9V:~ US 2,00
• Adaptador de 9V para conector de cilindro:~ US 2,50
• Fios de jumpers e fios regulares:~ U $ 2,00
• Parafusos e braçadeira de plástico flexível para fixação
• Ferro de soldar e solda

ETAPA 1:Conhecendo os componentes

• Indica se o BitVoicer Server está rodando e / ou se a conexão permanece ativa;
• Indica se o serviço de encaminhamento de dados está em execução;
• Indica se um mecanismo de reconhecimento de voz foi atribuído ao Arduino;
• Indica se estamos no período de ativação da palavra de ativação. Este LED acende apenas quando a palavra de ativação é identificada.

ETAPA 2:Montagem

ETAPA 3:Configurando o Módulo WiFi

• definir wlan ssid XXXXXX :substitua XXXXXX pelo nome de sua rede (SSID);
• definir frase wlan XXXXXX :substitua XXXXXX por sua senha de rede;
• definir endereço IP XXXXXX :substitua o XXXXXX pelo endereço IP (estático) que você deseja definir para o seu módulo WiFi.

• 1. Coloque a chave na posição DLINE;
• 2. Abra o IDE do Arduino, cole e envie o código para o Arduino;
• 3. Assim que o upload terminar, você terá 5 segundos (atraso no início do código) para mudar a chave para a posição UART antes que os comandos sejam enviados ao módulo WiFi. Se o primeiro comando for perdido, nenhum dos outros funcionará. Nesse caso, simplesmente reinicie o Arduino para que o esboço possa ser executado novamente desde o início.

ETAPA 4:planejando os movimentos do robô

STEP 5:Uploading the Code to the Arduino

• Constants Declaration :at the beginning of the sketch, I declare a series of constants used throughout the code. The group of constants with motor settings defines the default motor speeds and two direction constants. The Pololu motor driver library accepts values from -400 to +400 for the motor speed where zero means off. Negative values indicate reverse rotation or, if you have inverted the motor wires like me, forward rotation. The group of constants with command values refers to the commands that will be sent from BitVoicer Server. In this sketch I have defined only 40 basic commands of byte type, but more complex movements can be performed combining these commands.
• Execution Control Variables :five variables are defined at the beginning of the code to control the execution of commands (motorSpeed , cmdDuration , cmdStartTime , cmdRunning e lastFwdCmd ) The motorSpeed variable holds the current motor speed. This variable is updated with one of the default values defined by the speed constants if the Arduino receives a command from BitVoicer Server to update the motor speeds. The cmdDuration variable holds the total duration of the current command. This variable is checked against the cmdStartTime variable in all iterations of the loop function if cmdRunning is true . If the command execution time has expired, the RunCommand function is called to stop the motors. The lastFwdCmd variable holds the last “go/move forward” command. This variable is used to know the last traveled distance so the “come back” command can be executed. Note that to use this command you must first tell the robot to turn around.
• WiFi Connection :at the end of the sketch I define two functions to connect and disconnect from BitVoicer Server (Connect and Disconnect ) These functions put the Microchip WiFi module into command mode, open or close a TCP/IP connection and return the module into data mode. Inside the loop function, if the connected variable is not true , I call the Connect função. If the BVSP class reports the server status has expired, in other words, no answer has been received for the last status request, I assume the connection has been lost and I call the Disconnect função. This will force a new connection attempt in the next loop iteration.
• RunCommand function :this function is called every time a command is received from BitVoicer Server. It takes a byte value that corresponds to one of the basic commands defined by the constants at the beginning of the sketch. Each basic command is identified inside the switch so the appropriate motor speeds can be set as well as the command duration. At the end of the function, the cmdRunning variable is set to true and the time returned by the millis function is stored in the cmdStartTime variável. This allows the Arduino to control the command execution as described above. The times, in milliseconds, for each command were obtained as described in the previous step.

STEP 6:Setting Up BitVoicer Server

STEP 7:Conclusion

Código

• WiFi Module Setup
• Robot Source Code

WiFi Module SetupArduino

void setup() { Serial.begin(115200); pinMode(13, OUTPUT); atraso (5000); Serial.print("$$$"); atraso (1000); Serial.println("set wlan auth 4"); atraso (1000); Serial.println("set wlan phrase XXXXXX"); atraso (1000); Serial.println("set wlan ssid XXXXXX"); atraso (1000); Serial.println("set wlan channel 0"); atraso (1000); Serial.println("set wlan join 1"); atraso (1000); Serial.println("set wlan tx 0"); atraso (1000); Serial.println("set ip dhcp 0"); atraso (1000); Serial.println("set ip address XXXXXX"); atraso (1000); Serial.println("set comm remote 0"); atraso (1000); Serial.println("set comm close 0"); atraso (1000); Serial.println("set comm open 0"); atraso (1000); Serial.println("set comm size 500"); atraso (1000); Serial.println("set comm time 50"); atraso (1000); Serial.println("set uart baud 115200"); atraso (1000); Serial.println("set uart flow 0"); atraso (1000); Serial.println("save"); atraso (1000); Serial.println("exit"); atraso (1000); digitalWrite(13, LOW);}void loop() { }

Robot Source CodeArduino

#include #include #include // Defines the Arduino pins that will be used to control// LEDs and capture audio#define BVS_RUNNING 2#define BVS_SRE 5#define BVS_DATA_FWD 3#define BVS_ACT_PERIOD 6#define BVSM_AUDIO_INPUT 3// Defines the constants that will be passed as parameters to // the BVSP.begin functionconst unsigned long STATUS_REQUEST_INTERVAL =2000;const unsigned long STATUS_REQUEST_TIMEOUT =1000;// Defines the size of the mic bufferconst int MIC_BUFFER_SIZE =64;// Initializes a new global instance of the BVSP classBVSP bvsp =BVSP();// Initializes a new global instance of the BVSMic classBVSMic bvsm =BVSMic();// Initializes a new global instance of the // DualMC33926MotorShield classDualMC33926MotorShield ms =DualMC33926MotorShield();// Creates a buffer that will be used to read recorded samples // from the BVSMic classbyte micBuffer[MIC_BUFFER_SIZE];// Creates a global variable that indicates whether the // Arduino is connected to BitVoicer Serverboolean connected =false;// Defines some constants for the motor settingsconst int SPEED_STOP =0;const int SPEED_SLOW =100;const int SPEED_NORMAL =250;const int SPEED_FAST =400;const int DIRECTION_FRONT =-1;const int DIRECTION_BACK =1;// Declares a global variables to hold the current motor speed.// The default is SPEED_NORMAL, but there are voice // commands that change this setting.int motorSpeed =SPEED_NORMAL;// Stores the command duration in millisecondsunsigned long cmdDuration =0;// Stores the time the command started runningunsigned long cmdStartTime =0;// Stores whether a command is running or notbool cmdRunning =false;// Stores the last MOVE_FORWARD command. This variable // is used only for the COME_BACK command.byte lastFwdCmd =0;// Defines some constants for command names/values// Just to make the code more readableconst byte CMD_STOP =0;const byte CMD_MOVE_FORWARD =1;const byte CMD_MOVE_FORWARD_1_CM =2;const byte CMD_MOVE_FORWARD_2_CM =3;const byte CMD_MOVE_FORWARD_5_CM =4;const byte CMD_MOVE_FORWARD_10_CM =5;const byte CMD_MOVE_FORWARD_25_CM =6;const byte CMD_MOVE_FORWARD_50_CM =7;const byte CMD_MOVE_FORWARD_1_M =8;const byte CMD_MOVE_BACKWARD =9;const byte CMD_MOVE_BACKWARD_1_CM =10;const byte CMD_MOVE_BACKWARD_2_CM =11;const byte CMD_MOVE_BACKWARD_5_CM =12;const byte CMD_MOVE_BACKWARD_10_CM =13;const byte CMD_MOVE_BACKWARD_25_CM =14;const byte CMD_MOVE_BACKWARD_50_CM =15;const byte CMD_MOVE_BACKWARD_1_M =16;const byte CMD_TURN_AROUND =17;const byte CMD_TURN_AROUND_RIGHT =18;const byte CMD_TURN_AROUND_LEFT =19;const byte CMD_DO_360 =20;const byte CMD_TURN_RIGHT =21;const byte CMD_TURN_RIGHT_10 =22;const byte C MD_TURN_RIGHT_25 =23;const byte CMD_TURN_RIGHT_45 =24;const byte CMD_TURN_LEFT =25;const byte CMD_TURN_LEFT_10 =26;const byte CMD_TURN_LEFT_25 =27;const byte CMD_TURN_LEFT_45 =28;const byte CMD_DO_CIRCLE =29;const byte CMD_COME_BACK =30;const byte CMD_MOVE_FORWARD_2_M =31;const byte CMD_MOVE_FORWARD_3_M =32;const byte CMD_MOVE_BACKWARD_2_M =33;const byte CMD_MOVE_BACKWARD_3_M =34;const byte CMD_SET_SPEED_SLOW =35;const byte CMD_SET_SPEED_NORMAL =36;const byte CMD_SET_SPEED_FAST =37;const byte CMD_TURN_LEFT_45_BACKWARD =38;const byte CMD_TURN_RIGHT_45_BACKWARD =39;void setup(){ // Starts serial communication at 115200 bps Serial.begin(115200); // Sets the Arduino pin modes pinMode(BVS_RUNNING, OUTPUT); pinMode(BVS_SRE, OUTPUT); pinMode(BVS_DATA_FWD, OUTPUT); pinMode(BVS_ACT_PERIOD, OUTPUT); AllLEDsOff(); // Sets the Arduino serial port that will be used for // communication, how long it will take before a status request // times out and how often status requests should be sent to // BitVoicer Server bvsp.begin(Serial, STATUS_REQUEST_TIMEOUT, STATUS_REQUEST_INTERVAL); // Sets the function that will handle the frameReceived // event bvsp.frameReceived =BVSP_frameReceived; // Prepares the BVSMic class timer bvsm.begin(); // Prepares the motor shield class (pins and timer1) ms.init();}void loop() { // If it is not connected to the server, opens a TCP/IP // connection, sets connected to true and resets the BVSP // class if (!connected) { Connect(Serial); connected =true; bvsp.reset(); } // Checks if the status request interval has elapsed and if it // has, sends a status request to BitVoicer Server bvsp.keepAlive(); // Checks if there is data available at the serial port buffer // and processes its content according to the specifications // of the BitVoicer Server Protocol bvsp.receive(); // Gets the respective status from the BVSP class and sets // the LEDs on or off digitalWrite(BVS_RUNNING, bvsp.isBVSRunning()); digitalWrite(BVS_DATA_FWD, bvsp.isDataFwdRunning()); // Checks if there is a SRE assigned to the Arduino if (bvsp.isSREAvailable()) { // Turns on the SRE available LED digitalWrite(BVS_SRE, HIGH); // If the BVSMic class is not recording, sets up the audio // input and starts recording if (!bvsm.isRecording) { bvsm.setAudioInput(BVSM_AUDIO_INPUT, EXTERNAL); bvsm.startRecording(); } // Checks if the BVSMic class has available samples if (bvsm.available) { // Makes sure the inbound mode is STREAM_MODE before // transmitting the stream if (bvsp.inboundMode ==FRAMED_MODE) bvsp.setInboundMode(STREAM_MODE); // Reads the audio samples from the BVSMic class int bytesRead =bvsm.read(micBuffer, MIC_BUFFER_SIZE); // Sends the audio stream to BitVoicer Server bvsp.sendStream(micBuffer, bytesRead); } } else { // There is no SRE available // Turns off the SRE and ACT_PERIOD LEDs digitalWrite(BVS_SRE, LOW); digitalWrite(BVS_ACT_PERIOD, LOW); // If the BVSMic class is recording, stops it if (bvsm.isRecording) bvsm.stopRecording(); } // If the status has timed out, the connection is considered // lost if (bvsp.hasStatusTimedOut()) { // If the BVSMic is recording, stops it if (bvsm.isRecording) bvsm.stopRecording(); // Closes the TCP/IP connection Disconnect(Serial); AllLEDsOff(); connected =false; } // If a command is running, checks if its duration has // expired. If it has, stop the motors. if (cmdRunning) if (millis() - cmdStartTime>=cmdDuration) RunCommand(CMD_STOP);}// Handles the frameReceived eventvoid BVSP_frameReceived(byte dataType, int payloadSize){ // Performs the appropriate actions based on the frame // data type. If the data type is byte, it is a command. // If the data type is int, changes the activated // period LED. switch (dataType) { case DATA_TYPE_BYTE:RunCommand(bvsp.getReceivedByte()); pausa; case DATA_TYPE_INT16:digitalWrite(BVS_ACT_PERIOD, bvsp.getReceivedInt16()); pausa; }}// Runs the command received from the servervoid RunCommand(byte cmd){ switch (cmd) { case CMD_STOP:ms.setSpeeds(SPEED_STOP, SPEED_STOP); cmdRunning =false; Retorna; case CMD_MOVE_FORWARD:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =60000; pausa; case CMD_MOVE_FORWARD_1_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =23; pausa; case CMD_MOVE_FORWARD_2_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =47; pausa; case CMD_MOVE_FORWARD_5_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =117; pausa; case CMD_MOVE_FORWARD_10_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =234; pausa; case CMD_MOVE_FORWARD_25_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =468; pausa; case CMD_MOVE_FORWARD_50_CM:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =1170; pausa; case CMD_MOVE_FORWARD_1_M:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =2339; pausa; case CMD_MOVE_FORWARD_2_M:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =4678; pausa; case CMD_MOVE_FORWARD_3_M:lastFwdCmd =cmd; ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_FRONT); cmdDuration =7018; pausa; case CMD_MOVE_BACKWARD:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =60000; pausa; case CMD_MOVE_BACKWARD_1_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =23; pausa; case CMD_MOVE_BACKWARD_2_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =47; pausa; case CMD_MOVE_BACKWARD_5_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =117; pausa; case CMD_MOVE_BACKWARD_10_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =234; pausa; case CMD_MOVE_BACKWARD_25_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =468; pausa; case CMD_MOVE_BACKWARD_50_CM:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =1170; pausa; case CMD_MOVE_BACKWARD_1_M:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =2339; pausa; case CMD_MOVE_BACKWARD_2_M:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =4678; pausa; case CMD_MOVE_BACKWARD_3_M:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_BACK); cmdDuration =7017; pausa; case CMD_TURN_AROUND:ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_BACK); cmdDuration =540; pausa; case CMD_TURN_AROUND_RIGHT:ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_BACK); cmdDuration =540; pausa; case CMD_TURN_AROUND_LEFT:ms.setSpeeds( motorSpeed * DIRECTION_BACK, motorSpeed * DIRECTION_FRONT); cmdDuration =540; pausa; case CMD_DO_360:ms.setSpeeds( motorSpeed * DIRECTION_FRONT, motorSpeed * DIRECTION_BACK); cmdDuration =1065; pausa; case CMD_TURN_RIGHT:ms.setSpeeds(motorSpeed * DIRECTION_FRONT, 0); cmdDuration =503; pausa; case CMD_TURN_RIGHT_10:ms.setSpeeds(motorSpeed * DIRECTION_FRONT, 0); cmdDuration =56; pausa; case CMD_TURN_RIGHT_25:ms.setSpeeds(motorSpeed * DIRECTION_FRONT, 0); cmdDuration =140; pausa; case CMD_TURN_RIGHT_45:ms.setSpeeds(motorSpeed * DIRECTION_FRONT, 0); cmdDuration =252; pausa; case CMD_TURN_LEFT:ms.setSpeeds(0, motorSpeed * DIRECTION_FRONT); cmdDuration =503; pausa; case CMD_TURN_LEFT_10:ms.setSpeeds(0, motorSpeed * DIRECTION_FRONT); cmdDuration =56; pausa; case CMD_TURN_LEFT_25:ms.setSpeeds(0, motorSpeed * DIRECTION_FRONT); cmdDuration =140; pausa; case CMD_TURN_LEFT_45:ms.setSpeeds(0, motorSpeed * DIRECTION_FRONT); cmdDuration =252; pausa; case CMD_DO_CIRCLE:ms.setSpeeds( SPEED_NORMAL * DIRECTION_FRONT, SPEED_NORMAL * DIRECTION_FRONT * 0.60); cmdDuration =4587; pausa; case CMD_COME_BACK:RunCommand(lastFwdCmd); Retorna; case CMD_SET_SPEED_SLOW:motorSpeed =SPEED_SLOW; Retorna; case CMD_SET_SPEED_NORMAL:motorSpeed =SPEED_NORMAL; Retorna; case CMD_SET_SPEED_FAST:motorSpeed =SPEED_FAST; Retorna; case CMD_TURN_LEFT_45_BACKWARD:ms.setSpeeds(motorSpeed * DIRECTION_BACK, 0); cmdDuration =252; pausa; case CMD_TURN_RIGHT_45_BACKWARD:ms.setSpeeds(0, motorSpeed * DIRECTION_BACK); cmdDuration =252; pausa; } // Sets the command start time cmdStartTime =millis(); // Sets cmdRunning to true cmdRunning =true;}// Opens a TCP/IP connection with the BitVoicer Servervoid Connect(HardwareSerial &serialPort){ serialPort.print("$$$"); atraso (500); // Use the IP address of the server and the TCP port set // in the server properties serialPort.println("open 192.168.0.11 4194"); atraso (1000); serialPort.println("exit"); delay(500);}// Closes the TCP/IP connection with the BitVoicer Servervoid Disconnect(HardwareSerial &serialPort){ serialPort.print("$$$"); atraso (500); serialPort.println("close"); atraso (1000); serialPort.println("exit"); delay(500);}// Turns all LEDs offvoid AllLEDsOff(){ digitalWrite(BVS_RUNNING, LOW); digitalWrite(BVS_SRE, LOW); digitalWrite(BVS_DATA_FWD, LOW); digitalWrite(BVS_ACT_PERIOD, LOW);}

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