2026年1月24日 星期六

[OTTO Biped] 使用HC-05藍芽晶片來通訊，並採Web控制方式(僅適用於Andriod手機)




注意：藍芽晶片最好是用BLE，對iOS手機而言，比較容易使用Web來控制。


本篇採用上圖的藍芽晶片。
本篇提到HTML程式已經上傳到Github，體驗網址：https://chengminlin2.github.io/OTTOWeb/
注意需先進行手機藍芽和OTTO藍芽進行配對，然後在手機瀏覽器上輸入體驗網址。

HC-05（SPP） 還是 BLE（HM-10/BT-05 類）？

最快判斷法：

  • iPhone「設定 → 藍牙」找得到、而且要配對 PIN（1234/0000）→ 多半是 HC-05/HC-06（SPP）

  • 用 BLE Scanner 才看得到、一般不走傳統配對 → 多半是 BLE 模組


Arduino程式：


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/*
  Otto + HC-05 (SPP) Controller for Arduino UNO/Nano
  Commands: forward/backward/left/right/stop/ultrasound/avoidance/force + speedIndex(0~5) + '\n'
  Gestures: happy/superhappy/sad/sleeping/confused/fretful/love/angry/magic/wave/victory/fail/fart + '0' + '\n'
*/

#include <Otto.h>
#include <EEPROM.h>
#include <SoftwareSerial.h>

// Otto pins
#define LEFTLEG   2
#define RIGHTLEG  3
#define LEFTFOOT  4
#define RIGHTFOOT 5
#define BUZZER    13

// Ultrasonic pins
#define TRIG 8
#define ECHO 9

// HC-05 wiring (recommended)
#define BT_RX 10   // Arduino receives  <- HC-05 TXD
#define BT_TX 11   // Arduino sends     -> HC-05 RXD (use voltage divider!)

SoftwareSerial bluetooth(BT_RX, BT_TX);
String device_name = "NFU-OTTO-HC05";

Otto Ottobot;

int move_speed[] = {3000, 2000, 1000, 750, 500, 250};
int n = 2;
int ultrasound_threeshold = 15;

int v;
int positions[] = {90, 90, 90, 90};
int8_t trims[4] = {0, 0, 0, 0};
unsigned long sync_time = 0;
bool calibration = false;

bool autoavoid = false;
bool us_stream = false;
unsigned long us_last_ms = 0;
const unsigned long US_STREAM_INTERVAL_MS = 200;

long ultrasound_distance() {
  long duration;
  digitalWrite(TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG, LOW);
  duration = pulseIn(ECHO, HIGH, 30000); // 30ms timeout ~ 5m
  if (duration == 0) return 999;
  return duration / 58;
}

void sendUS() {
  long d = ultrasound_distance();
  bluetooth.print("US:");
  bluetooth.print(d);
  bluetooth.print("\n");
}

void Forward()  { Ottobot.walk(1, move_speed[n], FORWARD); }
void Backward() { Ottobot.walk(1, move_speed[n], BACKWARD); }
void Right()    { Ottobot.walk(1, move_speed[n], RIGHT); }
void Left()     { Ottobot.walk(1, move_speed[n], LEFT); }
void Stop()     { Ottobot.home(); }

void AvoidanceOnce() {
  if (ultrasound_distance() <= ultrasound_threeshold) {
    Ottobot.playGesture(OttoConfused);
    for (int count = 0; count < 2; count++) Ottobot.walk(1, move_speed[n], BACKWARD);
    for (int count = 0; count < 4; count++) Ottobot.turn(1, move_speed[n], LEFT);
  }
  Ottobot.walk(1, move_speed[n], FORWARD);
}

void UseForceOnce() {
  long d = ultrasound_distance();
  if (d <= ultrasound_threeshold) {
    Ottobot.walk(1, move_speed[n], BACKWARD);
  } else if (d > 10 && d < 15) {
    Ottobot.home();
  } else if (d > 15 && d < 30) {
    Ottobot.walk(1, move_speed[n], FORWARD);
  } else {
    Ottobot.home();
  }
}

void setTrims() {
  Ottobot.setTrims(trims[0], trims[1], trims[2], trims[3]);
  Ottobot._moveServos(10, positions);
}

void readChar(char ch) {
  switch (ch) {
    case '0'...'9':
      v = (v * 10 + ch) - 48;
      break;
    case 'a':
      trims[0] = v - 90; setTrims(); v = 0; break;
    case 'b':
      trims[1] = v - 90; setTrims(); v = 0; break;
    case 'c':
      trims[2] = v - 90; setTrims(); v = 0; break;
    case 'd':
      trims[3] = v - 90; setTrims(); v = 0; break;
    case 's':
      for (int i = 0; i <= 3; i++) EEPROM.write(i, trims[i]);
      delay(200);
      Ottobot.sing(S_superHappy);
      bluetooth.print("CAL:SAVED\n");
      break;
  }
}

void Calibration(String c) {
  if (sync_time < millis()) {
    sync_time = millis() + 50;
    for (int k = 1; k < (int)c.length(); k++) readChar(c[k]);
  }
}

void applySpeedFromLastChar(const char* buf, int len) {
  if (len <= 0) return;
  char last = buf[len - 1];
  if (last >= '0' && last <= '9') {
    n = last - '0';
    if (n < 0) n = 0;
    if (n > 5) n = 5;
  }
}

void handleLine(const char* line, int len) {
  applySpeedFromLastChar(line, len);

  // movement
  if (strncmp(line, "forward", 7) == 0)         { Forward(); return; }
  if (strncmp(line, "backward", 8) == 0)        { Backward(); return; }
  if (strncmp(line, "left", 4) == 0)            { Left(); return; }
  if (strncmp(line, "right", 5) == 0)           { Right(); return; }
  if (strncmp(line, "stop", 4) == 0)            { autoavoid = false; Stop(); return; }

  // ultrasound
  if (strncmp(line, "ultrasound", 10) == 0)     { Stop(); sendUS(); return; }
  if (strncmp(line, "avoidance", 9) == 0)       { AvoidanceOnce(); return; }
  if (strncmp(line, "force", 5) == 0)           { UseForceOnce(); return; }

  // continuous features
  if (strncmp(line, "autoavoid_on", 11) == 0)   { autoavoid = true;  bluetooth.print("AUTOAVOID:ON\n"); return; }
  if (strncmp(line, "autoavoid_off", 12) == 0)  { autoavoid = false; bluetooth.print("AUTOAVOID:OFF\n"); Stop(); return; }
  if (strncmp(line, "us_stream_on", 12) == 0)   { us_stream = true;  bluetooth.print("US_STREAM:ON\n"); return; }
  if (strncmp(line, "us_stream_off", 13) == 0)  { us_stream = false; bluetooth.print("US_STREAM:OFF\n"); return; }

  // gestures
  if (strncmp(line, "happy", 5) == 0)           { Ottobot.playGesture(OttoHappy); return; }
  if (strncmp(line, "superhappy", 10) == 0)     { Ottobot.playGesture(OttoSuperHappy); return; }
  if (strncmp(line, "sad", 3) == 0)             { Ottobot.playGesture(OttoSad); return; }
  if (strncmp(line, "sleeping", 8) == 0)        { Ottobot.playGesture(OttoSleeping); return; }
  if (strncmp(line, "confused", 8) == 0)        { Ottobot.playGesture(OttoConfused); return; }
  if (strncmp(line, "fretful", 7) == 0)         { Ottobot.playGesture(OttoFretful); return; }
  if (strncmp(line, "love", 4) == 0)            { Ottobot.playGesture(OttoLove); return; }
  if (strncmp(line, "angry", 5) == 0)           { Ottobot.playGesture(OttoAngry); return; }
  if (strncmp(line, "magic", 5) == 0)           { Ottobot.playGesture(OttoMagic); return; }
  if (strncmp(line, "wave", 4) == 0)            { Ottobot.playGesture(OttoWave); return; }
  if (strncmp(line, "victory", 7) == 0)         { Ottobot.playGesture(OttoVictory); return; }
  if (strncmp(line, "fail", 4) == 0)            { Ottobot.playGesture(OttoFail); return; }
  if (strncmp(line, "fart", 4) == 0)            { Ottobot.playGesture(OttoFart); return; }

  // calibration
  if (line[0] == 'C') {
    if (!calibration) {
      Ottobot._moveServos(10, positions);
      calibration = true;
      delay(50);
    }
    Calibration(String(line));
    return;
  }
  if (strncmp(line, "save_calibration", 16) == 0) {
    readChar('s');
    return;
  }

  bluetooth.print("ERR:UNKNOWN\n");
}

void setup() {
  Serial.begin(9600);

  Ottobot.init(LEFTLEG, RIGHTLEG, LEFTFOOT, RIGHTFOOT, true, BUZZER);
  pinMode(TRIG, OUTPUT);
  pinMode(ECHO, INPUT);

  bluetooth.begin(9600); // HC-05 data mode commonly 9600
  // 不在這裡送 AT 指令改名，避免干擾（要改名請進 AT 模式另外做）

  Ottobot.home();
  bluetooth.print("READY\n");
}

void loop() {
  // Read one line from bluetooth
  static char buf[32];
  static int  idx = 0;

  while (bluetooth.available() > 0) {
    char c = (char)bluetooth.read();
    if (c == '\r') continue;
    if (c == '\n') {
      buf[idx] = '\0';
      if (idx > 0) {
        handleLine(buf, idx);
      }
      idx = 0;
    } else {
      if (idx < (int)sizeof(buf) - 1) buf[idx++] = c;
    }
  }

  // optional: forward debug from USB serial to bluetooth
  while (Serial.available() > 0) {
    bluetooth.write(Serial.read());
  }

  // distance stream
  if (us_stream && (millis() - us_last_ms >= US_STREAM_INTERVAL_MS)) {
    us_last_ms = millis();
    sendUS();
  }

  // auto avoid loop
  if (autoavoid) {
    AvoidanceOnce();
  }
}

HTML：

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<!DOCTYPE html>
<html lang="zh-TW">
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Otto Web Serial Controller (HC-05 / USB)</title>
<style>
  body { font-family: Arial, sans-serif; text-align:center; background:#f9f9f9; margin:0; padding:24px; }
  button{ width:160px; height:56px; margin:8px; font-size:16px; border:none; border-radius:10px; background:#4CAF50; color:white; cursor:pointer; }
  button:disabled{ opacity:.5; cursor:not-allowed; }
  button.red{ background:#d9534f; }
  button.blue{ background:#0275d8; }
  .panel{ max-width:760px; margin:14px auto; background:#fff; border-radius:14px; padding:14px 12px; box-shadow:0 2px 10px rgba(0,0,0,.06); }
  .row{ display:flex; flex-wrap:wrap; justify-content:center; gap:8px; margin:8px 0; }
  .status{ font-size:14px; color:#333; }
  .mono{ font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Courier New", monospace; }
  .log{ text-align:left; max-width:760px; margin:10px auto 0; background:#111; color:#eee; padding:10px 12px; border-radius:10px; font-size:12px; height:160px; overflow:auto; }
  input[type="range"]{ width:260px; }
</style>
</head>
<body>
<h2>OTTO 網頁遙控（Web Serial / USB）</h2>

<div class="panel">
  <div class="row">
    <button id="connect" class="blue">連線序列埠</button>
    <button id="disconnect" class="red" disabled>中斷</button>
  </div>
  <p id="status" class="status">尚未連線</p>

  <div class="row" style="align-items:center;">
    <span>速度</span>
    <input id="speed" type="range" min="0" max="5" step="1" value="2" />
    <span id="speedLabel" class="mono">2</span>
  </div>
  <div class="status">指令格式：<span class="mono">command + speedIndex + "\\n"</span></div>
</div>

<div class="panel">
  <h3>移動</h3>
  <div class="row"><button onclick="sendMove('forward')">前進</button></div>
  <div class="row">
    <button onclick="sendMove('left')">左</button>
    <button onclick="sendMove('stop')" class="red">停止</button>
    <button onclick="sendMove('right')">右</button>
  </div>
  <div class="row"><button onclick="sendMove('backward')">後退</button></div>
</div>

<div class="panel">
  <h3>超音波</h3>
  <div class="row">
    <button onclick="sendCmd('ultrasound')">量測一次</button>
    <button onclick="sendCmd('us_stream_on')" class="blue">距離串流 ON</button>
    <button onclick="sendCmd('us_stream_off')" class="blue">距離串流 OFF</button>
  </div>
  <div class="row">
    <button onclick="sendCmd('autoavoid_on')" class="blue">自動避障 ON</button>
    <button onclick="sendCmd('autoavoid_off')" class="blue">自動避障 OFF</button>
  </div>
  <p class="status">距離：<span id="us" class="mono">--</span> cm</p>
</div>

<div class="panel">
  <h3>表情</h3>
  <div class="row">
    <button onclick="sendGesture('happy')">開心</button>
    <button onclick="sendGesture('sad')">難過</button>
    <button onclick="sendGesture('confused')">困惑</button>
    <button onclick="sendGesture('wave')">揮手</button>
  </div>
</div>

<div id="log" class="log"></div>

<script>
let port, reader, writer;
let speedIndex = 2;
let keepReading = false;

const connectBtn = document.getElementById('connect');
const disconnectBtn = document.getElementById('disconnect');
const statusEl = document.getElementById('status');
const logEl = document.getElementById('log');
const speedEl = document.getElementById('speed');
const speedLabel = document.getElementById('speedLabel');
const usEl = document.getElementById('us');

speedEl.addEventListener('input', () => {
  speedIndex = Number(speedEl.value);
  speedLabel.textContent = String(speedIndex);
});

function logLine(s){
  const t = new Date().toLocaleTimeString();
  logEl.textContent += `[${t}] ${s}\n`;
  logEl.scrollTop = logEl.scrollHeight;
}

function setUI(connected){
  connectBtn.disabled = connected;
  disconnectBtn.disabled = !connected;
  statusEl.textContent = connected ? '已連線' : '尚未連線';
}

async function writeLine(str){
  if(!writer){ alert('請先連線序列埠'); return; }
  const data = new TextEncoder().encode(str);
  await writer.write(data);
  logLine('>>> ' + JSON.stringify(str));
}

function sendMove(cmd){
  writeLine(cmd + String(speedIndex) + "\n");
}
function sendGesture(cmd){
  writeLine(cmd + "0\n");
}
function sendCmd(cmd){
  writeLine(cmd + String(speedIndex) + "\n");
}

connectBtn.onclick = async () => {
  try{
    if(!('serial' in navigator)){
      alert('此瀏覽器不支援 Web Serial，請用 Chrome / Edge 桌面版');
      return;
    }
    port = await navigator.serial.requestPort();
    await port.open({ baudRate: 9600 });

    writer = port.writable.getWriter();
    reader = port.readable.getReader();
    keepReading = true;

    setUI(true);
    logLine('序列埠已連線（9600）');

    readLoop();
  }catch(e){
    logLine('連線失敗: ' + e);
    alert('連線失敗: ' + e);
  }
};

disconnectBtn.onclick = async () => {
  keepReading = false;
  try{ if(reader){ await reader.cancel(); reader.releaseLock(); } }catch(_){}
  try{ if(writer){ writer.releaseLock(); } }catch(_){}
  try{ if(port){ await port.close(); } }catch(_){}
  reader = null; writer = null; port = null;
  setUI(false);
  logLine('已中斷');
};

async function readLoop(){
  let buf = '';
  const dec = new TextDecoder();
  while(keepReading && reader){
    const {value, done} = await reader.read();
    if(done) break;
    const chunk = dec.decode(value);
    buf += chunk;

    let idx;
    while((idx = buf.indexOf("\n")) !== -1){
      const line = buf.slice(0, idx).trim();
      buf = buf.slice(idx + 1);
      if(!line) continue;
      logLine('<<< ' + line);

      // parse US:xx
      if(line.startsWith('US:')){
        const v = parseInt(line.slice(3), 10);
        if(!Number.isNaN(v)) usEl.textContent = String(v);
      }
    }

    if(buf.length > 500) buf = buf.slice(-200);
  }
}

setUI(false);
</script>
</body>
</html>


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