有谁知道,如何在 Android 和 LEGO-Mindstorm-NXT 之间建立蓝牙连接?两个 NXT 之间的连接工作正常。但是其他的 Connection-type 就没有那么容易了。我正在使用 LeJOS 固件 0.85 和 Android SDK 工具 (2.2 Froyo)。
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2 回答
21
所以我已经解决了它,并将展示它是如何工作的,因为我已经看到很多人对此有疑问。
该类包括4个功能:
- 如果之前未启用蓝牙启用 -> enableBT()
- 连接到 2 个 NXT -> connectToNXTs()
- 将消息写入 NXT 之一 -> writeMessage(byte msg, String nxt)
- 从 NXT 之一读取消息 -> readMessage(String nxt)
以下是 android 设备 (BT_comm.java) 的代码:
package de.joen.android.CubeScan;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.util.UUID;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.util.Log;
public class BT_Comm {
//Target NXTs for communication
final String nxt2 = "00:16:53:04:52:3A";
final String nxt1 = "00:16:53:07:AA:F6";
BluetoothAdapter localAdapter;
BluetoothSocket socket_nxt1, socket_nxt2;
boolean success = false;
// Enables Bluetooth if not enabled
public void enableBT(){
localAdapter = BluetoothAdapter.getDefaultAdapter();
// If Bluetooth not enable then do it
if (!localAdapter.isEnabled()) {
localAdapter.enable();
while(!(localAdapter.isEnabled()));
}
}
// Connect to both NXTs
public boolean connectToNXTs() {
// Get the BluetoothDevice of the NXT
BluetoothDevice nxt_2 = localAdapter.getRemoteDevice(nxt2);
BluetoothDevice nxt_1 = localAdapter.getRemoteDevice(nxt1);
// Try to connect to the nxt
try {
socket_nxt2 = nxt_2.createRfcommSocketToServiceRecord(UUID
.fromString("00001101-0000-1000-8000-00805F9B34FB"));
socket_nxt1 = nxt_1.createRfcommSocketToServiceRecord(UUID
.fromString("00001101-0000-1000-8000-00805F9B34FB"));
socket_nxt2.connect();
socket_nxt1.connect();
success = true;
} catch (IOException e) {
Log.d("Bluetooth","Err: Device not found or cannot connect");
success=false;
}
return success;
}
public void writeMessage(byte msg, String nxt) throws InterruptedException {
BluetoothSocket connSock;
// Swith nxt socket
if (nxt.equals("nxt2")) {
connSock=socket_nxt2;
} else if(nxt.equals("nxt1")) {
connSock = socket_nxt1;
} else {
connSock=null;
}
if (connSock!=null) {
try {
OutputStreamWriter out = new OutputStreamWriter(connSock.getOutputStream());
out.write(msg);
out.flush();
Thread.sleep(1000);
} catch (IOException e) {
// TODO: Auto-generated catch block
e.printStackTrace();
}
} else {
// Error
}
}
public int readMessage(String nxt) {
BluetoothSocket connSock;
int n;
// Swith nxt socket
if (nxt.equals("nxt2")) {
connSock=socket_nxt2;
} else if (nxt.equals("nxt1")) {
connSock=socket_nxt1;
} else {
connSock=null;
}
if (connSock!=null) {
try {
InputStreamReader in = new InputStreamReader(connSock.getInputStream());
n = in.read();
return n;
} catch (IOException e) {
// TODO: Auto-generated catch block
e.printStackTrace();
return -1;
}
} else {
// Error
return -1;
}
}
}
要从 Android 智能手机获取消息,您必须在 NXT 端进行读取呼叫。这是来自 NXT 端的代码,它将接受来自智能手机的连接并从中读取消息:
Boolean isrunning = true;
// Main loop
while (true)
{
LCD.drawString(waiting,0,0);
LCD.refresh();
// Listen for incoming connection
NXTConnection btc = Bluetooth.waitForConnection();
btc.setIOMode(NXTConnection.RAW);
LCD.clear();
LCD.drawString(connected,0,0);
LCD.refresh();
// The InputStream for read data
DataInputStream dis = btc.openDataInputStream();
// Loop for read data
while (isrunning) {
Byte n = dis.readByte();
LCD.clear();
LCD.drawInt(n, 4, 4);
}
dis.close();
// Wait for data to drain
Thread.sleep(100);
LCD.clear();
LCD.drawString(closing,0,0);
LCD.refresh();
btc.close();
LCD.clear();
}
希望这对其他人有帮助...
于 2011-02-14T23:05:28.510 回答
4
有一个文件我发现非常有用 http://wiki.tinyclr.com/images/d/df/LEGO_MINDSTORMS_NXT_Direct_commands.pdf
github 上的 MINDdroid 包是一个很好的起点。
于 2012-08-07T12:03:51.897 回答