实际上，我正在构建一个arduino机器人，该机器人会从我的应用程序发出语音命令， 我不知道问题出在哪里，但我认为我的应用程序不发送命令 因为Google协助语音识别器检测到我的声音并将其传输给command，但是当我制作btsocket.getOutputStream.write（）时执行操作 我的东西不起作用，因为我的机器人没有动作 有人需要帮助吗？
此处是android代码：
package com.example.enit_controller;
import android.content.ActivityNotFoundException;
import android.speech.RecognizerIntent;
import android.speech.SpeechRecognizer;
import android.support.v7.app.AppCompatActivity;
import android.os.Bundle;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.os.Bundle;
import android.support.v7.app.AppCompatActivity;
import android.util.Log;
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.TextView;
import android.widget.Toast;
import java.io.IOException;
import java.io.OutputStream;
import java.util.ArrayList;
import java.util.Locale;
import java.util.Set;
import java.util.UUID;
public class MainActivity extends AppCompatActivity {
String address = null , name=null;
public String cmd="sending ...." ;
BluetoothAdapter myBluetooth = null;
BluetoothSocket btSocket = null;
Set<BluetoothDevice> pairedDevices;
static final UUID myUUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
Button ahki ;
TextView device_marbout ;
private final int REQ_CODE_SPEECH_INPUT = 100;
public static String command; //string variable that will store value to be transmitted to the bluetooth module
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
//declaration of button variables
ahki = (Button) findViewById(R.id.ahki);
device_marbout =(TextView) findViewById(R.id.device_marbout) ;
try {
bluetooth_connect_device();
}
catch (Exception e) {
}
ahki.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
promptSpeechInput();
//Log.i("hahahahahh", command1) ;
}
});
}
private void promptSpeechInput() {
Intent intent = new Intent(RecognizerIntent.ACTION_RECOGNIZE_SPEECH);
intent.putExtra(RecognizerIntent.EXTRA_LANGUAGE_MODEL,
RecognizerIntent.LANGUAGE_MODEL_FREE_FORM);
intent.putExtra(RecognizerIntent.EXTRA_LANGUAGE, Locale.getDefault());
intent.putExtra(RecognizerIntent.EXTRA_PROMPT, "a7ki");
try {
startActivityForResult(intent, REQ_CODE_SPEECH_INPUT);
} catch (ActivityNotFoundException a) {
Toast.makeText(getApplicationContext(),
"there is no bleutooth ",
Toast.LENGTH_SHORT).show();
}
}
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
super.onActivityResult(requestCode, resultCode, data);
switch (requestCode) {
case REQ_CODE_SPEECH_INPUT: {
if (resultCode == RESULT_OK && null != data) {
ArrayList<String> result = data
.getStringArrayListExtra(RecognizerIntent.EXTRA_RESULTS);
command=result.get(0) ;
try{
send_command(command);
}
catch (Exception e){
}
}
break;
}
}
}
private void bluetooth_connect_device() throws IOException
{
try
{
myBluetooth = BluetoothAdapter.getDefaultAdapter();
address = myBluetooth.getAddress();
pairedDevices = myBluetooth.getBondedDevices();
if (pairedDevices.size()>0)
{
for(BluetoothDevice bt : pairedDevices)
{
address=bt.getAddress().toString();name = bt.getName().toString();
Toast.makeText(getApplicationContext(),"Connected", Toast.LENGTH_SHORT).show();
}
}
}
catch(Exception we){}
myBluetooth = BluetoothAdapter.getDefaultAdapter();//get the mobile bluetooth device
BluetoothDevice dispositivo = myBluetooth.getRemoteDevice(address);//connects to the device's address and checks if it's available
btSocket = dispositivo.createInsecureRfcommSocketToServiceRecord(myUUID);//create a RFCOMM (SPP) connection
btSocket.connect();
try { device_marbout.setText("BT Name: "+name+"\nBT Address: "+address); }
catch(Exception e){}
}
private void send_command(String i)
{
try
{
if (btSocket!=null)
{
Log.e("test0", i) ;
Log.e("test1 ", i) ;
Log.e("test3 ",i.toString()+"nihaha") ;
String cmd ;
if (i.equals("right")){
Log.e("passeded_partially ", i) ;
cmd="*r" ;
btSocket.getOutputStream().write(cmd.toString().getBytes());
Log.e("passsed absolutly ", cmd) ;
}
}
}
catch (Exception e)
{
Toast.makeText(getApplicationContext(),e.getMessage(), Toast.LENGTH_SHORT).show();
}
}
}
Arduino代码：
#include <AFMotor.h>
String command ;
AF_DCMotor Memin (4, MOTOR12_1KHZ);
AF_DCMotor Misar (3, MOTOR12_1KHZ);
void setup() {
Serial.begin(9600);
}
void loop() {
while (Serial.available()){
char c = Serial.read();
if (c == '#') {break;}
command += c;
}
Serial.println(command) ;
if (command.length() > 0){
if(command == "f"){
forward();
}
else if(command == "b"){
back();
}
else if(command == "*r") {
Right();
}
else if(command == "*l") {
left();
}
else if(command == " s") {
stop_karhba();
}
command="";
}
}
void forward() {
Memin.run(FORWARD);
Memin.setSpeed(170);
Misar.run(FORWARD);
Misar.setSpeed(170);
delay(2000);
Memin.run(RELEASE);
Misar.run(RELEASE);
}
void back()
{
Memin.run(BACKWARD);
Memin.setSpeed(170);
Misar.run(BACKWARD);
Misar.setSpeed(170);
delay(2000);
Memin.run(RELEASE);
Misar.run(RELEASE);
}
void Right() {
Memin.run(BACKWARD);
Memin.setSpeed(170);
Misar.run(FORWARD);
Misar.setSpeed(170);
delay(1000);
Memin.run(RELEASE);
Misar.run(RELEASE);
}
void left(){
Misar.run(BACKWARD);
Misar.setSpeed(170);
Memin.run(FORWARD);
Memin.setSpeed(170);
delay(1000);
Misar.run(RELEASE);
Misar.run(RELEASE);
}
void stop_karhba() {
Memin.run(RELEASE) ;
Misar.run(RELEASE) ;
}