FishBot遥控测试参考代码

机器人小伊

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1371455914x

源码工程在哪里？

小鱼

@1371455914x 不提供源码工程

1371455914x

@小鱼 web_control.h 这个类能提供一下不

1371455914x

这个代码是四轮机器人的

小鱼

@1371455914x

#include <WiFi.h>
#include <WebServer.h>
#include <ArduinoJson.h>
#include "web_control.h"
#include "PidController.h"
PidController pid_controller[2]; // PID 控制器数组，用于控制机器人的左右两个电机。

String password = "88888888";
const int Trig = 27; // 设定SR04连接的Arduino引脚
const int Echo = 21;
extern double distance;
extern double mtime;

String board_name()
{
  char board_name[16];
  uint8_t macAddr[6];
  WiFi.macAddress(macAddr);
  sprintf(board_name, "FISHBOT_%02X%02X", macAddr[4], macAddr[5]);
  return String(board_name);
}

String board_id()
{
  char board_id[16];
  uint8_t macAddr[6];
  WiFi.macAddress(macAddr);
  sprintf(board_id, "%02X%02X%02X%02X%02X%02X", macAddr[0], macAddr[1], macAddr[2], macAddr[3], macAddr[4], macAddr[5]);
  return String(board_id);
}

#include "Esp32McpwmMotor.h"
extern Esp32McpwmMotor motor;

#include "oled.h"
extern Oled oled;

const char *webpage PROGMEM = R"rawliteral(
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>FishBot Remote Controller</title>
<style>
  body, html {
    height: 100%;
    margin: 0;
    display: flex;
    flex-direction: column;
    justify-content: center;
    align-items: center;
    background-color: #f0f0f5;
    font-family: Arial, sans-serif;
  }
  h1 {
    font-size: 2em;
    color: #333;
    margin: 10px 0 20px 0;
  }
  #control-panel {
    display: flex;
    flex-direction: column;
    align-items: center;
    background-color: #fff;
    padding: 20px;
    border-radius: 10px;
    box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
  }
  #horizontal-controls {
    display: flex;
    justify-content: center;
    margin: 20px 0;
  }
  button {
    font-size: 1.5em;
    padding: 15px 30px;
    margin: 10px;
    border: none;
    border-radius: 8px;
    cursor: pointer;
    transition: transform 0.1s ease, opacity 0.2s;
  }
  button:active {
    transform: scale(0.95);
  }
  .blue-button {
    background-color: #4a90e2;
    color: #fff;
  }
  .red-button {
    background-color: #e94e4e;
    color: #fff;
  }
  .blue-button:hover, .red-button:hover {
    opacity: 0.9;
  }
</style>
<script>
function startCommand(action) {
  fetch('/start', {
    method: 'POST',
    body: JSON.stringify({ action: action }),
    headers: { 'Content-Type': 'application/json' }
  });
}

function stopCommand() {
  fetch('/stop', {
    method: 'POST',
    headers: { 'Content-Type': 'application/json' }
  });
}

document.addEventListener('DOMContentLoaded', function() {
  const buttons = document.querySelectorAll('button');
  buttons.forEach(button => {
    button.addEventListener('mousedown', () => startCommand(button.dataset.action));
    button.addEventListener('mouseup', stopCommand);
    button.addEventListener('mouseleave', stopCommand);
    button.addEventListener('touchstart', (e) => {
      e.preventDefault();
      startCommand(button.dataset.action);
    });
    button.addEventListener('touchend', stopCommand);
  });
});
</script>
</head>
<body>
<h1>FishBot网页遥控器</h1>
<h5>长按遥控|松手停车</h5>
<div id="control-panel">
  <button id="forward" class="blue-button" data-action="3">前</button>
  <div id="horizontal-controls">
    <button id="left" class="blue-button" data-action="1">左</button>
    <button id="right" class="blue-button" data-action="2">右</button>
  </div>
  <button id="backward" class="blue-button" data-action="5">后</button>
</div>
</body>
</html>
)rawliteral";

WebServer server(80);
// 函数原型声明
void setMotorState(int action, bool continuous);
void handleGet();
void handlePost();

bool stop_motor = false;
// 停止所有电机
void stopMotors()
{
  stop_motor = true;
  motor.updateMotorSpeed(0, 0);
  motor.updateMotorSpeed(1, 0);
  for (int i = 0; i < 2; i++)
  {
    pid_controller[i].reset();
  }
}

// 处理开始运动的请求
void handleStart()
{
  if (server.method() == HTTP_POST)
  {
    StaticJsonDocument<200> doc;
    deserializeJson(doc, server.arg("plain"));
    int action = doc["action"].as<int>();
    setMotorState(action, true); // 开始运动
    server.send(200, "text/plain", "Start action received.");

    // 添加调试输出
    Serial.print("Start action received: ");
    Serial.println(action);
  }
}

// 处理停止运动的请求
void handleStop()
{
  if (server.method() == HTTP_POST)
  {
    stopMotors(); // 停止所有电机
    server.send(200, "text/plain", "Stop action received.");

    // 添加调试输出
    Serial.println("Stop action received");
  }
}
int action;

#include "Esp32PcntEncoder.h"
extern Esp32PcntEncoder encoders[2];

void checkUltrasonicDistance()
{
  digitalWrite(Trig, LOW);
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);

  mtime = pulseIn(Echo, HIGH);
  distance = mtime * 0.034 / 2;

  if (distance != 0 && distance < 20)
  {
    if (stop_motor == false)
    {
      if (pid_controller[0].target_ == 30 && pid_controller[1].target_ == 30)
      {
        stopMotors();
      }
    }
  }
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.print(" Stop Motor: ");
  Serial.print(stop_motor);
}

void ultrasonicTask(void *parameter)
{
  while (true)
  {
    checkUltrasonicDistance();
    delay(100); // 每秒检测一次
  }
}

// 初始化
void setup_web_control()
{
  pinMode(Trig, OUTPUT);
  pinMode(Echo, INPUT); // 要检测引脚上输入的脉冲宽度，需要先设置为输入状态
  xTaskCreate(
      ultrasonicTask,   // 任务函数
      "UltrasonicTask", // 任务名称
      10000,            // 堆栈大小
      NULL,             // 任务参数
      1,                // 优先级
      NULL              // 任务句柄
  );

  for (int i = 0; i < 2; i++)
  {
    pid_controller[i].update_target(0.0);
    pid_controller[i].update_pid(0.625, 0.125, 0);
    pid_controller[i].out_limit(-100, 100);
  }

  bool ssid_hidden = false; // 设置为true可以隐藏SSID
  int channel = 1;          // 设置WiFi信道
  int max_connection = 5;   // 设置最大连接数
  oled._display.clearDisplay();
  oled._display.setCursor(0, 0); // 设置开始显示文字的坐标
  oled._display.println("Factory Test Passed");
  oled._display.println("ID:" + board_id());
  oled._display.println("--------------------");
  oled._display.println("--connect  control--");
  oled._display.println("Name:" + board_name());
  oled._display.println("Pswd:88888888");
  oled._display.println("Ip  :192.168.4.1");
  oled._display.display(); // 使更改的显示生效

  bool result = WiFi.softAP(board_name(), password, channel, ssid_hidden, max_connection);
  Serial.println("ESP32 is set as a WiFi Access Point with SSID: " + String(board_name()));

  if (result)
  {
    Serial.println("Access Point Started");
    IPAddress IP = WiFi.softAPIP();
    Serial.print("AP IP address: ");
    Serial.println(IP);
  }
  else
  {
    Serial.println("Access Point Failed to Start");
  }

  // 初始化Web服务器并设置主页响应
  server.on("/", handleGet);
  server.on("/command", handlePost); // 短按命令
  server.on("/start", handleStart);  // 开始运动的请求
  server.on("/stop", handleStop);    // 停止运动的请求
  server.begin();
  Serial.println("Web server started");
}

void loop_web_control()
{
  server.handleClient();

  static uint32_t last_update_time = 0;
  static int32_t last_motor_ticks[2];
  static int32_t dticks[2];
  static float motor_speed[2];

  uint32_t current_time = millis();
  uint32_t dt = current_time - last_update_time;

  for (int index = 0; index < 2; index++)
  {
    // ticks数量计算
    dticks[index] = encoders[index].getTicks() - last_motor_ticks[index];
    last_motor_ticks[index] = encoders[index].getTicks();
    motor_speed[index] = (float)(dticks[index]);
    // 更新PID控制器
    if (!stop_motor)
      motor.updateMotorSpeed(index, pid_controller[index].update(motor_speed[index]));
  }
  last_update_time = current_time;

  // 打印四个电机的速度
  // Serial.print("Motor speeds: ");
  // for (int i = 0; i < 2; i++)
  // {
  //   // Serial.print(dticks[i]);
  //   Serial.print(motor_speed[i]);
  //   Serial.print(" ");
  // }
  // Serial.println();

  delay(10);
}

// 处理GET请求以返回HTML页面
void handleGet()
{
  if (server.method() == HTTP_GET)
  {
    server.send(200, "text/html", webpage);
  }
}

// 处理POST请求以控制电机
void handlePost()
{
  if (server.method() == HTTP_POST)
  {
    StaticJsonDocument<200> doc;
    deserializeJson(doc, server.arg("plain"));
    action = doc["action"].as<int>();
    bool longPress = doc["longPress"].as<bool>(); // 长按标志

    setMotorState(action, longPress);

    if (!longPress)
    {
      delay(3500);  // 短按持续1秒
      stopMotors(); // 停止电机
    }

    server.send(200, "text/plain", "Action received.");
  }
}
void setMotorState(int action, bool continuous)
{
  stop_motor = false;
  // 根据action设置电机状态
  switch (action)
  {
  case 1: // 左转
    pid_controller[0].update_target(-12);
    pid_controller[1].update_target(12);
    break;
  case 2: // 右转
    pid_controller[0].update_target(12);
    pid_controller[1].update_target(-12);
    break;
  case 3: // 前进
    pid_controller[0].update_target(30);
    pid_controller[1].update_target(30);
    break;
  case 5: // 后退
    pid_controller[0].update_target(-30);
    pid_controller[1].update_target(-30);
    break;
  default:
    stop_motor = true;
    stopMotors();
    break;
  }

  // 添加调试输出
  Serial.print("Motor action: ");
  Serial.println(action);

  // 如果不是长按，不需要在这里停止电机，因为会有单独的停止请求
}

二驱的

小鱼

@1371455914x 头文件

#ifndef __WEB_CONTROL_H__
#define __WEB_CONTROL_H__

void loop_web_control();
void setup_web_control();

#endif

hep_loving

@1371455914x 同问，求大佬更新到 fishbot_motion_control项目里

hep_loving

大佬请问下：遥控代码是新建了ap热点，但是fishbot小车又连接到路由器wifi和上位机通讯，这样会不会冲突，目前硬件支持吗？

小鱼

@hep_loving 可以同时