hc-12无线串口运用与矩阵映射

lin_nyy

如何使用hc-12无线串口，实现小车与电脑的无线通讯，串口的矩阵映射如何实现？```
#include <Arduino.h>
#include <Esp32McpwmMotor.h>
#include <Esp32PcntEncoder.h>
#include "PidController.h"
#include <HardwareSerial.h>

// #define HC_RX 37 // UART2的RX引脚
// #define HC_TX 38 // UART2的TX引脚

// HardwareSerial HC12(2);
Esp32McpwmMotor motor;
Esp32PcntEncoder encoders[4];
PidController pid_controller[4];

// 运动控制参数
const float wheel_diameter = 0.065;
const float pulses_per_rev = 1978.0f;
const float wheel_circumference = PI * wheel_diameter;
const float pulse_distance = wheel_circumference / pulses_per_rev;
const float wheel_base = 0.188f;

enum MotionState { STOPPED, MOVING_FORWARD, MOVING_BACKWARD, ROTATING }; // 新增后退状态
MotionState currentState = STOPPED;

unsigned long stopStartTime = 0;
int currentCommand = 0;
int taskStep = 0;
int64_t initial_ticks[4] = {0};
float target_distance = 0;
float target_angle = 0;

void setup() {
// Serial.begin(115200);
Serial.begin(9600,SERIAL_8N1,37,38);
// HC12.begin(9600, SERIAL_8N1, HC_RX, HC_TX);

小鱼

@lin_nyy 在 hc-12无线串口运用与矩阵映射中说：

Serial.begin(9600,SERIAL_8N1,37,38);

理论上这样就可以了，也可以使用Serial1

小鱼

@lin_nyy 建议他先搞一个USB转TTL的模块，先调试一下串口通信是否正常

lin_nyy

@小鱼试了，无法正常通讯，想看看矩阵映射的原函数在哪，或者有没有历程

小鱼

@lin_nyy 用Seria1试试，另外怎么测试的，源码贴出来看看

小鱼

@lin_nyy 另外esp32带BLE蓝牙功能

#include <NimBLEDevice.h>

#define SERVICE_UUID        "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_RX   "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_TX   "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"

NimBLECharacteristic* pTxCharacteristic;

class ServerCallbacks : public NimBLEServerCallbacks {
  void onConnect(NimBLEServer* pServer) {
    Serial.println("Client connected");
  }

  void onDisconnect(NimBLEServer* pServer) {
    Serial.println("Client disconnected");
  }
};

class RxCallbacks : public NimBLECharacteristicCallbacks {
  void onWrite(NimBLECharacteristic* pCharacteristic) {
    std::string rxValue = pCharacteristic->getValue();
    if (rxValue.length() > 0) {
      Serial.print("Received: ");
      Serial.println(rxValue.c_str());
      // Echo back
      pTxCharacteristic->setValue(rxValue);
      pTxCharacteristic->notify();
    }
  }
};

void setup() {
  Serial.begin(115200);
  Serial.println("Starting BLE UART");

  NimBLEDevice::init("ESP32S3-BLE-UART");
  NimBLEServer* pServer = NimBLEDevice::createServer();
  pServer->setCallbacks(new ServerCallbacks());

  NimBLEService* pService = pServer->createService(SERVICE_UUID);

  pTxCharacteristic = pService->createCharacteristic(
    CHARACTERISTIC_TX,
    NIMBLE_PROPERTY::NOTIFY
  );

  NimBLECharacteristic* pRxCharacteristic = pService->createCharacteristic(
    CHARACTERISTIC_RX,
    NIMBLE_PROPERTY::WRITE
  );

  pRxCharacteristic->setCallbacks(new RxCallbacks());

  pService->start();
  NimBLEAdvertising* pAdvertising = NimBLEDevice::getAdvertising();
  pAdvertising->addServiceUUID(SERVICE_UUID);
  pAdvertising->start();

  Serial.println("Waiting for client to connect...");
}

void loop() {
  delay(1000);
}

lin_nyy

@小鱼好的，没试过用serial2，晚些试一试，然后请问像这样的可以调用的rx，tx还有多少对？我记得esp32只有3个uart是吧，但好像不是每个都能调用

小鱼

@lin_nyy serial serial1 serial2