Potato Controller
本文介绍如何使用Potato Controller对MP0进行遥控。
原理
手机开启热点，MP0连接热点，手机通过UDP协议发送控制指令，MP0接收指令并执行。
ESP32代码
#include <WiFi.h>
#include <WiFiUdp.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <MPU6050_tockn.h>
MPU6050 mpu6050(Wire);
/**
* @brief 巡线传感器引脚定义
*
*/
#define IO_X1 35
#define IO_X2 34
#define IO_X3 39
#define IO_X4 36
/**
* @brief 电机接口定义
*
*/
#define IO_M1PWM 32
#define IO_M2PWM 18
#define IO_M3PWM 33
#define IO_M4PWM 19
#define IO_M1IN1 14
#define IO_M1IN2 13
#define IO_M2IN1 17
#define IO_M2IN2 5
#define IO_M3IN1 26
#define IO_M3IN2 27
#define IO_M4IN1 16
#define IO_M4IN2 4
/**
* @brief 超声波接口定义
*/
#define IO_TRIG 23
#define IO_ECHO 25
/*-----OLED Definition-------*/
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
const char *sta_ssid = "LunarLobster";
const char *sta_password = "12345678";
#define MOTOR_DISTANCE_TO_CENTER 0.1
/*--------Keyboard Definition--------*/
int index1;
int index2;
int index3;
int index4;
int index5;
int index6;
int index7;
String joy_x;
String joy_y;
String but_a;
String but_b;
String but_x;
String but_y;
String but_l;
String but_r;
uint8_t send_buff[20];
WiFiUDP Udp;
int open_flag = 0;
/*------函数定义--------*/
/**
* @brief 电机引脚初始化
*/
void MotorInit(void);
/**
* @brief 电机速度设置
*/
void SetDirectionAndSpeed(int speed1, int speed2, int speed3, int speed4);
void SetSpeed(float vx_set, float vy_set, float wz_set);
/**
* @brief 超声波引脚初始化
*/
void UltrasonicInit(void);
/**
* @brief 超声波测距
*
* @return int
*/
int UltrasonicDistence(void);
/**
* @brief 灰度巡线模块数据 x1 x2 x3 x4
*
* @return uint8_t
*/
uint8_t GetLine(void);
long duration;
float distance;
void setup()
{
Serial.begin(9600);
Wire.begin();
delay(500);
UltrasonicInit();
/**各种外设初始化**/
MotorInit();
LineInit();
pinMode(2, OUTPUT);
digitalWrite(2, LOW);
if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C))
{
Serial.println(F("SSD1306 allocation failed"));
for (;;)
;
}
Serial.println("oled done");
display.display();
delay(2000);
// mpu6050.begin();
// mpu6050.calcGyroOffsets(true);
// Serial.println("mpu6050 done");
display.clearDisplay();
/**---------------------TCP Server Init---------------------------**/
WiFi.mode(WIFI_STA);
/*------------------connect to the internet-------------------*/
WiFi.begin(sta_ssid, sta_password);
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.println(sta_password);
display.println(sta_ssid);
display.print("Connecting");
while (WiFi.status() != WL_CONNECTED)
{
Serial.print(".");
display.display();
delay(500);
}
Serial.println("Connected");
Serial.print("IP Address:");
Serial.println(WiFi.localIP());
display.clearDisplay();
display.setTextSize(2);
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 30);
// display.println("shl-001");
display.println(WiFi.localIP());
display.display();
Udp.begin(3000);
digitalWrite(2, HIGH);
delay(500);
digitalWrite(2, LOW);
delay(500);
}
void loop()
{
static int err_cnt = 0;
delay(2);
#if 1
int packetSize = Udp.parsePacket();
if (packetSize)
{
err_cnt = 0;
digitalWrite(2, HIGH);
char buf[packetSize + 1];
String rx;
Udp.read(buf, packetSize);
rx = buf;
index1 = rx.indexOf(':', 0);
index2 = rx.indexOf(':', index1 + 1);
index3 = rx.indexOf(':', index2 + 1);
index4 = rx.indexOf(':', index3 + 1);
index5 = rx.indexOf(':', index4 + 1);
index6 = rx.indexOf(':', index5 + 1);
index7 = rx.indexOf(':', index6 + 1);
joy_x = rx.substring(0, index1);
joy_y = rx.substring(index1 + 1, index2);
but_a = rx.substring(index2 + 1, index3);
but_b = rx.substring(index3 + 1, index4);
but_x = rx.substring(index4 + 1, index5);
but_y = rx.substring(index5 + 1, index6);
but_l = rx.substring(index6 + 1, index7);
but_r = rx.substring(index7 + 1, packetSize + 1);
if (but_y.toInt())
{
SetDirectionAndSpeed(100, 100, 100, 100);
}
else if (but_a.toInt())
{
SetDirectionAndSpeed(-100, -100, -100, -100);
}
else if (but_x.toInt())
{
SetDirectionAndSpeed(-100, 100, 100, -100);
}
else if (but_b.toInt())
{
SetDirectionAndSpeed(100, -100, -100, 100);
}
else if (but_l.toInt())
{
SetDirectionAndSpeed(-100, 100, -100, 100);
}
else if (but_r.toInt())
{
SetDirectionAndSpeed(100, -100, 100, -100);
}
else
{
SetDirectionAndSpeed(0, 0, 0, 0);
}
}
else
{
err_cnt++;
if (err_cnt > 200)
digitalWrite(2, LOW);
}
#endif
}
/**
* @brief 电机引脚初始化
*/
void MotorInit(void)
{
pinMode(IO_M1PWM, OUTPUT);
pinMode(IO_M2PWM, OUTPUT);
pinMode(IO_M3PWM, OUTPUT);
pinMode(IO_M4PWM, OUTPUT);
pinMode(IO_M1IN1, OUTPUT);
pinMode(IO_M1IN2, OUTPUT);
pinMode(IO_M2IN1, OUTPUT);
pinMode(IO_M2IN2, OUTPUT);
pinMode(IO_M3IN1, OUTPUT);
pinMode(IO_M3IN2, OUTPUT);
pinMode(IO_M4IN1, OUTPUT);
pinMode(IO_M4IN2, OUTPUT);
}
/**
* @brief 电机速度设置
*/
void SetDirectionAndSpeed(int speed1, int speed2, int speed3, int speed4)
{
/*不同电机接线方向可能不同，改IN1 和 IN2的逻辑*/
if (speed1 < 0)
{
speed1 *= -1;
digitalWrite(IO_M1IN1, HIGH);
digitalWrite(IO_M1IN2, LOW);
analogWrite(IO_M1PWM, speed1);
}
else
{
digitalWrite(IO_M1IN1, LOW);
digitalWrite(IO_M1IN2, HIGH);
analogWrite(IO_M1PWM, speed1);
}
if (speed2 < 0)
{
speed2 *= -1;
digitalWrite(IO_M2IN1, LOW);
digitalWrite(IO_M2IN2, HIGH);
analogWrite(IO_M2PWM, speed2);
}
else
{
digitalWrite(IO_M2IN1, HIGH);
digitalWrite(IO_M2IN2, LOW);
analogWrite(IO_M2PWM, speed2);
}
if (speed3 < 0)
{
speed3 *= -1;
digitalWrite(IO_M3IN1, HIGH);
digitalWrite(IO_M3IN2, LOW);
analogWrite(IO_M3PWM, speed3);
}
else
{
digitalWrite(IO_M3IN1, LOW);
digitalWrite(IO_M3IN2, HIGH);
analogWrite(IO_M3PWM, speed3);
}
if (speed4 < 0)
{
speed4 *= -1;
digitalWrite(IO_M4IN2, HIGH);
digitalWrite(IO_M4IN1, LOW);
analogWrite(IO_M4PWM, speed4);
}
else
{
digitalWrite(IO_M4IN2, LOW);
digitalWrite(IO_M4IN1, HIGH);
analogWrite(IO_M4PWM, speed4);
}
}
void UltrasonicInit(void)
{
pinMode(IO_TRIG, OUTPUT);
pinMode(IO_ECHO, INPUT);
}
int UltrasonicDistence(void)
{
digitalWrite(IO_TRIG, HIGH);
delayMicroseconds(10);
digitalWrite(IO_TRIG, LOW);
return pulseIn(IO_ECHO, HIGH);
}
void LineInit(void)
{
pinMode(IO_X1, INPUT);
pinMode(IO_X2, INPUT);
pinMode(IO_X3, INPUT);
pinMode(IO_X4, INPUT);
}
uint8_t GetLine(void)
{
uint8_t x1, x2, x3, x4;
uint8_t tmp = 0;
x1 = digitalRead(IO_X1);
x2 = digitalRead(IO_X2);
x3 = digitalRead(IO_X3);
x4 = digitalRead(IO_X4);
tmp = x2 | (x1 << 1) | (x3 << 2) | (x4 << 3);
return tmp;
}
void SetSpeed(float vx_set, float vy_set, float wz_set)
{
int speed1, speed2, speed3, speed4;
speed1 = vx_set - vy_set - MOTOR_DISTANCE_TO_CENTER * wz_set;
speed2 = vx_set + vy_set + MOTOR_DISTANCE_TO_CENTER * wz_set;
speed3 = vx_set + vy_set - MOTOR_DISTANCE_TO_CENTER * wz_set;
speed4 = vx_set - vy_set + MOTOR_DISTANCE_TO_CENTER * wz_set;
SetDirectionAndSpeed(speed1, speed2, speed3, speed4);
}
使用方法
首先将ESP32代码烧录到单片机中，在代码中需要更改WiFi的名称和密码和后面手机开的热点匹配。
单片机上电后打开手机热点，等待单片机连接成功后显示IP地址，然后打开手机APP，输入目标IP，点击设定。
此时手机APP上的对应按键按下时就会发送对应的指令到单片机。解析到joy_x，joy_y，but_a等变量中，注意此变量是字符串类型，映射成速度需要做一步转换。