文章:
一、器材清单
- 主控ESP32-CAM(带摄像头)
- USB 转 TTL(CH340)串口烧入器
- HC-SR04超声波测距模块
- HC-SR04超声波测距支架(结合舵机云台固定)
- SG90舵机 (360度)
- L298n电机驱动模块
- 四轮小车套件(包含小车底板和四轮电机和电源开关按键)
- 胶枪 胶棒3根
- 18650电池*2
- 18650电池充电器
二、闭门造车
对小车零件进行组装,成品如下:
线路连接:
三、头秃码字
1、Arduino的基本语法;
void Myservo(int angle)
{
for (int i = 0; i < 5; i++) {
int pulsewidth = (angle * 11) + 500; //将角度转化为500-2480的脉宽值
digitalWrite(ServoPin, HIGH); //将舵机接口电平至高
delayMicroseconds(pulsewidth); //延时脉宽值的微秒数
digitalWrite(ServoPin, LOW); //将舵机接口电平至低
delayMicroseconds(20000 - pulsewidth); //延时脉宽值的微秒数
}
delay(10);
}
(1)采用IO口TRIG触发测距,给至少10us的高电平信号;
(2)模块自动发送8个40khz的方波,自动检测是否有信号返回;
(3)有信号返回,通过IO口ECHO输出一个高电平,高电平持续的时间 就是超声波从发射到返回的时间。
(4)测试距离=(高电平时间*声速(340M/S))/2;
(5)pulseIn() :用于读取引脚脉冲的时间长度,脉冲可以是HIGH或LOW。 如果是HIGH,函数将先等引脚变为高电平,然后开始计时,一直到变为低 电平为止。返回脉冲持续的时间长短, 单位为ms。如果超时还没有读到的话, 将返回0。声音在干燥、摄氏 20度的空气中的传播速度大约为343米/秒,合34,300厘米/秒。 或者,我们作一下单位换算,34,300除以1,000,000厘米/微秒。即为:0.0343厘米/微秒 再换一个角度,1/(0.0343 厘米/微秒)即:29.15 微秒/厘米。 这就意味着,每291.5微秒表示10CM的距离。1厘米就是29.15微秒。 但是发送后到接收到回波,声音走过的是2倍的距离呀。所以实际距离就是1厘米,对应58.3微秒。 实际上整个测距过程是测的发出声波到收到回波的时间,你的程序里的dis距离实际上是时间us。 所以换成距离的cm,要除以58。当然除以58.3可能更精确
2、云平台控制闪光灯
// 新建组件对象
BlinkerButton Button1("btn-abc");
// 按下按键即会执行该函数
void button1_callback(const String & state) {
BLINKER_LOG("get button state: ", state);
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
void setup() {
// 初始化串口
Serial.begin(115200);
// 初始化有LED的IO
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, HIGH);
// 初始化blinker
Blinker.begin(auth, ssid, pswd);
Button1.attach(button1_callback);
}
3、控制舵机转动
// 新建组件对象
BlinkerSlider Slider0("huakuai-kai0"); //位置0-3 滑块 数据键名 舵机范围0-180
//滑块任务函数
void slider0_callback(int32_t value) //滑块0
{
int servo=value;
Myservo(servo);//转动角度}
}
void setup() {
// 初始化串口
Serial.begin(115200);
// 初始化blinker
Blinker.begin(auth, ssid, pswd);
Slider0.attach(slider0_callback);//关联滑动开关
}
4、ESP32-CAM控制电机
BlinkerButton Button1("GoForward");
BlinkerButton Button2("GoBack");
BlinkerButton Button3("Left");
BlinkerButton Button4("Right");
BlinkerButton Button5("Stop");
void button1_callback(const String & state) //定义前进按钮
{
BLINKER_LOG("get button state: ", state);
if (state == "press" || state == "tap") { //判断按键是否被按下
Go_Forward();
}
else if (state == "pressup") { //判断按键是否松开
Stop_Car( );
}
}
Button1.attach(button1_callback);
4、代码总结:
#ifndef ESP_CAM_SERVER_H
#define ESP_CAM_SERVER_H
//#include "esp_camera.h"
#include <WiFi.h>
#include "esp_timer.h"
#include "img_converters.h"
#include "Arduino.h"
#include "fb_gfx.h"
#include "soc/soc.h" //disable brownout problems
#include "soc/rtc_cntl_reg.h" //disable brownout problems
#include "esp_http_server.h"
#define PART_BOUNDARY "123456789000000000000987654321"
// This project was tested with the AI Thinker Model, M5STACK PSRAM Model and M5STACK WITHOUT PSRAM
#define CAMERA_MODEL_AI_THINKER
//#define CAMERA_MODEL_M5STACK_PSRAM
//#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM
// Not tested with this model
//#define CAMERA_MODEL_WROVER_KIT
#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 19
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 5
#define Y2_GPIO_NUM 4
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 17
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_AI_THINKER)
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#else
#error "Camera model not selected"
#endif
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
httpd_handle_t stream_httpd = NULL;
static esp_err_t stream_handler(httpd_req_t *req){
camera_fb_t * fb = NULL;
esp_err_t res = ESP_OK;
size_t _jpg_buf_len = 0;
uint8_t * _jpg_buf = NULL;
char * part_buf[64];
res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
if(res != ESP_OK){
return res;
}
while(true){
fb = esp_camera_fb_get();
if (!fb) {
Serial.println("Camera capture failed");
res = ESP_FAIL;
} else {
if(fb->width > 400){
if(fb->format != PIXFORMAT_JPEG){
bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
esp_camera_fb_return(fb);
fb = NULL;
if(!jpeg_converted){
Serial.println("JPEG compression failed");
res = ESP_FAIL;
}
} else {
_jpg_buf_len = fb->len;
_jpg_buf = fb->buf;
}
}
else {
if (fb->format != PIXFORMAT_JPEG){
esp_camera_fb_return(fb);
fb = NULL;
} else {
_jpg_buf = fb->buf;
_jpg_buf_len = fb->len;
}
}
}
if(res == ESP_OK){
size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
}
if(res == ESP_OK){
res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
}
if(fb){
esp_camera_fb_return(fb);
fb = NULL;
_jpg_buf = NULL;
} else if(_jpg_buf){
free(_jpg_buf);
_jpg_buf = NULL;
}
if(res != ESP_OK){
break;
}
//Serial.printf("MJPG: %uB\n",(uint32_t)(_jpg_buf_len));
}
return res;
}
void startCameraServer(){
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
config.server_port = 80;
httpd_uri_t index_uri = {
.uri = "/",
.method = HTTP_GET,
.handler = stream_handler,
.user_ctx = NULL
};
//Serial.printf("Starting web server on port: '%d'\n", config.server_port);
if (httpd_start(&stream_httpd, &config) == ESP_OK) {
httpd_register_uri_handler(stream_httpd, &index_uri);
}
}
void setupCamera()
{
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
// Serial.begin(115200);
// Serial.setDebugOutput(false);
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
if(psramFound()){
config.frame_size = FRAMESIZE_QVGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_QVGA;
config.jpeg_quality = 10;
config.fb_count = 2;
}
// Camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
// Wi-Fi connection
// WiFi.begin(ssid, password);
// while (WiFi.status() != WL_CONNECTED) {
// delay(500);
// Serial.print(".");
// }
// Serial.println("");
// Serial.println("WiFi connected");
// Serial.print("Camera Stream Ready! Go to: http://");
// Serial.println(WiFi.localIP());
// Start streaming web server
startCameraServer();
}
#endif
学习笔记,仅供参考,按照制作,不会成功!!!