仿生毛毛虫机器人源码

仿生毛毛虫机器人Arduino源码

操作端是blinker
esp32通信
前后两个电机,一个舵机
主要涉及到电机调速, 舵机控制角度
没有多线程, 主要依靠中断处理程序

以下代码仅供参考

#include <ServoESP32.h>
#define BLINKER_WIFI
#include <Blinker.h>
#include <Arduino.h>
#define MOTOR1_STEPPIN 19
#define MOTOR1_DIRPIN 18
#define MOTOR2_STEPPIN 5
#define MOTOR2_DIRPIN 17
#define SERVO_PIN 16
#define MOTOR1_PWM 2
#define MOTOR2_PWM 0
 
char auth[] = "***";
char ssid[] = "***";
char pswd[] = "****";
int Speed1=0;
int Speed2=0;
int power=0;
int speed_direction=1;
int ANGLE = 90;
int UPPER_HIGH = 20;

// 新建组件对象
BlinkerButton Servo_state1("btn-servo1");
BlinkerButton Servo_state2("btn-servo2");
BlinkerButton Servo_state3("btn-servo3");
BlinkerButton switch_power("switch_power");
BlinkerButton speed_dir("speed_dir");
BlinkerSlider Slider_speed1("Slider_speed1");
BlinkerSlider Slider_speed2("Slider_speed2");
BlinkerSlider Slider_angle("Slider_angle");
Servo myservo;

bool setServoPos(char cmd){
    int pos;
    if(cmd == '0'){
        pos=90-ANGLE;
    }else if(cmd == '1'){
        pos=90;
    }else if(cmd == '2'){
        pos=90+ANGLE;
    }else{
        return false;
    }
    myservo.write(pos);
    delay(5);
    return true;
}

// 按下按键即会执行该函数
void Servo_state1_callback(const String & state) {
    BLINKER_LOG("get button state: ", state);
    if (state=="tap"&&setServoPos('0')){
      Servo_state1.print("Servo_state1 set success");
    }else{
      Servo_state1.print("Servo_state1 set failed");
    }
}

void Servo_state2_callback(const String & state) {
    BLINKER_LOG("get button state: ", state);
    if (state=="tap"&&setServoPos('1')){
      Servo_state2.print("Servo_state2 set success");
    }else{
      Servo_state2.print("Servo_state2 set failed");
    }
}

void Servo_state3_callback(const String & state) {
    BLINKER_LOG("get button state: ", state);
    if (state=="tap"&&setServoPos('2')){
      Servo_state3.print("Servo_state3 set success");
    }else{
      Servo_state3.print("Servo_state3 set failed");
    }
}

void Speed1_set_callback(int s){
  Speed1 = s;
  Slider_speed1.print(s);
}

void Speed2_set_callback(int s){
  Speed2 = s;
  Slider_speed2.print(s);
}

void switch_power_callback(const String & state){
  if(state=="tap"){
    power=(power+1)%2;
    if(power){
      switch_power.print("power on");
      if(speed_direction){
      digitalWrite(MOTOR1_DIRPIN, HIGH);
      digitalWrite(MOTOR1_STEPPIN, LOW);
      digitalWrite(MOTOR2_DIRPIN, HIGH);
      digitalWrite(MOTOR2_STEPPIN, LOW);
      }else{
      digitalWrite(MOTOR1_STEPPIN, HIGH);
      digitalWrite(MOTOR1_DIRPIN, LOW);
      digitalWrite(MOTOR2_STEPPIN, HIGH);
      digitalWrite(MOTOR2_DIRPIN, LOW);
      }
    }else{
      switch_power.print("power off");
      digitalWrite(MOTOR1_DIRPIN, LOW);
      digitalWrite(MOTOR1_STEPPIN, LOW);
      digitalWrite(MOTOR2_DIRPIN, LOW);
      digitalWrite(MOTOR2_STEPPIN, LOW);
    }
  }
}

void speed_dir_callback(const String & state){
  if(state=="tap"){
    speed_direction=(speed_direction+1)%2;
    if(speed_direction){
      speed_dir.print("direction 1");
    }else{
      speed_dir.print("direction 0");
    }
  }
  if(speed_direction){
      digitalWrite(MOTOR1_DIRPIN, HIGH);
      digitalWrite(MOTOR1_STEPPIN, LOW);
      digitalWrite(MOTOR2_DIRPIN, HIGH);
      digitalWrite(MOTOR2_STEPPIN, LOW);
  }else{
      digitalWrite(MOTOR1_STEPPIN, HIGH);
      digitalWrite(MOTOR1_DIRPIN, LOW);
      digitalWrite(MOTOR2_STEPPIN, HIGH);
      digitalWrite(MOTOR2_DIRPIN, LOW);
   }
}

void Slider_angle_callback(int a){
  ANGLE = a;
  Slider_angle.print(a);
}

void setup() {
    // 初始化串口
    Serial.begin(115200);
    // 初始化有LED的IO
    pinMode(LED_BUILTIN, OUTPUT);
    pinMode(MOTOR1_STEPPIN, OUTPUT);
    pinMode(MOTOR2_STEPPIN, OUTPUT);
    pinMode(MOTOR1_DIRPIN, OUTPUT);
    pinMode(MOTOR2_DIRPIN, OUTPUT);
    ledcAttachPin(MOTOR1_PWM, 3);
    ledcAttachPin(MOTOR2_PWM, 2);
    ledcSetup(3, 12000, 8);
    ledcSetup(2, 12000, 8);
    Blinker.begin(auth, ssid, pswd);
    //舵机的三个状态
    myservo.attach(SERVO_PIN);
    Servo_state1.attach(Servo_state1_callback);
    Servo_state2.attach(Servo_state2_callback);
    Servo_state3.attach(Servo_state3_callback);
    switch_power.attach(switch_power_callback);
    speed_dir.attach(speed_dir_callback);
    Slider_speed1.attach(Speed1_set_callback);
    Slider_speed2.attach(Speed2_set_callback);
    Slider_angle.attach(Slider_angle_callback);
}
 
void loop() {
    Blinker.run();
    for(int i=0;i<UPPER_HIGH;i++){
      if(power){
        ledcWrite(3,150+Speed1);
        delay(20);
        ledcWrite(2,150+Speed2);
      }else{
        ledcWrite(1,0);
        ledcWrite(2,0);
      }  
    }
}