引航计划Day3

果子尝尝

已于 2022-08-10 22:01:33 修改

阅读量896

点赞数 3

分类专栏：引航计划文章标签：单片机嵌入式硬件

于 2022-08-04 22:45:59 首次发布

本文链接：https://blog.csdn.net/m0_58092763/article/details/126166940

版权

引航计划专栏收录该内容

10 篇文章 7 订阅

订阅专栏

时间来到了引航计划第三天，今天的主要任务是小车的调试和小车遥控的实现。

小车赛道调试

经过多轮调试，最终确定小车绕赛道转弯时间为14600ms，运行的代码如下：

#include "driver/mcpwm.h"

esp_err_t esp_err;

void setup() {
  Serial.begin(115200);

  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 26);
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, 27);
  mcpwm_gpio_init(MCPWM_UNIT_1, MCPWM1A, 13);
  mcpwm_config_t motor_pwm_config = {
    .frequency = 1000,
    .cmpr_a = 0,
    .cmpr_b = 0,
    .duty_mode = MCPWM_DUTY_MODE_0,
    .counter_mode = MCPWM_UP_COUNTER,
  };
  esp_err = mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &motor_pwm_config);
  Serial.println(esp_err);
  mcpwm_config_t servo_pwm_config;
  servo_pwm_config.frequency = 50;
  servo_pwm_config.cmpr_a = 0;
  servo_pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
  servo_pwm_config.counter_mode = MCPWM_UP_COUNTER;
    
  esp_err = mcpwm_init(MCPWM_UNIT_1, MCPWM_TIMER_1, &servo_pwm_config);
  if (esp_err == 0)
    Serial.println("Setting motor pwm success!");
  else {
    Serial.print("Setting motor pwm fail, error code: ");
    Serial.println(esp_err);
  }
  mcpwm_start(MCPWM_UNIT_1, MCPWM_TIMER_1);
}

void loop() {

  // PWM
//  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 60);
//  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 0);
//  mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_0);
//  delay(2000);
  mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 0);
  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 70);
  mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_0);
 
  mcpwm_set_duty(MCPWM_UNIT_1, MCPWM_TIMER_1, MCPWM_OPR_A, 7.5);
  delay(8700);
  mcpwm_set_duty(MCPWM_UNIT_1, MCPWM_TIMER_1, MCPWM_OPR_A, 2.5);
  delay(14600);
   mcpwm_set_duty(MCPWM_UNIT_1, MCPWM_TIMER_1, MCPWM_OPR_A, 7.5);
  delay(7700);
   mcpwm_set_duty(MCPWM_UNIT_1, MCPWM_TIMER_1, MCPWM_OPR_A, 2.5);
  delay(14600);
  
  mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
}

实现效果视频如下：

小车一周

小车遥控实现

接下来实现小车的遥控功能，即将小车作为一个热点，用可以连接网络的设备搜索到小车的局域网连接即可。首先进行小车的亮灯小程序。

亮灯小程序

设置用户名为guozichang，密码为220729，代码如下：

/*********
  Rui Santos
  Complete instructions at https://RandomNerdTutorials.com/esp32-cam-projects-ebook/
  
  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files.
  The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*********/
// https://randomnerdtutorials.com/esp32-esp8266-input-data-html-form/
// 

#include "WiFi.h"
#include "esp_timer.h"
#include "img_converters.h"
#include "Arduino.h"
#include "soc/soc.h"           // Disable brownour problems
#include "soc/rtc_cntl_reg.h"  // Disable brownour problems
#include "driver/rtc_io.h"
#include <ESPAsyncWebServer.h>
#include <StringArray.h>
#include <FS.h>

// LED pin
const int white_led_pin = 32;
const int yellow_led_pin = 33;

// Set your access point network credentials
const char* ssid = "guozichang";
const char* password = "123456789";

// Create AsyncWebServer object on port 80
AsyncWebServer server(80);

const char* PARAM_INPUT_1 = "white_light";
const char* PARAM_INPUT_2 = "yellow_light";

void toggle_light(int color);

const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE HTML><html>
<head>
  <title>Mini-Car Controller</title>
  <meta name="viewport" content="width=device-width, initial-scale=1">
  <style>
    body { text-align:center; }
    .vert { margin-bottom: 10%; }
    .hori{ margin-bottom: 0%; }
  </style>
</head>
<body>
  <div align="center">
    <button type="button" name="white_light" id="white_light">White Light</button>
    <button type="button" name="yellow_light" id="yellow_light">Yellow Light</button>
  </div>
  <script>
    var xhttp = new XMLHttpRequest();
    var white_light_botton = document.getElementById('white_light');
    var yellow_light_botton = document.getElementById('yellow_light');
    white_light_botton.onclick = function() {
      xhttp.open("POST", "/toggle_white_light");
      xhttp.send();
      console.log('toggle_white_light');
    }
    yellow_light_botton.onclick = function() {
      xhttp.open("POST", "/toggle_yellow_light");
      xhttp.send();
      console.log('toggle_yellow_light');
    }
  </script>
</body>
</html>)rawliteral";

void setup() {
  // Serial port for debugging purposes
  Serial.begin(115200);

  WiFi.mode(WIFI_AP);
  if(!WiFi.softAPConfig(IPAddress(192, 168, 4, 1), IPAddress(192, 168, 4, 1), IPAddress(255, 255, 0, 0))){
      Serial.println("AP Config Failed");
  }
  WiFi.softAP(ssid, password);

  IPAddress IP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(IP);

  // Turn-off the 'brownout detector'
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);

  // set led pinmode
  pinMode(white_led_pin, OUTPUT);
  pinMode(yellow_led_pin, OUTPUT);

  digitalWrite(white_led_pin, HIGH);
  digitalWrite(yellow_led_pin, HIGH);

  // Route for root / web page
  server.on("/", HTTP_GET, [](AsyncWebServerRequest * request) {
    request->send_P(200, "text/html", index_html);       //完全可用
  });
  server.on("/toggle_white_light", HTTP_POST, [](AsyncWebServerRequest * request) {     //用户发送
    toggle_light(1);
  });
  server.on("/toggle_yellow_light", HTTP_POST, [](AsyncWebServerRequest * request) {
    toggle_light(2);
  });
  // Start server
  server.begin();
}

void loop() {
  delay(1);
}

void toggle_light(int color) {
  if (color == 1) {
    bool state = digitalRead(white_led_pin);
    digitalWrite(white_led_pin, !state);
  }
  else if (color == 2) {
    bool state = digitalRead(yellow_led_pin);
    digitalWrite(yellow_led_pin, !state);
  }
}

在手机搜索到名称名为"guozichang"的局域网并连接后，在safari搜索网址198.168.4.1即可连接：

点击white light，结果如下：

再点击yellow light，效果如下：

点击开发板上的RST（复位）按钮，出现如下代码：

小车遥控实现

同样的操作，界面如下：

遥控小车倒库视频如下：

遥控倒库

总结

在经过昨天忙碌的拼小车过程后，今天很重要的一项就是熟悉自己的小车，一个是对小车进行调试，主要就是调整转弯以及直行时间，使其与小车速率互相配合来跑好地图路线；另一个是在进行遥控小车的配置后熟悉小车的遥控技术，以为明天的带摄像头无人驾驶项目做准备。在一次次参数微调中，小车跑的路线越来越好，越来越如我所愿，我在其中获得的成就感不言而喻。

缺点是由于放置方向、人为误差等原因，小车经常会压线，但老师说这也是无法避免的，因为它没有传感器，就只是自己在跑。期待明天的带传感器的实验。