ESP8266 （4），ardunio WIFi小坦克驱动

本文链接：https://blog.csdn.net/walle167/article/details/125921535

本文档介绍了如何使用ESP8266模块通过UDP实现与无线设备的数据交互，重点讲解了接收到的UDP数据解析，包括摇杆输入控制车辆方向和按钮事件处理。通过WiFi AP模式，接收来自APP的指令，进而控制舵机或电机操作。

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先记下来代码，后续再说

 #include <WiFiUdp.h>
#include <ESP8266WiFi.h>
WiFiUDP Udp;
unsigned int UDPPort = 8888;      //wifi端口
char packetBuffer[UDP_TX_PACKET_MAX_SIZE + 1]; //接收udp数据长度

uint16_t lx, ly, rx, ry; //接收APP的信号量
//l298n 驱动器连接

uint8_t cmd = 0;  // 指令 命令类型

//wifi udp 数据传输初始化
void wifiUdpInit() {
  Udp.begin(UDPPort);
}

//udp数据循环获取数据
void wifiUdpGetMsg() {
  int packetSize = Udp.parsePacket();
  if (packetSize) {
    //等待接受UDP数据，一旦收到就进入处理
    int n = Udp.read(packetBuffer, UDP_TX_PACKET_MAX_SIZE);
    packetBuffer[n] = 0;
    Serial.print("收到数据:");
    Serial.println(packetBuffer);
    String line = packetBuffer;

    //摇杆数据
    if (line.indexOf("lx") != -1) {
      String tline = line.substring(line.indexOf("lx"));
      lx = tline.substring(2, tline.indexOf(",")).toInt();
      tline = line.substring(line.indexOf("ly"));
      ly = tline.substring(2, tline.indexOf(",")).toInt();
      tline = line.substring(line.indexOf("rx"));
      rx = tline.substring(2, tline.indexOf(",")).toInt();
      tline = line.substring(line.indexOf("ry"));
      ry = tline.substring(2, tline.indexOf(",")).toInt();
      Serial.println(lx);
      Serial.println(ly);
      Serial.println(rx);
      Serial.println(ry);
      if (rx == 50 and ry == 50) {
         if (lx > 25  and  lx < 75 and  ly  < 25) {
             //前进
             cmd = 1;
         } else if (lx > 25  and  lx < 75 and  ly  > 75) {
            //后退
               cmd = 2;
         } else if (ly > 25  and  ly < 75 and  lx  < 25) {
             //右
             cmd = 4;
         } else if (ly > 25  and  ly < 75 and  lx  > 75) {
            //左
            cmd = 3;
         } else {
           //停止
           cmd = 0;
        }
     
      }else{
        cmd = 0;
      }
    }
    //按钮数据
    if (line.indexOf("fire") != -1) {
      cmd = 15;
    }
    if (line.indexOf("on") != -1) {
      cmd = 16;
    }
    if (line.indexOf("off") != -1) {
      cmd = 17;
    }
  }
}


void wifiInit() {
  WiFi.mode(WIFI_AP);  //设置Wi-Fi为AP模式
  IPAddress softLocal(192, 168, 1, 1); //设置内网WIFI IP地址
  IPAddress softGateway(192, 168, 1, 1); //设置网关
  IPAddress softSubnet(255, 255, 255, 0);
  WiFi.softAPConfig(softLocal, softGateway, softSubnet);

  String apName = ("ESP8266-cat-car" ); // 2 设置WIFI名称
  const char *softAPName = apName.c_str();

  WiFi.softAP(softAPName, "87654321");      // 3创建wifi  名称 +密码 adminadmin

  IPAddress myIP = WiFi.softAPIP();  // 4输出创建的WIFI IP地址
  Serial.println("");
  Serial.print("AP直链模式 网关IP: ");
  Serial.println(myIP);

  Serial.print("AP SSID: ");  // 5输出WIFI 名称
  Serial.println(apName);
  Serial.print("AP 密码: ");  // 5输出WIFI 名称
  Serial.println("12345678");  // 5输出WIFI 名称
}

//根据指令执行程序
void  handCmd() {
   Serial.println(cmd);
  switch (cmd) {
    case 0:
     // 停止
     digitalWrite(D1, LOW);
     digitalWrite(D2, LOW);
     digitalWrite(D3, LOW);
     digitalWrite(D4, LOW);
      break;
    case 1:
      //前进
     digitalWrite(D1, HIGH);
     digitalWrite(D2, LOW);
     digitalWrite(D3, HIGH);
     digitalWrite(D4, LOW);
      break;
    case 2:
      //后退
     digitalWrite(D1, LOW);
     digitalWrite(D2, HIGH);
     digitalWrite(D3, LOW);
     digitalWrite(D4, HIGH);
      break;
    case 3:
      //左转
     digitalWrite(D1, HIGH);
     digitalWrite(D2, LOW);
     digitalWrite(D3, LOW);
     digitalWrite(D4, HIGH);
      break;
    case 4:
      //右转
     digitalWrite(D1, LOW);
     digitalWrite(D2, HIGH);
     digitalWrite(D3, HIGH);
     digitalWrite(D4, LOW);
      break;
  }
}

void setup() {
  Serial.begin(115200);
  wifiInit();//wifi 初始化
  Udp.begin(UDPPort);//udp初始化

  pinMode(D3, OUTPUT);
  pinMode(D4, OUTPUT);
  pinMode(D1, OUTPUT);
  pinMode(D2, OUTPUT);

  digitalWrite(D3, LOW);
  digitalWrite(D4, LOW);
  digitalWrite(D1, LOW);
  digitalWrite(D2, LOW);

}

void loop() {
  wifiUdpGetMsg();//循环获取数据
  handCmd();
}