基于wemosD1芯片的智能小车

实现小车自动避障功能，当距离小于设定的距离时，蜂鸣器会响，同时小车也会后退。用串口进行调试，手机tcp软件进行控制。

硬件组成

ESP-8266的wemos芯片，蜂鸣器，超声波模块和驱动电机模块和SG90电机

软件

代码编写

#include <ESP8266WiFi.h>

#define Dong1 D6
#define Dong2 D7
#define zhuan1 D4
#define zhuan2 D5
#define Tfig D8
#define Echo D2
#define BEEP D3
char* ssid = "Xiaomi_1A0E";   //WiFi名字
char* passwd = "lh19981112";  //WiFi密码

int port = 8888; //端口号
WiFiServer server(port);  //服务端端口号

//超声波模块初始化
long gettime()  
{
  digitalWrite(Tfig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Tfig, LOW);

  return pulseIn(Echo, HIGH);
}

void initChaoShengBo()  
{
  pinMode(Echo, INPUT);
  pinMode(Tfig, OUTPUT);
}

void initWifiSta()  //设置网络
{
  // put your setup code here, to run once:
  WiFi.mode(WIFI_STA); //设置STA模式
  WiFi.begin(ssid, passwd);//连接网络
  while (WiFi.status() != WL_CONNECTED) {
    Serial.print(".");
    delay(500);

  }
  Serial.println(WiFi.localIP());
  delay(500);
}

void initBeep()  //初始化蜂鸣器
{
   pinMode(BEEP,OUTPUT);    
   digitalWrite(BEEP,HIGH); 
}

void initL9110s()
{
  pinMode(Dong1, OUTPUT);
  pinMode(Dong2, OUTPUT);
  pinMode(zhuan1, OUTPUT);
  pinMode(zhuan2, OUTPUT);
}
void qian()
{
  digitalWrite(Dong1, HIGH);
  digitalWrite(Dong2, LOW);

}

void hou()
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, HIGH);

}
void ting()
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, LOW);

}
void zuo()
{
  digitalWrite(zhuan1, LOW);
  digitalWrite(zhuan2, HIGH);

}
void zheng()
{
  digitalWrite(zhuan1, LOW);
  digitalWrite(zhuan2, LOW);

}

void you()
{
  digitalWrite(zhuan1, HIGH);
  digitalWrite(zhuan2, LOW);

}
//各个模块初始化函数   
void setup() {
  // put your setup code here, to run once:AAAAAAAAAAAAAA
  initL9110s();
  initBeep();
  initChaoShengBo();
  Serial.begin(115200);
  initWifiSta();
  server.begin();
}

void loop() {
  // put your main code here, to run repeatedly:
  char cmd;
  long dis;
  int mark = 0;
  WiFiClient client = server.available(); //服务器初始化
  while (client.connected()) {
    while (client.available() > 0) {
      cmd = client.read();
      Serial.println(cmd);
      dis = gettime() / 58;
      if (dis < 10) {
        digitalWrite(BEEP, LOW);
        hou();
        delay(200);
        digitalWrite(BEEP, HIGH);
        ting();
        mark = 1;
      } else {
        mark = 0;
      }
      if (mark == 0) {
        switch (cmd) {
          case 'q':
            qian();
            break;
          case 'h':
            hou();
            break;
          case 'z':
            zuo();
            break;
          case 'y':
            you();
            break;
          case 's':
            ting();
            break;
          case 'd':
            zheng();
            break;

        }
      }
    }
  }
}