ESP32（MicroPython） 网页控制四自由的机械臂
本程序用于通过网页控制四自由度机械臂，由于接收网页请求并写入角度后便可继续运行网页功能，不需要多线程，网页响应相对较快，但还是不适合实时性要求高的场景。视频为了便于录制，使用了手机网页，实际上电脑网页能一次显示所有内容，更适合用于操作这个程序。
代码如下
'''
舵机1-->(17)
舵机2-->(16)
舵机3-->(22)
舵机4-->(27)
'''
#导入Pin模块
from machine import Pin
import time
from servo import Servo
import network
import socket
#定义LED控制对象
led1=Pin(15,Pin.OUT,Pin.PULL_DOWN)
#连接的WIFI账号和密码
ssid = " "
password = " "
#WIFI连接
def wifi_connect():
wlan=network.WLAN(network.STA_IF) #STA模式
wlan.active(True) #激活
if not wlan.isconnected():
print("conneting to network...")
wlan.connect(ssid,password) #输入 WIFI 账号密码
while not wlan.isconnected():
led1.value(1)
time.sleep_ms(300)
led1.value(0)
time.sleep_ms(300)
led1.value(0)
return False
else:
led1.value(0)
print("network information:", wlan.ifconfig())
return True
a1=90
a2=90
a3=90
a4=90
#网页数据
def web_page():
global a1
global a2
global a3
global a4
html = """<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
.button{display: inline-block; background-color: #444444; border: none;
border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}
a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}
a:active {text-decoration:none;}
html {
font-family: Arial;
display: inline-block;
margin: 0px auto;
text-align: center;
}
h2 { font-size: 1.5rem; }
p { font-size: 1.5rem; }
.units { font-size: 1rem; }
.dht-labels{
font-size: 1rem;
vertical-align:middle;
padding-bottom: 7px;
}
</style>
</head>
<body>
<h2>ESP32 Servo Control</h2> <p><a href="/?d1">Servo1: <strong>""" + str(a1) + """</strong></a></p>
<p><a href="/?b10"><button class="button">0</button></a>
<a href="/?b11"><button class="button">10</button></a>
<a href="/?b12"><button class="button">20</button></a>
<a href="/?b13"><button class="button">30</button></a>
<a href="/?b14"><button class="button">40</button></a>
<a href="/?b15"><button class="button">50</button></a>
<a href="/?b16"><button class="button">60</button></a>
<a href="/?b17"><button class="button">70</button></a>
<a href="/?b18"><button class="button">80</button></a>
<a href="/?b19"><button class="button">90</button></a>
<a href="/?b1a"><button class="button">100</button></a>
<a href="/?b1b"><button class="button">110</button></a>
<a href="/?b1c"><button class="button">120</button></a>
<a href="/?b1d"><button class="button">130</button></a>
<a href="/?b1e"><button class="button">140</button></a>
<a href="/?b1f"><button class="button">150</button></a>
<a href="/?b1g"><button class="button">160</button></a>
<a href="/?b1h"><button class="button">170</button></a>
<a href="/?b1i"><button class="button">180</button></a></p>
<p><a href="/?d2">Servo2: <strong>""" + str(a2) + """</strong></a></p>
<p><a href="/?b10"><button class="button">0</button></a>
<a href="/?b21"><button class="button">10</button></a>
<a href="/?b22"><button class="button">20</button></a>
<a href="/?b23"><button class="button">30</button></a>
<a href="/?b24"><button class="button">40</button></a>
<a href="/?b25"><button class="button">50</button></a>
<a href="/?b26"><button class="button">60</button></a>
<a href="/?b27"><button class="button">70</button></a>
<a href="/?b28"><button class="button">80</button></a>
<a href="/?b29"><button class="button">90</button></a>
<a href="/?b2a"><button class="button">100</button></a>
<a href="/?b2b"><button class="button">110</button></a>
<a href="/?b2c"><button class="button">120</button></a>
<a href="/?b2d"><button class="button">130</button></a>
<a href="/?b2e"><button class="button">140</button></a>
<a href="/?b2f"><button class="button">150</button></a>
<a href="/?b2g"><button class="button">160</button></a>
<a href="/?b2h"><button class="button">170</button></a>
<a href="/?b2i"><button class="button">180</button></a></p>
<p><a href="/?d3">Servo3: <strong>""" + str(a3) + """</strong></a></p>
<p><a href="/?b30"><button class="button">0</button></a>
<a href="/?b31"><button class="button">10</button></a>
<a href="/?b32"><button class="button">20</button></a>
<a href="/?b33"><button class="button">30</button></a>
<a href="/?b34"><button class="button">40</button></a>
<a href="/?b35"><button class="button">50</button></a>
<a href="/?b36"><button class="button">60</button></a>
<a href="/?b37"><button class="button">70</button></a>
<a href="/?b38"><button class="button">80</button></a>
<a href="/?b39"><button class="button">90</button></a>
<a href="/?b3a"><button class="button">100</button></a>
<a href="/?b3b"><button class="button">110</button></a>
<a href="/?b3c"><button class="button">120</button></a>
<a href="/?b3d"><button class="button">130</button></a>
<a href="/?b3e"><button class="button">140</button></a>
<a href="/?b3f"><button class="button">150</button></a>
<a href="/?b3g"><button class="button">160</button></a>
<a href="/?b3h"><button class="button">170</button></a>
<a href="/?b3i"><button class="button">180</button></a></p>
<p><a href="/?d4">Servo4: <strong>""" + str(a4) + """</strong></a></p>
<p><a href="/?b30"><button class="button">0</button></a>
<a href="/?b41"><button class="button">10</button></a>
<a href="/?b42"><button class="button">20</button></a>
<a href="/?b43"><button class="button">30</button></a>
<a href="/?b44"><button class="button">40</button></a>
<a href="/?b45"><button class="button">50</button></a>
<a href="/?b46"><button class="button">60</button></a>
<a href="/?b47"><button class="button">70</button></a>
<a href="/?b48"><button class="button">80</button></a>
<a href="/?b49"><button class="button">90</button></a>
<a href="/?b4a"><button class="button">100</button></a>
<a href="/?b4b"><button class="button">110</button></a>
<a href="/?b4c"><button class="button">120</button></a>
<a href="/?b4d"><button class="button">130</button></a>
<a href="/?b4e"><button class="button">140</button></a>
<a href="/?b4f"><button class="button">150</button></a>
<a href="/?b4g"><button class="button">160</button></a>
<a href="/?b4h"><button class="button">170</button></a>
<a href="/?b4i"><button class="button">180</button></a></p>
</body>
</html>"""
return html
#定义SG90舵机控制对象
servo1 = Servo(Pin(17))
servo2 = Servo(Pin(16))
servo3 = Servo(Pin(22))
servo4 = Servo(Pin(27))
servo1.write_angle(a1)
servo2.write_angle(a2)
servo3.write_angle(a3)
servo4.write_angle(a4)
#程序入口
if __name__=="__main__":
wifi_connect()
#SOCK_STREAM表示的是TCP协议，SOCK_DGRAM表示的是UDP协议
my_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM) #创建socket连接
# 将socket对象绑定ip地址和端口号
my_socket.bind(('', 80))
# 相当于电话的开机 括号里的参数表示可以同时接收5个请求
my_socket.listen(5)
while True:
try:
# 进入监听状态，等待别人链接过来，有两个返回值，
#一个是对方的socket对象，一个是对方的ip以及端口
client, addr = my_socket.accept()
print('Got a connection from %s' % str(addr))
# recv表示接收，括号里是最大接收字节
request = client.recv(1024)
request = str(request)
print('Content = %s' % request)
b10 = request.find('/?b10')
b11 = request.find('/?b11')
b12 = request.find('/?b12')
b13 = request.find('/?b13')
b14 = request.find('/?b14')
b15 = request.find('/?b15')
b16 = request.find('/?b16')
b17 = request.find('/?b17')
b18 = request.find('/?b18')
b19 = request.find('/?b19')
b1a = request.find('/?b1a')
b1b = request.find('/?b1b')
b1c = request.find('/?b1c')
b1d = request.find('/?b1d')
b1e = request.find('/?b1e')
b1f = request.find('/?b1f')
b1g = request.find('/?b1g')
b1h = request.find('/?b1h')
b1i = request.find('/?b1i')
b20 = request.find('/?b10')
b21 = request.find('/?b21')
b22 = request.find('/?b22')
b23 = request.find('/?b23')
b24 = request.find('/?b24')
b25 = request.find('/?b25')
b26 = request.find('/?b26')
b27 = request.find('/?b27')
b28 = request.find('/?b28')
b29 = request.find('/?b29')
b2a = request.find('/?b2a')
b2b = request.find('/?b2b')
b2c = request.find('/?b2c')
b2d = request.find('/?b2d')
b2e = request.find('/?b2e')
b2f = request.find('/?b2f')
b2g = request.find('/?b2g')
b2h = request.find('/?b2h')
b2i = request.find('/?b2i')
b30 = request.find('/?b30')
b31 = request.find('/?b31')
b32 = request.find('/?b32')
b33 = request.find('/?b33')
b34 = request.find('/?b34')
b35 = request.find('/?b35')
b36 = request.find('/?b36')
b37 = request.find('/?b37')
b38 = request.find('/?b38')
b39 = request.find('/?b39')
b3a = request.find('/?b3a')
b3b = request.find('/?b3b')
b3c = request.find('/?b3c')
b3d = request.find('/?b3d')
b3e = request.find('/?b3e')
b3f = request.find('/?b3f')
b3g = request.find('/?b3g')
b3h = request.find('/?b3h')
b3i = request.find('/?b3i')
b40 = request.find('/?b40')
b41 = request.find('/?b41')
b42 = request.find('/?b42')
b43 = request.find('/?b43')
b44 = request.find('/?b44')
b45 = request.find('/?b45')
b46 = request.find('/?b46')
b47 = request.find('/?b47')
b48 = request.find('/?b48')
b49 = request.find('/?b49')
b4a = request.find('/?b4a')
b4b = request.find('/?b4b')
b4c = request.find('/?b4c')
b4d = request.find('/?b4d')
b4e = request.find('/?b4e')
b4f = request.find('/?b4f')
b4g = request.find('/?b4g')
b4h = request.find('/?b4h')
b4i = request.find('/?b4i')
if b10 == 6:
servo1.write_angle(0)
a1=0
if b11 == 6:
servo1.write_angle(10)
a1=10
if b12 == 6:
servo1.write_angle(20)
a1=20
if b13 == 6:
servo1.write_angle(30)
a1=30
if b14 == 6:
servo1.write_angle(40)
a1=40
if b15 == 6:
servo1.write_angle(50)
a1=50
if b16 == 6:
servo1.write_angle(60)
a1=60
if b17 == 6:
servo1.write_angle(70)
a1=70
if b18 == 6:
servo1.write_angle(80)
a1=80
if b19 == 6:
servo1.write_angle(90)
a1=90
if b1a == 6:
servo1.write_angle(100)
a1=100
if b1b == 6:
servo1.write_angle(110)
a1=110
if b1c == 6:
servo1.write_angle(120)
a1=120
if b1d == 6:
servo1.write_angle(130)
a1=130
if b1e == 6:
servo1.write_angle(140)
a1=140
if b1f == 6:
servo1.write_angle(150)
a1=150
if b1g == 6:
servo1.write_angle(160)
a1=160
if b1h == 6:
servo1.write_angle(170)
a1=170
if b1i == 6:
servo1.write_angle(180)
a1=180
if b20 == 6:
servo2.write_angle(0)
a2=0
if b21 == 6:
servo2.write_angle(10)
a2=10
if b22 == 6:
servo2.write_angle(20)
a2=20
if b23 == 6:
servo2.write_angle(30)
a2=30
if b24 == 6:
servo2.write_angle(40)
a2=40
if b25 == 6:
servo2.write_angle(50)
a2=50
if b26 == 6:
servo2.write_angle(60)
a2=60
if b27 == 6:
servo2.write_angle(70)
a2=70
if b28 == 6:
servo2.write_angle(80)
a2=80
if b29 == 6:
servo2.write_angle(90)
a2=90
if b2a == 6:
servo2.write_angle(100)
a2=100
if b2b == 6:
servo2.write_angle(110)
a2=110
if b2c == 6:
servo2.write_angle(120)
a2=120
if b2d == 6:
servo2.write_angle(130)
a2=130
if b2e == 6:
servo2.write_angle(140)
a2=140
if b2f == 6:
servo2.write_angle(150)
a2=150
if b2g == 6:
servo2.write_angle(160)
a2=160
if b2h == 6:
servo2.write_angle(170)
a2=170
if b2i == 6:
servo2.write_angle(180)
a2=180
if b30 == 6:
servo3.write_angle(0)
a3=0
if b31 == 6:
servo3.write_angle(10)
a3=10
if b32 == 6:
servo3.write_angle(20)
a3=20
if b33 == 6:
servo3.write_angle(30)
a3=30
if b34 == 6:
servo3.write_angle(40)
a3=40
if b35 == 6:
servo3.write_angle(50)
a3=50
if b36 == 6:
servo3.write_angle(60)
a3=60
if b37 == 6:
servo3.write_angle(70)
a3=70
if b38 == 6:
servo3.write_angle(80)
a3=80
if b39 == 6:
servo3.write_angle(90)
a3=90
if b3a == 6:
servo3.write_angle(100)
a3=100
if b3b == 6:
servo3.write_angle(110)
a3=110
if b3c == 6:
servo3.write_angle(120)
a3=120
if b3d == 6:
servo3.write_angle(130)
a3=130
if b3e == 6:
servo3.write_angle(140)
a3=140
if b3f == 6:
servo3.write_angle(150)
a3=150
if b3g == 6:
servo3.write_angle(160)
a3=160
if b3h == 6:
servo3.write_angle(170)
a3=170
if b3i == 6:
servo3.write_angle(180)
a3=180
if b40 == 6:
servo4.write_angle(0)
a4=0
if b41 == 6:
servo4.write_angle(10)
a4=10
if b42 == 6:
servo4.write_angle(20)
a4=20
if b43 == 6:
servo4.write_angle(30)
a4=30
if b44 == 6:
servo4.write_angle(40)
a4=40
if b45 == 6:
servo4.write_angle(50)
a4=50
if b46 == 6:
servo4.write_angle(60)
a4=60
if b47 == 6:
servo4.write_angle(70)
a4=70
if b48 == 6:
servo4.write_angle(80)
a4=80
if b49 == 6:
servo4.write_angle(90)
a4=90
if b4a == 6:
servo4.write_angle(100)
a4=100
if b4b == 6:
servo4.write_angle(110)
a4=110
if b4c == 6:
servo4.write_angle(120)
a4=120
if b4d == 6:
servo4.write_angle(130)
a4=130
if b4e == 6:
servo4.write_angle(140)
a4=140
if b4f == 6:
servo4.write_angle(150)
a4=150
if b4g == 6:
servo4.write_angle(160)
a4=160
if b4h == 6:
servo4.write_angle(170)
a4=170
if b4i == 6:
servo4.write_angle(180)
a4=180
response = web_page()
client.send('HTTP/1.1 200 OK\n')
client.send('Content-Type: text/html\n')
client.send('Connection: close\n\n')
client.sendall(response)
client.close()
except:
pass
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