ESP32 麦克纳姆轮 视频车
本帖最后由 云天 于 2023-9-17 21:28 编辑【项目背景】
想做一个组装简易的麦克纳姆轮视频车，之前制作的小车，电机需要驱动模块，也需要单独的电源，主控也需要电源。所以硬件设备较多，不好布局，很多时候显得很凌乱。在DF商城上看到了“Romeo ESP32-S3 开发板” Romeo ESP32-S3是为机器人项目设计的一款开发板，可驱动4路电机、图像传输、远程控制。
【项目设计】
使用“便携式多路可调电源”的USB-A电源口为主控电源供电，9V端口为电机驱动供电。使用“ESPAsyncWebServer库”及“AsyncTCP库”，利用“App Inventor2”的浏览器模块访问192.168.4.1，即可实现手机App驱动小车和查看摄像头数据。
【硬件组装】
1.所用到硬件
2.安装电机
3.安装挡板
4.安装麦克纳姆轮
5.安装主控，接电机线
6.安装电源
7.接电源线
8.固定摄像头
【制作APP】
1.界面设计
一个网页浏览框和一个按钮
2.程序设计
手机连接“Romeo ESP32-S3 开发板”的WIFI热点，网页浏览框加载“192.168.4.1”。按钮用于当连接中断时，重新连接。
【修改ESP32示例代码】
控制页面增加四个方向按钮
<table id="mainTable" style="width:355px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<img id="cameraImage" src="" style="width:355px;height:222px"></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","5")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↖</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇧</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","6")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↗</span></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇦</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇨</span></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","7")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↙</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇩</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","8")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↘</span></td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>Speed:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="100" value="50" class="slider" id="Speed" oninput='sendButtonInput("Speed",value)'>
</div>
</td>
</tr>
</table>
根据麦克纳姆运动特点修改代码。轮麦克纳姆轮与普通轮子的区别在于麦克纳姆轮旋转时，由于存在斜向的从动轮，会同时产生一个斜向的力，当我们控制轮子旋转的速度与方向时，将斜向的力增强或抵消，从而实现小车的全向移动。可以完成横移、斜方向移动等普通小车无法完成的高难度动作，轮子的转动方向与小车的运动方向关系如下图：
https://mc.dfrobot.com.cn/forum.php?mod=attachment&aid=Nzg4ODd8NTUzZDA4Mjd8MTY5NDk1NTUzMXw4Mjc3ODR8Mjk2Nzgz&noupdate=yes
void moveCar(uint8_t inputValue,uint8_t speed)
{
switch(inputValue)
{
case UP:
retreat(1,speed);
retreat(2,speed);
advance(3,speed);
advance(4,speed);
break;
case DOWN:
advance(1,speed);
advance(2,speed);
retreat(3,speed);
retreat(4,speed);
break;
case LEFT:
retreat(2,speed);
retreat(4,speed);
advance(1,speed);
advance(3,speed);
break;
case RIGHT:
retreat(1,speed);
retreat(3,speed);
advance(2,speed);
advance(4,speed);
break;
case Upper_Left:
breake(1);
retreat(2,speed);
advance(3,speed);
breake(4);
break;
case Upper_Right:
retreat(1,speed);
breake(2);
breake(3);
advance(4,speed);
break;
case Bottom_Left:
advance(1,speed);
breake(2);
breake(3);
retreat(4,speed);
break;
case Bottom_Right:
breake(1);
advance(2,speed);
retreat(3,speed);
breake(4);
break;
case STOP:
breake(1);
breake(2);
breake(3);
breake(4);
break;
}
}
【ESP32 完整代码】
#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>
#include "DFRobot_AXP313A.h"
#include "driver/mcpwm.h"
#include "soc/mcpwm_struct.h"
#include "soc/mcpwm_reg.h"
DFRobot_AXP313A axp;
#define M1_EN 12
#define M1_PN 13
#define M2_EN 14
#define M2_PN 21
#define M3_EN 9
#define M3_PN 10
#define M4_EN 47
#define M4_PN 11
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define Upper_Left 5
#define Upper_Right 6
#define Bottom_Left 7
#define Bottom_Right 8
#define STOP 0
#define FORWARD 1
#define BACKWARD -1
//Camera related constants
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 45
#define SIOD_GPIO_NUM 1
#define SIOC_GPIO_NUM 2
#define Y9_GPIO_NUM 48
#define Y8_GPIO_NUM 46
#define Y7_GPIO_NUM 8
#define Y6_GPIO_NUM 7
#define Y5_GPIO_NUM 4
#define Y4_GPIO_NUM 41
#define Y3_GPIO_NUM 40
#define Y2_GPIO_NUM 39
#define VSYNC_GPIO_NUM 6
#define HREF_GPIO_NUM 42
#define PCLK_GPIO_NUM 5
const char* ssid = "******";
const char* password = "*******";
AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsCarInput("/CarInput");
uint32_t cameraClientId = 0;
uint8_t Speed = 50;
const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
<style>
.arrows {
font-size:30px;
color:red;
}
td.button {
background-color:black;
border-radius:25%;
box-shadow: 5px 5px #888888;
}
td.button:active {
transform: translate(5px,5px);
box-shadow: none;
}
.noselect {
-webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */
user-select: none; /* Non-prefixed version, currently
supported by Chrome and Opera */
}
.slidecontainer {
width: 100%;
}
.slider {
-webkit-appearance: none;
width: 100%;
height: 15px;
border-radius: 5px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 25px;
height: 25px;
border-radius: 50%;
background: red;
cursor: pointer;
}
.slider::-moz-range-thumb {
width: 25px;
height: 25px;
border-radius: 50%;
background: red;
cursor: pointer;
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<table id="mainTable" style="width:355px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<img id="cameraImage" src="" style="width:355px;height:222px"></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","5")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↖</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇧</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","6")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↗</span></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇦</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇨</span></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","7")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↙</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇩</span></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","8")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >↘</span></td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>Speed:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="100" value="50" class="slider" id="Speed" oninput='sendButtonInput("Speed",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput";
var websocketCamera;
var websocketCarInput;
function initCameraWebSocket()
{
websocketCamera = new WebSocket(webSocketCameraUrl);
websocketCamera.binaryType = 'blob';
websocketCamera.onopen = function(event){};
websocketCamera.onclose = function(event){setTimeout(initCameraWebSocket, 2000);};
websocketCamera.onmessage = function(event)
{
var imageId = document.getElementById("cameraImage");
imageId.src = URL.createObjectURL(event.data);
};
}
function initCarInputWebSocket()
{
websocketCarInput = new WebSocket(webSocketCarInputUrl);
websocketCarInput.onopen = function(event)
{
sendButtonInput("Speed", document.getElementById("Speed").value);
};
websocketCarInput.onclose = function(event){setTimeout(initCarInputWebSocket, 2000);};
websocketCarInput.onmessage = function(event){};
}
function initWebSocket()
{
initCameraWebSocket ();
initCarInputWebSocket();
}
function sendButtonInput(key, value)
{
var data = key + "," + value;
websocketCarInput.send(data);
}
window.onload = initWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
</script>
</body>
</html>
)HTMLHOMEPAGE";
void advance(uint8_t motorNumber,uint8_t speed)
{
switch(motorNumber)
{
case 1:
mcpwm_set_signal_high(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B);//给PH一个持续的高电平
mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 2:
mcpwm_set_signal_high(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_B);//给PH一个持续的高电平
mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 3:
mcpwm_set_signal_high(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_B);//给PH一个持续的高电平
mcpwm_set_duty_type(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 4:
mcpwm_set_signal_high(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_B);//给PH一个持续的高电平
mcpwm_set_duty_type(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
}
}
void retreat(uint8_t motorNumber,uint8_t speed)
{
switch(motorNumber)
{
case 1:
mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B);//给PH一个持续的低电平
mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 2:
mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_B);//给PH一个持续的低电平
mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 3:
mcpwm_set_signal_low(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_B);//给PH一个持续的低电平
mcpwm_set_duty_type(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
case 4:
mcpwm_set_signal_low(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_B);//给PH一个持续的低电平
mcpwm_set_duty_type(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
mcpwm_set_duty(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_A,speed);//EN引脚输出占空比为“speed”的PWM波
break;
}
}
void breake(uint8_t motorNumber)
{
switch(motorNumber)
{
case 1:
mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A);
break;
case 2:
mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_1,MCPWM_GEN_A);
break;
case 3:
mcpwm_set_signal_low(MCPWM_UNIT_1,MCPWM_TIMER_0,MCPWM_GEN_A);
break;
case 4:
mcpwm_set_signal_low(MCPWM_UNIT_1,MCPWM_TIMER_1,MCPWM_GEN_A);
break;
}
}
void moveCar(uint8_t inputValue,uint8_t speed)
{
switch(inputValue)
{
case UP:
retreat(1,speed);
retreat(2,speed);
advance(3,speed);
advance(4,speed);
break;
case DOWN:
advance(1,speed);
advance(2,speed);
retreat(3,speed);
retreat(4,speed);
break;
case LEFT:
retreat(2,speed);
retreat(4,speed);
advance(1,speed);
advance(3,speed);
break;
case RIGHT:
retreat(1,speed);
retreat(3,speed);
advance(2,speed);
advance(4,speed);
break;
case Upper_Left:
breake(1);
retreat(2,speed);
advance(3,speed);
breake(4);
break;
case Upper_Right:
retreat(1,speed);
breake(2);
breake(3);
advance(4,speed);
break;
case Bottom_Left:
advance(1,speed);
breake(2);
breake(3);
retreat(4,speed);
break;
case Bottom_Right:
breake(1);
advance(2,speed);
retreat(3,speed);
breake(4);
break;
case STOP:
breake(1);
breake(2);
breake(3);
breake(4);
break;
}
}
void handleRoot(AsyncWebServerRequest *request)
{
request->send_P(200, "text/html", htmlHomePage);
}
void handleNotFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "File Not Found");
}
void onCarInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
moveCar(STOP,0);
//ledcWrite(PWMLightChannel, 0);
//panServo.write(90);
//tiltServo.write(90);
break;
case WS_EVT_DATA:
AwsFrameInfo *info;
info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)
{
std::string myData = "";
myData.assign((char *)data, len);
std::istringstream ss(myData);
std::string key, value;
std::getline(ss, key, ',');
std::getline(ss, value, ',');
Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str());
int valueInt = atoi(value.c_str());
if (key == "MoveCar")
{
moveCar(valueInt,Speed);
}
else if (key == "Speed")
{
Speed = valueInt;
}
/*else if (key == "Light")
{
//ledcWrite(PWMLightChannel, valueInt);
}
else if (key == "Pan")
{
//panServo.write(valueInt);
}
else if (key == "Tilt")
{
//tiltServo.write(valueInt);
}*/
}
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void onCameraWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
cameraClientId = client->id();
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
cameraClientId = 0;
break;
case WS_EVT_DATA:
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void setupCamera()
{
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.frame_size = FRAMESIZE_UXGA;
config.pixel_format = PIXFORMAT_JPEG; // for streaming
//config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.jpeg_quality = 12;
config.fb_count = 1;
// if PSRAM IC present, init with UXGA resolution and higher JPEG quality
// for larger pre-allocated frame buffer.
if(config.pixel_format == PIXFORMAT_JPEG){
if(psramFound()){
config.jpeg_quality = 10;
config.fb_count = 2;
config.grab_mode = CAMERA_GRAB_LATEST;
} else {
// Limit the frame size when PSRAM is not available
config.frame_size = FRAMESIZE_SVGA;
config.fb_location = CAMERA_FB_IN_DRAM;
}
} else {
// Best option for face detection/recognition
config.frame_size = FRAMESIZE_240X240;
#if CONFIG_IDF_TARGET_ESP32S3
config.fb_count = 2;
#endif
}
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK)
{
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
if (psramFound())
{
heap_caps_malloc_extmem_enable(20000);
Serial.printf("PSRAM initialized. malloc to take memory from psram above this size");
}
}
void sendCameraPicture()
{
if (cameraClientId == 0)
{
return;
}
unsigned longstartTime1 = millis();
//capture a frame
camera_fb_t * fb = esp_camera_fb_get();
if (!fb)
{
Serial.println("Frame buffer could not be acquired");
return;
}
unsigned longstartTime2 = millis();
wsCamera.binary(cameraClientId, fb->buf, fb->len);
esp_camera_fb_return(fb);
//Wait for message to be delivered
while (true)
{
AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId);
if (!clientPointer || !(clientPointer->queueIsFull()))
{
break;
}
delay(1);
}
unsigned longstartTime3 = millis();
Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 );
}
//初始化需要产生PWM信号的引脚
void mcpwm_init(void)
{
//配置mcpwm信息
mcpwm_config_t pwm_config;
pwm_config.frequency = 1000;
pwm_config.cmpr_a = 0;
pwm_config.cmpr_b = 0;
pwm_config.counter_mode = MCPWM_UP_COUNTER;
pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
//A速度B方向
mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM0A,M1_EN);//电机1 GPIO
mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM0B,M1_PN);
mcpwm_init(MCPWM_UNIT_0,MCPWM_TIMER_0,&pwm_config);//初始化mcpwm的某一个单元并绑定时钟
mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM1A,M2_EN);//电机2 GPIO
mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM1B,M2_PN);
mcpwm_init(MCPWM_UNIT_0,MCPWM_TIMER_1,&pwm_config);//初始化mcpwm的某一个单元并绑定时钟
mcpwm_gpio_init(MCPWM_UNIT_1,MCPWM0A,M3_EN);//电机3 GPIO
mcpwm_gpio_init(MCPWM_UNIT_1,MCPWM0B,M3_PN);
mcpwm_init(MCPWM_UNIT_1,MCPWM_TIMER_0,&pwm_config);//初始化mcpwm的某一个单元并绑定时钟
mcpwm_gpio_init(MCPWM_UNIT_1,MCPWM1A,M4_EN);//电机4 GPIO
mcpwm_gpio_init(MCPWM_UNIT_1,MCPWM1B,M4_PN);
mcpwm_init(MCPWM_UNIT_1,MCPWM_TIMER_1,&pwm_config);//初始化mcpwm的某一个单元并绑定时钟
}
void setup(void)
{
Serial.begin(115200);
while(axp.begin() != 0){
Serial.println("init error");
delay(1000);
}
axp.enableCameraPower(axp.eOV2640);//设置摄像头供电
mcpwm_init();
WiFi.softAP(ssid, password);
IPAddress IP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(IP);
server.on("/", HTTP_GET, handleRoot);
server.onNotFound(handleNotFound);
wsCamera.onEvent(onCameraWebSocketEvent);
server.addHandler(&wsCamera);
wsCarInput.onEvent(onCarInputWebSocketEvent);
server.addHandler(&wsCarInput);
server.begin();
Serial.println("HTTP server started");
setupCamera();
}
void loop()
{
wsCamera.cleanupClients();
wsCarInput.cleanupClients();
sendCameraPicture();
//Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram());
}
【演示视频】
https://www.bilibili.com/video/BV1AH4y1S7Up/?share_source=copy_web&vd_source=98855d5b99ff76982639c5ca6ff6f528
云片出品，必属精品！！！ 这个创意有趣，云天老师好帅！ 这个不错哦！值得研究一下 第7张图到第8张图，右边2个轮子方向有变化，大家要注意下{:5_165:}。要按照X方向安装
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