init
This commit is contained in:
commit
327994ff36
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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch
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{
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// See http://go.microsoft.com/fwlink/?LinkId=827846
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// for the documentation about the extensions.json format
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"recommendations": [
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"platformio.platformio-ide"
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],
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"unwantedRecommendations": [
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"ms-vscode.cpptools-extension-pack"
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]
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}
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@ -0,0 +1,8 @@
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{
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"files.exclude": {
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"**/*.rpyc": true,
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"**/*.rpa": true,
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"**/*.rpymc": true,
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"**/cache/": true
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}
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}
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@ -0,0 +1,39 @@
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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the usual convention is to give header files names that end with `.h'.
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It is most portable to use only letters, digits, dashes, and underscores in
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header file names, and at most one dot.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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@ -0,0 +1,46 @@
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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into executable file.
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The source code of each library should be placed in an own separate directory
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("lib/your_library_name/[here are source files]").
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For example, see a structure of the following two libraries `Foo` and `Bar`:
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|--lib
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| |
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| |--Bar
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| | |--docs
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| | |--examples
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| | |--src
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| | |- Bar.c
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| | |- Bar.h
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| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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| |
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| |--Foo
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| | |- Foo.c
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| | |- Foo.h
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| |
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| |- README --> THIS FILE
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|
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|- platformio.ini
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|--src
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|- main.c
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and a contents of `src/main.c`:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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...
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}
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```
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PlatformIO Library Dependency Finder will find automatically dependent
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libraries scanning project source files.
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More information about PlatformIO Library Dependency Finder
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- https://docs.platformio.org/page/librarymanager/ldf.html
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|
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@ -0,0 +1,14 @@
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:esp32dev]
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platform = espressif32
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board = esp32dev
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framework = arduino
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#include <Arduino.h>
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#include <BluetoothSerial.h>
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// 使用 2 片 TB6612 控制 4 个电机
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// 使用差速控制转向
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// TB6612 #1 控制 A B 电机
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#define MOTOR_AB_STBY 14 // TB6612 #1 待机控制
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// A 电机 左前轮
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#define MOTOR_A_PWMA 25 // 电机 A PWM
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#define MOTOR_A_AIN1 26 // 电机 A 方向控制1
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#define MOTOR_A_AIN2 27 // 电机 A 方向控制2
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// B 电机 左后轮
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#define MOTOR_B_PWMB 32 // 电机 B PWM
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#define MOTOR_B_BIN1 33 // 电机 B 方向控制1
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#define MOTOR_B_BIN2 34 // 电机 B 方向控制2
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// TB6612 #2 控制 C D 电机
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#define MOTOR_CD_STBY 19 // TB6612 #2 待机控制
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// C 电机 右前轮
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#define MOTOR_C_PWMA 16 // 电机 C PWM
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#define MOTOR_C_AIN1 17 // 电机 C 方向控制1
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#define MOTOR_C_AIN2 18 // 电机 C 方向控制2
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// D 电机 右后轮
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#define MOTOR_D_PWMB 21 // 电机 D PWM
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#define MOTOR_D_BIN1 22 // 电机 D 方向控制1
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#define MOTOR_D_BIN2 23 // 电机 D 方向控制2
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// 运动控制参数
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#define MAX_SPEED 255 // 最大速度
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#define BASE_SPEED 200 // 基础速度
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#define MIN_SPEED 50 // 最小速度
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#define TURN_RATIO 0.6 // 转向时的速度比例
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#define SPEED_INCREMENT 10 // 速度增量
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// 全局变量
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int currentSpeed = 0; // 当前速度
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int turnOffset = 0; // 转向偏移量 (-100 到 100)
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bool isMoving = false; // 运动状态
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bool isTurning = false; // 转向状态
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BluetoothSerial SerialBT;
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// 电机控制函数
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void motorControl(int pwmPin, int in1Pin, int in2Pin, int speed) {
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if (speed > 0) {
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digitalWrite(in1Pin, HIGH);
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digitalWrite(in2Pin, LOW);
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} else if (speed < 0) {
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digitalWrite(in1Pin, LOW);
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digitalWrite(in2Pin, HIGH);
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speed = -speed;
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} else {
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digitalWrite(in1Pin, LOW);
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digitalWrite(in2Pin, LOW);
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}
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analogWrite(pwmPin, speed);
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}
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// 小车运动控制函数
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void carControl(int leftSpeed, int rightSpeed) {
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motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, leftSpeed); // 左前
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motorControl(MOTOR_B_PWMB, MOTOR_B_BIN1, MOTOR_B_BIN2, leftSpeed); // 左后
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motorControl(MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2, rightSpeed); // 右前
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motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, rightSpeed); // 右后
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}
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// 计算左右轮速度
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void calculateWheelSpeeds(int baseSpeed, int turnOffset, int &leftSpeed, int &rightSpeed) {
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// turnOffset 范围：-100 到 100
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// 负值表示向左转，正值表示向右转
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float turnMultiplier = 1.0 - (abs(turnOffset) / 100.0) * (1.0 - TURN_RATIO);
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if (turnOffset < 0) { // 向左转
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leftSpeed = baseSpeed * turnMultiplier;
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rightSpeed = baseSpeed;
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} else if (turnOffset > 0) { // 向右转
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leftSpeed = baseSpeed;
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rightSpeed = baseSpeed * turnMultiplier;
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} else { // 直行
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leftSpeed = baseSpeed;
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rightSpeed = baseSpeed;
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}
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}
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// 更新小车运动
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void updateCarMovement() {
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int leftSpeed = 0, rightSpeed = 0;
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if (isMoving) {
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calculateWheelSpeeds(currentSpeed, turnOffset, leftSpeed, rightSpeed);
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if (!isTurning) {
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// 逐渐加速
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currentSpeed = min(currentSpeed + SPEED_INCREMENT, BASE_SPEED);
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}
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} else {
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// 逐渐减速
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currentSpeed = max(currentSpeed - SPEED_INCREMENT, 0);
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if (currentSpeed > 0) {
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calculateWheelSpeeds(currentSpeed, turnOffset, leftSpeed, rightSpeed);
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}
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}
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carControl(leftSpeed, rightSpeed);
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}
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// CCD 巡线相关函数
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#define CCD_PIN 35 // CCD 数据引脚
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#define CCD_CLK_PIN 36 // CCD 时钟引脚
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#define CCD_SI_PIN 39 // CCD 启动引脚
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#define CCD_PIXELS 128 // CCD 像素数
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int ccdData[CCD_PIXELS]; // CCD 数据数组
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// 读取 CCD 数据
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void readCCD() {
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// 启动信号
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digitalWrite(CCD_SI_PIN, HIGH);
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digitalWrite(CCD_CLK_PIN, HIGH);
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digitalWrite(CCD_SI_PIN, LOW);
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digitalWrite(CCD_CLK_PIN, LOW);
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// 读取像素数据
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for(int i = 0; i < CCD_PIXELS; i++) {
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digitalWrite(CCD_CLK_PIN, HIGH);
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ccdData[i] = analogRead(CCD_PIN);
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digitalWrite(CCD_CLK_PIN, LOW);
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}
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}
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// 计算巡线偏移量
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int calculateLineOffset() {
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// 这里添加线位置检测算法
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// 返回值范围：-100 到 100
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// 0 表示线在中间，负值表示线在左边，正值表示线在右边
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return 0; // 临时返回值
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}
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void setup()
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{
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// 初始化串口
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Serial.begin(115200);
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// 初始化蓝牙
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SerialBT.begin("ESP32_Car"); // 蓝牙设备名称
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// 设置引脚模式
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pinMode(MOTOR_AB_STBY, OUTPUT);
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pinMode(MOTOR_CD_STBY, OUTPUT);
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pinMode(MOTOR_A_PWMA, OUTPUT);
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pinMode(MOTOR_A_AIN1, OUTPUT);
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pinMode(MOTOR_A_AIN2, OUTPUT);
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pinMode(MOTOR_B_PWMB, OUTPUT);
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pinMode(MOTOR_B_BIN1, OUTPUT);
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pinMode(MOTOR_B_BIN2, OUTPUT);
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pinMode(MOTOR_C_PWMA, OUTPUT);
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pinMode(MOTOR_C_AIN1, OUTPUT);
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pinMode(MOTOR_C_AIN2, OUTPUT);
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pinMode(MOTOR_D_PWMB, OUTPUT);
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pinMode(MOTOR_D_BIN1, OUTPUT);
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pinMode(MOTOR_D_BIN2, OUTPUT);
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// 启用电机驱动
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digitalWrite(MOTOR_AB_STBY, HIGH);
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digitalWrite(MOTOR_CD_STBY, HIGH);
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// 添加 CCD 引脚初始化
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// pinMode(CCD_CLK_PIN, OUTPUT);
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// pinMode(CCD_SI_PIN, OUTPUT);
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// pinMode(CCD_PIN, INPUT);
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}
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void loop()
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{
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if (SerialBT.available()) {
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char cmd = SerialBT.read();
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switch(cmd) {
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case 'F': // 前进
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isMoving = true;
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turnOffset = 0;
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break;
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case 'B': // 后退
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isMoving = true;
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currentSpeed = -BASE_SPEED;
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turnOffset = 0;
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break;
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case 'L': // 左转
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isTurning = true;
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turnOffset = -100;
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break;
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case 'R': // 右转
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isTurning = true;
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turnOffset = 100;
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break;
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case 'S': // 停止
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isMoving = false;
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isTurning = false;
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turnOffset = 0;
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break;
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case 'l': // 微左转
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turnOffset = max(turnOffset - 20, -100);
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break;
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case 'r': // 微右转
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turnOffset = min(turnOffset + 20, 100);
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break;
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}
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}
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// 更新小车运动
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updateCarMovement();
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// 巡线模式代码（后续启用）
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/*
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readCCD();
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int lineOffset = calculateLineOffset();
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turnOffset = lineOffset;
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isMoving = true;
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updateCarMovement();
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*/
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delay(20); // 控制更新频率
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}
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@ -0,0 +1,11 @@
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|||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
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