init

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

.vscode/settings.json

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+{
+  "files.exclude": {
+    "**/*.rpyc": true,
+    "**/*.rpa": true,
+    "**/*.rpymc": true,
+    "**/cache/": true
+  }
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino

src/main.cpp

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+#include <Arduino.h>
+#include <BluetoothSerial.h>
+
+// 使用 2 片 TB6612 控制 4 个电机
+// 使用差速控制转向
+
+// TB6612 #1 控制 A B 电机
+#define MOTOR_AB_STBY 14 // TB6612 #1 待机控制
+
+// A 电机 左前轮
+#define MOTOR_A_PWMA 25 // 电机 A PWM
+#define MOTOR_A_AIN1 26 // 电机 A 方向控制1
+#define MOTOR_A_AIN2 27 // 电机 A 方向控制2
+
+// B 电机 左后轮
+#define MOTOR_B_PWMB 32 // 电机 B PWM
+#define MOTOR_B_BIN1 33 // 电机 B 方向控制1
+#define MOTOR_B_BIN2 34 // 电机 B 方向控制2
+
+// TB6612 #2 控制 C D 电机
+#define MOTOR_CD_STBY 19 // TB6612 #2 待机控制
+
+// C 电机 右前轮
+#define MOTOR_C_PWMA 16 // 电机 C PWM
+#define MOTOR_C_AIN1 17 // 电机 C 方向控制1
+#define MOTOR_C_AIN2 18 // 电机 C 方向控制2
+
+// D 电机 右后轮
+#define MOTOR_D_PWMB 21 // 电机 D PWM
+#define MOTOR_D_BIN1 22 // 电机 D 方向控制1
+#define MOTOR_D_BIN2 23 // 电机 D 方向控制2
+
+// 运动控制参数
+#define MAX_SPEED 255        // 最大速度
+#define BASE_SPEED 200       // 基础速度
+#define MIN_SPEED 50         // 最小速度
+#define TURN_RATIO 0.6      // 转向时的速度比例
+#define SPEED_INCREMENT 10   // 速度增量
+
+// 全局变量
+int currentSpeed = 0;        // 当前速度
+int turnOffset = 0;         // 转向偏移量 (-100 到 100)
+bool isMoving = false;      // 运动状态
+bool isTurning = false;     // 转向状态
+
+BluetoothSerial SerialBT;
+
+// 电机控制函数
+void motorControl(int pwmPin, int in1Pin, int in2Pin, int speed) {
+  if (speed > 0) {
+    digitalWrite(in1Pin, HIGH);
+    digitalWrite(in2Pin, LOW);
+  } else if (speed < 0) {
+    digitalWrite(in1Pin, LOW);
+    digitalWrite(in2Pin, HIGH);
+    speed = -speed;
+  } else {
+    digitalWrite(in1Pin, LOW);
+    digitalWrite(in2Pin, LOW);
+  }
+  analogWrite(pwmPin, speed);
+}
+
+// 小车运动控制函数
+void carControl(int leftSpeed, int rightSpeed) {
+  motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, leftSpeed);  // 左前
+  motorControl(MOTOR_B_PWMB, MOTOR_B_BIN1, MOTOR_B_BIN2, leftSpeed);  // 左后
+  motorControl(MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2, rightSpeed); // 右前
+  motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, rightSpeed); // 右后
+}
+
+// 计算左右轮速度
+void calculateWheelSpeeds(int baseSpeed, int turnOffset, int &leftSpeed, int &rightSpeed) {
+  // turnOffset 范围：-100 到 100
+  // 负值表示向左转，正值表示向右转
+  float turnMultiplier = 1.0 - (abs(turnOffset) / 100.0) * (1.0 - TURN_RATIO);
+  
+  if (turnOffset < 0) {  // 向左转
+    leftSpeed = baseSpeed * turnMultiplier;
+    rightSpeed = baseSpeed;
+  } else if (turnOffset > 0) {  // 向右转
+    leftSpeed = baseSpeed;
+    rightSpeed = baseSpeed * turnMultiplier;
+  } else {  // 直行
+    leftSpeed = baseSpeed;
+    rightSpeed = baseSpeed;
+  }
+}
+
+// 更新小车运动
+void updateCarMovement() {
+  int leftSpeed = 0, rightSpeed = 0;
+  
+  if (isMoving) {
+    calculateWheelSpeeds(currentSpeed, turnOffset, leftSpeed, rightSpeed);
+    if (!isTurning) {
+      // 逐渐加速
+      currentSpeed = min(currentSpeed + SPEED_INCREMENT, BASE_SPEED);
+    }
+  } else {
+    // 逐渐减速
+    currentSpeed = max(currentSpeed - SPEED_INCREMENT, 0);
+    if (currentSpeed > 0) {
+      calculateWheelSpeeds(currentSpeed, turnOffset, leftSpeed, rightSpeed);
+    }
+  }
+  
+  carControl(leftSpeed, rightSpeed);
+}
+
+// CCD 巡线相关函数
+#define CCD_PIN 35          // CCD 数据引脚
+#define CCD_CLK_PIN 36      // CCD 时钟引脚
+#define CCD_SI_PIN 39       // CCD 启动引脚
+#define CCD_PIXELS 128      // CCD 像素数
+
+int ccdData[CCD_PIXELS];    // CCD 数据数组
+
+// 读取 CCD 数据
+void readCCD() {
+  // 启动信号
+  digitalWrite(CCD_SI_PIN, HIGH);
+  digitalWrite(CCD_CLK_PIN, HIGH);
+  digitalWrite(CCD_SI_PIN, LOW);
+  digitalWrite(CCD_CLK_PIN, LOW);
+  
+  // 读取像素数据
+  for(int i = 0; i < CCD_PIXELS; i++) {
+    digitalWrite(CCD_CLK_PIN, HIGH);
+    ccdData[i] = analogRead(CCD_PIN);
+    digitalWrite(CCD_CLK_PIN, LOW);
+  }
+}
+
+// 计算巡线偏移量
+int calculateLineOffset() {
+  // 这里添加线位置检测算法
+  // 返回值范围：-100 到 100
+  // 0 表示线在中间，负值表示线在左边，正值表示线在右边
+  return 0; // 临时返回值
+}
+
+void setup()
+{
+  // 初始化串口
+  Serial.begin(115200);
+  
+  // 初始化蓝牙
+  SerialBT.begin("ESP32_Car"); // 蓝牙设备名称
+  
+  // 设置引脚模式
+  pinMode(MOTOR_AB_STBY, OUTPUT);
+  pinMode(MOTOR_CD_STBY, OUTPUT);
+  
+  pinMode(MOTOR_A_PWMA, OUTPUT);
+  pinMode(MOTOR_A_AIN1, OUTPUT);
+  pinMode(MOTOR_A_AIN2, OUTPUT);
+  
+  pinMode(MOTOR_B_PWMB, OUTPUT);
+  pinMode(MOTOR_B_BIN1, OUTPUT);
+  pinMode(MOTOR_B_BIN2, OUTPUT);
+  
+  pinMode(MOTOR_C_PWMA, OUTPUT);
+  pinMode(MOTOR_C_AIN1, OUTPUT);
+  pinMode(MOTOR_C_AIN2, OUTPUT);
+  
+  pinMode(MOTOR_D_PWMB, OUTPUT);
+  pinMode(MOTOR_D_BIN1, OUTPUT);
+  pinMode(MOTOR_D_BIN2, OUTPUT);
+  
+  // 启用电机驱动
+  digitalWrite(MOTOR_AB_STBY, HIGH);
+  digitalWrite(MOTOR_CD_STBY, HIGH);
+  
+  // 添加 CCD 引脚初始化
+  // pinMode(CCD_CLK_PIN, OUTPUT);
+  // pinMode(CCD_SI_PIN, OUTPUT);
+  // pinMode(CCD_PIN, INPUT);
+}
+
+void loop()
+{
+  if (SerialBT.available()) {
+    char cmd = SerialBT.read();
+    
+    switch(cmd) {
+      case 'F': // 前进
+        isMoving = true;
+        turnOffset = 0;
+        break;
+      case 'B': // 后退
+        isMoving = true;
+        currentSpeed = -BASE_SPEED;
+        turnOffset = 0;
+        break;
+      case 'L': // 左转
+        isTurning = true;
+        turnOffset = -100;
+        break;
+      case 'R': // 右转
+        isTurning = true;
+        turnOffset = 100;
+        break;
+      case 'S': // 停止
+        isMoving = false;
+        isTurning = false;
+        turnOffset = 0;
+        break;
+      case 'l': // 微左转
+        turnOffset = max(turnOffset - 20, -100);
+        break;
+      case 'r': // 微右转
+        turnOffset = min(turnOffset + 20, 100);
+        break;
+    }
+  }
+  
+  // 更新小车运动
+  updateCarMovement();
+  
+  // 巡线模式代码（后续启用）
+  /*
+  readCCD();
+  int lineOffset = calculateLineOffset();
+  turnOffset = lineOffset;
+  isMoving = true;
+  updateCarMovement();
+  */
+  
+  delay(20); // 控制更新频率
+}

test/README

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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