From d7436607d5e5e0bb94f8f62277a98ac2ab376fb4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=96=E5=8F=81?= Date: Wed, 1 Jan 2025 19:22:37 +0800 Subject: [PATCH] fix --- include/consts.example.h | 27 ++++++++++++++++++--------- include/ultrasound.h | 7 ++++++- platformio.ini | 6 ++++-- src/main.cpp | 3 +++ src/ultrasound.cpp | 23 +++++++++++++++++++++-- 5 files changed, 52 insertions(+), 14 deletions(-) diff --git a/include/consts.example.h b/include/consts.example.h index 5785a5e..aef3948 100644 --- a/include/consts.example.h +++ b/include/consts.example.h @@ -12,16 +12,25 @@ #define EEPROM_SIZE 1024 // 超声波传感器引脚 -#define HC_SR04_TRIG 23 -#define HC_SR04_ECHO 22 +#define US_TRIG 23 +#define US_ECHO 22 + +// 超声波的舵机 +#define US_SERVO_PIN 4 // 红外循迹模块引脚 // 模式选择 -#define IR_MODE IRMode::IR_MODE_GPIO +// #define IR_MODE IRMode::IR_MODE_GPIO +#define IR_MODE IRMode::IR_MODE_I2C +#define IR_COUNT 8 +// 是否反转电平输出 +#define IR_OUTPUT_REVERSE 0 +// 是否反转传感器排列方向 +#define IR_DIRECTION_REVERSE 1 // GPIO 模式 -#define IR_PINS {34, 35, 12, 13, 15} -// 串口模式 -// #define IR_PINS {34, 35} +// #define IR_PINS {34, 35, 12, 13, 15} +// I2C 模式 +#define IR_PINS {22, 23} // TB6612 #1 控制 A B 电机 // A 电机 左前轮 @@ -53,9 +62,9 @@ #define SPEED_INCREMENT 10 // 速度增量 // 默认 PID 参数 -#define PID_KP 0.1 -#define PID_KI 0.01 -#define PID_KD 0.001 +#define PID_KP 1.0f // 比例系数 +#define PID_KI 0.0f // 积分系数 +#define PID_KD 0.1f // 微分系数 // LED闪烁间隔(ms) #define LED_FLASH_INTERVAL 1000 diff --git a/include/ultrasound.h b/include/ultrasound.h index ec0273a..8e54992 100644 --- a/include/ultrasound.h +++ b/include/ultrasound.h @@ -2,6 +2,7 @@ #define ULTRASOUND_H #include +#include struct UltrasonicPin { @@ -12,8 +13,12 @@ struct UltrasonicPin struct Ultrasonic { static UltrasonicPin pin; - static void init(UltrasonicPin pin); + static void init(UltrasonicPin pin, int servoPin); static float getDistance(); + + static int servoPin; + static Servo servo; + static void servoControl(int angle); }; #endif \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index ff42b80..26b6c1c 100644 --- a/platformio.ini +++ b/platformio.ini @@ -13,11 +13,13 @@ platform = espressif32 board = esp32dev framework = arduino monitor_speed = 115200 -lib_deps = plerup/EspSoftwareSerial@^8.2.0 +lib_deps = + madhephaestus/ESP32Servo@^3.0.6 [env:esp32s3] platform = espressif32 board = adafruit_feather_esp32s3_tft framework = arduino monitor_speed = 115200 -lib_deps = plerup/EspSoftwareSerial@^8.2.0 +lib_deps = + madhephaestus/ESP32Servo@^3.0.6 diff --git a/src/main.cpp b/src/main.cpp index a623a93..3002860 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -30,6 +30,9 @@ void setup() // 初始化红外循迹模块 IR::init(); + // 初始化超声波 + Ultrasonic::init({US_TRIG, US_ECHO}, US_SERVO_PIN); + // 初始化状态灯 if (STATUS_LED_ENABLE) { diff --git a/src/ultrasound.cpp b/src/ultrasound.cpp index b9a8a1a..9c03f87 100644 --- a/src/ultrasound.cpp +++ b/src/ultrasound.cpp @@ -1,12 +1,23 @@ #include "ultrasound.h" -UltrasonicPin Ultrasonic::pin = {0, 0}; +Servo Ultrasonic::servo; -void Ultrasonic::init(UltrasonicPin pin) +UltrasonicPin Ultrasonic::pin = {0, 0}; +int Ultrasonic::servoPin = 0; + +void Ultrasonic::init(UltrasonicPin pin, int servoPin) { Ultrasonic::pin = pin; + Ultrasonic::servoPin = servoPin; pinMode(pin.trig, OUTPUT); pinMode(pin.echo, INPUT); + + servo.attach(servoPin); + servo.write(0); + delay(500); + servo.write(180); + delay(500); + servo.write(90); } float Ultrasonic::getDistance() @@ -17,4 +28,12 @@ float Ultrasonic::getDistance() float distance = pulseIn(pin.echo, HIGH); // 计数接收高电平时间 distance = distance * 340 / 2 / 10000; // 计算距离 1：声速：340M/S 2：实际距离为1/2声速距离 3：计数时钟为1US//温补公式：c=(331.45+0.61t/℃)m•s-1 (其中331.45是在0度） return distance; +} + +void Ultrasonic::servoControl(int angle) +{ + if (angle < 0) angle = 0; + if (angle > 180) angle = 180; + + servo.write(angle); } \ No newline at end of file