开源 点灯科技･blinker麦克纳姆轮铝-wifi小车18...

gyq-svip

第一次发帖还是一个很简单的程序
代码很长 其实就是动作太多 所以............
原理很简单 其实就是手机app 给blinker服务器(MQTT)发消息,也就是发布与订阅

MQTT

发布者就是手机APP,订阅者就是ESP8266,这样手机端发消息小车(esp8266)收到指令后进行相关操作,
只要安找接线图接线都可以的.如图:

L298N接线图

因为麦克纳姆轮是四驱车所以需要4个轮子,在这里我给取名为ABCD,ABCD四个电机的正负极分别为A1A2,B1B2,C1C2,D1D2
如图所示L298N,A1A2接直流电机1口  简单点就是如图的的方向 从上到下接线分别为A1A2,B1B2,C1C2,D1D2,这个接线很重要 这是电机的接线,也可以按键btn-s 这个按键就是测试轮子正反转的  如果每个轮子都是先正转在反转 那就恭喜你接线没问题了  不对的话就调整下就可以了

开发版的接线图在在左边IN1对应的就是A1,IN2对应的就是A2 也就是当IN1输出高电平并且IN2输出低电平时轮子是正传 车子向前移动,(温馨提示 这里不能同时输出高电平会烧的)其他电机原理也是一样,麦克纳姆轮方向全靠四个轮子配合 才能达到8个方向平移,最后演变成18个动作,L298N建议用12V电源  不然肯能带不动 我之前就是用充电宝 搞了好久都没搞明白,有时轮子转 有时轮子不转,最后才发现是电压的问题,

用到的配件有
ESP8266 和L298N 四路电机驱动(也可以是esp32都可以驱动电机也可以是 2个2路的呢98n 便宜不少)主要是4路的后面扩展

所有的配置都在图中标注
直接复制就可以
后面会改成4G小车
目前没有4G模块先用WIFI或者手机热点
所有方向都是在手机横屏下进行的 (因我app 不支持旋转)

个别图片来源于网上 如有侵权请联系我删除
链接在代码中
[pre]

1. #define BLINKER_WIFI
   
2. #include <Blinker.h>
   
3. //资料链接：https://pan.baidu.com/s/14D4XDXt986y_RJ1lYNFvXw
   
4. //提取码：flgj
   
5. //------需要修改为自己的信息------
   
6. char auth[] = "xxxxxxxxxxxx";//自己app的key
   
7. char ssid[] = "GYQ-2.4G";//自己的wifi名字
   
8. char pswd[] = "762340778";//WIFI密码
   
9. //-----------------------------
   
10. /*按键 btn
    
11.   5    1   6
    
12.   3        4
    
13.   7    2   8
    
14. */
    
15. BlinkerButton  But1("btn-a");//这行代码就是But1绑定app山的btn-a 这个按键
    
16. BlinkerButton  But2("btn-b");
    
17. BlinkerButton  But3("btn-c");
    
18. BlinkerButton  But4("btn-d");
    
19. BlinkerButton  But5("btn-e");
    
20. BlinkerButton  But6("btn-f");
    
21. BlinkerButton  But7("btn-g");
    
22. BlinkerButton  But8("btn-h");
    
23. BlinkerButton  But9("btn-i");
    
24. BlinkerButton  But10("btn-j");
    
25. BlinkerButton  But11("btn-k");
    
26. BlinkerButton  But12("btn-l");
    
27. BlinkerButton  But13("btn-m");
    
28. BlinkerButton  But14("btn-n");
    
29. BlinkerButton  But15("btn-o");
    
30. BlinkerButton  But16("btn-p");
    
31. BlinkerButton  But17("btn-q");
    
32. BlinkerButton  But18("btn-r");
    
33. BlinkerButton  But19("btn-s");
    
34. BlinkerButton  But20("btn-t");
    
35. BlinkerSlider   S1("run-a");
    
36. BlinkerText   Txt1("tex-a");
    
37. //    analogWrite(S1, pwn_v);
    
38. //---------------------------
    
39. /*车轮/接线
    
40.   A(正负)     B(正负)
    
41. 
    
42.   C(正负)     D(正负)
    
43. */
    
44. //引脚
    
45. #define A1 16 //这里定义引脚 主要是为了可以在多个esp型号上可用方便修改, A1对应引脚16  只需改这里 方向动作就不用去修改方便迁移
    
46. #define A2 5
    
47. #define B1 4
    
48. #define B2 0
    
49. #define C1 2
    
50. #define C2 14
    
51. #define D1 12
    
52. #define D2 13
    
53. #define PWM 15
    
54. //const int PWM = run-a.value;
    
55. //小车十八方向控制
    
56. void stop_run()
    
57. { //停止
    
58.   Serial.println("停止---------------");
    
59.   digitalWrite(A1, LOW);
    
60.   digitalWrite(A2, LOW);
    
61.   digitalWrite(B1, LOW);
    
62.   digitalWrite(B2, LOW);
    
63.   digitalWrite(C1, LOW);
    
64.   digitalWrite(C2, LOW);
    
65.   digitalWrite(D1, LOW);
    
66.   digitalWrite(D2, LOW);
    
67. }
    
68. void run_a()
    
69. { //上
    
70.   Serial.println("前进---------------");
    
71.   delay(50);
    
72.   digitalWrite(A1, HIGH);
    
73.   digitalWrite(A2, LOW);
    
74.   digitalWrite(B1, HIGH);
    
75.   digitalWrite(B2, LOW);
    
76.   digitalWrite(C1, HIGH);
    
77.   digitalWrite(C2, LOW);
    
78.   digitalWrite(D1, HIGH);
    
79.   digitalWrite(D2, LOW);
    
80. }
    
81. void run_b()
    
82. { //下
    
83.   Serial.println("后退---------------");
    
84.   delay(50);
    
85.   digitalWrite(A1, LOW);
    
86.   digitalWrite(A2, HIGH);
    
87.   digitalWrite(B1, LOW);
    
88.   digitalWrite(B2, HIGH);
    
89.   digitalWrite(C1, LOW);
    
90.   digitalWrite(C2, HIGH);
    
91.   digitalWrite(D1, LOW);
    
92.   digitalWrite(D2, HIGH);
    
93. }
    
94. void run_c()
    
95. { //左
    
96.   Serial.println("左---------------");
    
97.   delay(50);
    
98.   digitalWrite(A1, LOW);
    
99.   digitalWrite(A2, HIGH);
    
100.   digitalWrite(B1, HIGH);
     
101.   digitalWrite(B2, LOW);
     
102.   digitalWrite(C1, HIGH);
     
103.   digitalWrite(C2, LOW);
     
104.   digitalWrite(D1, LOW);
     
105.   digitalWrite(D2, HIGH);
     
106. }
     
107. void run_d()
     
108. { //右
     
109.   Serial.println("右---------------");
     
110.   delay(50);
     
111.   digitalWrite(A1, HIGH);
     
112.   digitalWrite(A2, LOW);
     
113.   digitalWrite(B1, LOW);
     
114.   digitalWrite(B2, HIGH);
     
115.   digitalWrite(C1, LOW);
     
116.   digitalWrite(C2, HIGH);
     
117.   digitalWrite(D1, HIGH);
     
118.   digitalWrite(D2, LOW);
     
119. }
     
120. void run_e()
     
121. { //左前
     
122.   Serial.println("左前---------------");
     
123.   delay(50);
     
124.   digitalWrite(A1, LOW);
     
125.   digitalWrite(A2, LOW);
     
126.   digitalWrite(B1, HIGH);
     
127.   digitalWrite(B2, LOW);
     
128.   digitalWrite(C1, HIGH);
     
129.   digitalWrite(C2, LOW);
     
130.   digitalWrite(D1, LOW);
     
131.   digitalWrite(D2, LOW);
     
132. }
     
133. void run_f()
     
134. { //右前
     
135.   Serial.println("右前---------------");
     
136.   delay(50);
     
137.   digitalWrite(A1, HIGH);
     
138.   digitalWrite(A2, LOW);
     
139.   digitalWrite(B1, LOW);
     
140.   digitalWrite(B2, LOW);
     
141.   digitalWrite(C1, LOW);
     
142.   digitalWrite(C2, LOW);
     
143.   digitalWrite(D1, HIGH);
     
144.   digitalWrite(D2, LOW);
     
145. }
     
146. void run_g()
     
147. { //左后
     
148.   Serial.println("左后---------------");
     
149.   delay(50);
     
150.   digitalWrite(A1, LOW);
     
151.   digitalWrite(A2, HIGH);
     
152.   digitalWrite(B1, LOW);
     
153.   digitalWrite(B2, LOW);
     
154.   digitalWrite(C1, LOW);
     
155.   digitalWrite(C2, LOW);
     
156.   digitalWrite(D1, LOW);
     
157.   digitalWrite(D2, HIGH);
     
158. }
     
159. void run_h()
     
160. { //右后
     
161.   Serial.println("右后---------------");
     
162.   delay(50);
     
163.   digitalWrite(A1, LOW);
     
164.   digitalWrite(A2, LOW);
     
165.   digitalWrite(B1, LOW);
     
166.   digitalWrite(B2, HIGH);
     
167.   digitalWrite(C1, LOW);
     
168.   digitalWrite(C2, HIGH);
     
169.   digitalWrite(D1, LOW);
     
170.   digitalWrite(D2, LOW);
     
171. }
     
172. void run_i()
     
173. { //原地右旋转
     
174.   Serial.println("原地右旋转---------------");
     
175.   delay(50);
     
176.   digitalWrite(A1, HIGH);
     
177.   digitalWrite(A2, LOW);
     
178.   digitalWrite(B1, LOW);
     
179.   digitalWrite(B2, HIGH);
     
180.   digitalWrite(C1, HIGH);
     
181.   digitalWrite(C2, LOW);
     
182.   digitalWrite(D1, LOW);
     
183.   digitalWrite(D2, HIGH);
     
184. }
     
185. void run_j()
     
186. { //原地左旋转
     
187.   Serial.println("原地左旋转---------------");
     
188.   delay(50);
     
189.   digitalWrite(A1, LOW);
     
190.   digitalWrite(A2, HIGH);
     
191.   digitalWrite(B1, HIGH);
     
192.   digitalWrite(B2, LOW);
     
193.   digitalWrite(C1, LOW);
     
194.   digitalWrite(C2, HIGH);
     
195.   digitalWrite(D1, HIGH);
     
196.   digitalWrite(D2, LOW);
     
197. }
     
198. void run_k()
     
199. { //右转
     
200.   Serial.println("右前转---------------");
     
201.   delay(50);
     
202.   digitalWrite(A1, HIGH);
     
203.   digitalWrite(A2, LOW);
     
204.   digitalWrite(B1, LOW);
     
205.   digitalWrite(B2, LOW);
     
206.   digitalWrite(C1, HIGH);
     
207.   digitalWrite(C2, LOW);
     
208.   digitalWrite(D1, LOW);
     
209.   digitalWrite(D2, LOW);
     
210. }
     
211. void run_l()
     
212. { //左转
     
213.   Serial.println("左前转---------------");
     
214.   delay(50);
     
215.   digitalWrite(A1, LOW);
     
216.   digitalWrite(A2, LOW);
     
217.   digitalWrite(B1, HIGH);
     
218.   digitalWrite(B2, LOW);
     
219.   digitalWrite(C1, LOW);
     
220.   digitalWrite(C2, LOW);
     
221.   digitalWrite(D1, HIGH);
     
222.   digitalWrite(D2, LOW);
     
223. }
     
224. void run_m()
     
225. { //右后转
     
226.   Serial.println("右后转---------------");
     
227.   delay(50);
     
228.   digitalWrite(A1, LOW);
     
229.   digitalWrite(A2, HIGH);
     
230.   digitalWrite(B1, LOW);
     
231.   digitalWrite(B2, LOW);
     
232.   digitalWrite(C1, LOW);
     
233.   digitalWrite(C2, HIGH);
     
234.   digitalWrite(D1, LOW);
     
235.   digitalWrite(D2, LOW);
     
236. }
     
237. void run_n()
     
238. { //左后转
     
239.   Serial.println("左后转---------------");
     
240.   delay(50);
     
241.   digitalWrite(A1, LOW);
     
242.   digitalWrite(A2, LOW);
     
243.   digitalWrite(B1, LOW);
     
244.   digitalWrite(B2, HIGH);
     
245.   digitalWrite(C1, LOW);
     
246.   digitalWrite(C2, LOW);
     
247.   digitalWrite(D1, LOW);
     
248.   digitalWrite(D2, HIGH);
     
249. }
     
250. void run_o()
     
251. { //后轴右转
     
252.   Serial.println("后轴右转---------------");
     
253.   delay(50);
     
254.   digitalWrite(A1, HIGH);
     
255.   digitalWrite(A2, LOW);
     
256.   digitalWrite(B1, LOW);
     
257.   digitalWrite(B2, HIGH);
     
258.   digitalWrite(C1, LOW);
     
259.   digitalWrite(C2, LOW);
     
260.   digitalWrite(D1, LOW);
     
261.   digitalWrite(D2, LOW);
     
262. }
     
263. void run_p()
     
264. { //后轴左转
     
265.   Serial.println("后轴左转---------------");
     
266.   delay(50);
     
267.   digitalWrite(A1, LOW);
     
268.   digitalWrite(A2, HIGH);
     
269.   digitalWrite(B1, HIGH);
     
270.   digitalWrite(B2, LOW);
     
271.   digitalWrite(C1, LOW);
     
272.   digitalWrite(C2, LOW);
     
273.   digitalWrite(D1, LOW);
     
274.   digitalWrite(D2, LOW);
     
275. }
     
276. void run_q()
     
277. { //前轴右转
     
278.   Serial.println("后轴左转---------------");
     
279.   delay(50);
     
280.   digitalWrite(A1, LOW);
     
281.   digitalWrite(A2, LOW);
     
282.   digitalWrite(B1, LOW);
     
283.   digitalWrite(B2, LOW);
     
284.   digitalWrite(C1, LOW);
     
285.   digitalWrite(C2, HIGH);
     
286.   digitalWrite(D1, HIGH);
     
287.   digitalWrite(D2, LOW);
     
288. }
     
289. void run_r()
     
290. { //前轴左转
     
291.   Serial.println("后轴左转---------------");
     
292.   delay(50);
     
293.   digitalWrite(A1, LOW);
     
294.   digitalWrite(A2, LOW);
     
295.   digitalWrite(B1, LOW);
     
296.   digitalWrite(B2, LOW);
     
297.   digitalWrite(C1, HIGH);
     
298.   digitalWrite(C2, LOW);
     
299.   digitalWrite(D1, LOW);
     
300.   digitalWrite(D2, HIGH);
     
301. }
     
302. void run_s()
     
303. { //测试
     
304.   Serial.println("测试A轮子正转");
     
305.   delay(50);
     
306.   digitalWrite(A1, HIGH);
     
307.   digitalWrite(A2, LOW);
     
308.   delay(500);
     
309.   digitalWrite(A1, LOW);
     
310.   digitalWrite(A2, LOW);
     
311.   Serial.println("测试A轮子反转");
     
312.   delay(100);
     
313.   digitalWrite(A1, LOW);
     
314.   digitalWrite(A2, HIGH);
     
315.   delay(500);
     
316.   digitalWrite(A1, LOW);
     
317.   digitalWrite(A2, LOW);
     
318.   delay(50);
     
319.   Serial.println("测试B轮子正转");
     
320.   digitalWrite(B1, HIGH);
     
321.   digitalWrite(B2, LOW);
     
322.   delay(500);
     
323.   digitalWrite(B1, LOW);
     
324.   digitalWrite(B2, LOW);
     
325.   delay(100);
     
326.   Serial.println("测试B轮子反转");
     
327.   digitalWrite(B1, LOW);
     
328.   digitalWrite(B2, HIGH);
     
329.   delay(500);
     
330.   digitalWrite(B1, LOW);
     
331.   digitalWrite(B2, LOW);
     
332.   Serial.println("测试C轮子正转");
     
333.   digitalWrite(C1, HIGH);
     
334.   digitalWrite(C2, LOW);
     
335.   delay(500);
     
336.   digitalWrite(C1, LOW);
     
337.   digitalWrite(C2, LOW);
     
338.   delay(100);
     
339.   Serial.println("测试C轮子反转");
     
340.   digitalWrite(C1, LOW);
     
341.   digitalWrite(C2, HIGH);
     
342.   delay(500);
     
343.   digitalWrite(C1, LOW);
     
344.   digitalWrite(C2, LOW);
     
345.   Serial.println("测试D轮子正转");
     
346.   digitalWrite(D1, HIGH);
     
347.   digitalWrite(D2, LOW);
     
348.   delay(500);
     
349.   digitalWrite(D1, LOW);
     
350.   digitalWrite(D2, LOW);
     
351.   delay(100);
     
352.   Serial.println("测试D轮子反转");
     
353.   digitalWrite(D1, LOW);
     
354.   digitalWrite(D2, HIGH);
     
355.   delay(500);
     
356.   digitalWrite(D1, LOW);
     
357.   digitalWrite(D2, LOW);
     
358. }
     
359. void run_t()
     
360. { //右后
     
361.   Serial.println("右后---------------");
     
362.   delay(50);
     
363.   digitalWrite(A1, HIGH);
     
364.   digitalWrite(A2, LOW);
     
365.   digitalWrite(B1, HIGH);
     
366.   digitalWrite(B2, LOW);
     
367.   digitalWrite(C1, HIGH);
     
368.   digitalWrite(C2, LOW);
     
369.   digitalWrite(D1, HIGH);
     
370.   digitalWrite(D2, LOW);
     
371. }
     
372. void dataRead(const String & data)
     
373. {
     
374.   BLINKER_LOG("Blinker readString: ", data);
     
375.   Blinker.vibrate();
     
376.   uint32_t BlinkerTime = millis();
     
377.   Blinker.print("millis", BlinkerTime);
     
378. }
     
379. void btn1_callback(const String & state)     //点按键上触发
     
380. {
     
381.   BLINKER_LOG("get button state: ", state);
     
382.   if (state == "press") { //按下按键上
     
383.     run_a();//执行方法run_a()的方法也就是上面的上 ,按住按键btn-a时就一直执行上的方法也就是一直前进, 下面都是一样的道理
     
384.   }
     
385.   else if (state == "pressup") {
     
386.     stop_run(); //松开按键上 全部低电平也就是停止
     
387.   }
     
388. }
     
389. void btn2_callback(const String & state)   //点按键下触发
     
390. {
     
391.   BLINKER_LOG("get button state: ", state);
     
392.   if (state == "press") {   //按下按键下
     
393.     run_b(); // 执行方法run_b()的方法也就是上面的上 ,按住按键btn-b时就一直执行上的方法也就是一直后退,下面都是一样的道理,一下类似只是方向不一样
     
394.   }
     
395.   else if (state == "pressup") {
     
396.     stop_run(); //松开按键下 停止
     
397.   }
     
398. }
     
399. void btn3_callback(const String & state)
     
400. {
     
401.   BLINKER_LOG("get button state: ", state);
     
402.   if (state == "press") {
     
403.     run_c(); //左
     
404. }
     
405.   else if (state == "pressup") {
     
406.     stop_run();
     
407.   }
     
408. }
     
409. void btn4_callback(const String & state)
     
410. {
     
411.   BLINKER_LOG("get button state: ", state);
     
412.   if (state == "press") {
     
413.     run_d();//右
     
414.   }
     
415.   else if (state == "pressup") {
     
416.     stop_run();
     
417.   }
     
418. }
     
419. void btn5_callback(const String & state)
     
420. {
     
421.   BLINKER_LOG("get button state: ", state);
     
422.   if (state == "press") {
     
423.     run_e();//左前
     
424.   }
     
425.   else if (state == "pressup") {
     
426.     stop_run();
     
427.   }
     
428. }
     
429. void btn6_callback(const String & state)
     
430. {
     
431.   BLINKER_LOG("get button state: ", state);
     
432.   if (state == "press") {
     
433.     run_f();//右前
     
434.   }
     
435.   else if (state == "pressup") {
     
436.     stop_run();
     
437.   }
     
438. }
     
439. void btn7_callback(const String & state)
     
440. {
     
441.   BLINKER_LOG("get button state: ", state);
     
442.   if (state == "press") {
     
443.     run_g();//左后
     
444.   }
     
445.   else if (state == "pressup") {
     
446.     stop_run();
     
447.   }
     
448. }
     
449. void btn8_callback(const String & state)
     
450. {
     
451.   BLINKER_LOG("get button state: ", state);
     
452.   if (state == "press") {
     
453.     run_h();//右后
     
454.   }
     
455.   else if (state == "pressup") {
     
456.     stop_run();
     
457.   }
     
458. }
     
459. void btn9_callback(const String & state)
     
460. {
     
461.   BLINKER_LOG("get button state: ", state);
     
462.   if (state == "press") {
     
463.     run_i();//原地右旋转
     
464.   }
     
465.   else if (state == "pressup") {
     
466.     stop_run();
     
467.   }
     
468. }
     
469. void btn10_callback(const String & state)
     
470. {
     
471.   BLINKER_LOG("get button state: ", state);
     
472.   if (state == "press") {
     
473.     run_j();//原地左旋转
     
474.   }
     
475.   else if (state == "pressup") {
     
476.     stop_run();
     
477.   }
     
478. }
     
479. void btn11_callback(const String & state)
     
480. {
     
481.   BLINKER_LOG("get button state: ", state);
     
482.   if (state == "press") {
     
483.     run_k();//右转
     
484.   }
     
485.   else if (state == "pressup") {
     
486.     stop_run();
     
487.   }
     
488. }
     
489. void btn12_callback(const String & state)
     
490. {
     
491.   BLINKER_LOG("get button state: ", state);
     
492.   if (state == "press") {
     
493.     run_l();//左转
     
494.   }
     
495.   else if (state == "pressup") {
     
496.     stop_run();
     
497.   }
     
498. }
     
499. void btn13_callback(const String & state)
     
500. {
     
501.   BLINKER_LOG("get button state: ", state);
     
502.   if (state == "press") {
     
503.     run_m();//右后转
     
504.   }
     
505.   else if (state == "pressup") {
     
506.     stop_run();
     
507.   }
     
508. }
     
509. void btn14_callback(const String & state)
     
510. {
     
511.   BLINKER_LOG("get button state: ", state);
     
512.   if (state == "press") {
     
513.     run_n();//左后转
     
514.   }
     
515.   else if (state == "pressup") {
     
516.     stop_run();
     
517.   }
     
518. }
     
519. void btn15_callback(const String & state)
     
520. {
     
521.   BLINKER_LOG("get button state: ", state);
     
522.   if (state == "press") {
     
523.     run_o();//后轴右转
     
524.   }
     
525.   else if (state == "pressup") {
     
526.     stop_run();
     
527.   }
     
528. }
     
529. void btn16_callback(const String & state)
     
530. {
     
531.   BLINKER_LOG("get button state: ", state);
     
532.   if (state == "press") {
     
533.     run_p();//后轴左转
     
534.   }
     
535.   else if (state == "pressup") {
     
536.     stop_run();
     
537.   }
     
538. }
     
539. void btn17_callback(const String & state)
     
540. {
     
541.   BLINKER_LOG("get button state: ", state);
     
542.   if (state == "press") {
     
543.     run_q();//前轴右转
     
544.   }
     
545.   else if (state == "pressup") {
     
546.     stop_run();
     
547.   }
     
548. }
     
549. void btn18_callback(const String & state)
     
550. {
     
551.   BLINKER_LOG("get button state: ", state);
     
552.   if (state == "press") {
     
553.     run_r();//前轴左转
     
554.   }
     
555.   else if (state == "pressup") {
     
556.     stop_run();
     
557.   }
     
558. }
     
559. void btn19_callback(const String & state)
     
560. {
     
561.   BLINKER_LOG("get button state: ", state);
     
562.   if (state == "press") {
     
563.     run_s();//测试 测试每个轮子 从ＡBCD依次正传500毫秒反正500毫秒 此方法也是测试轮子接线和IN的接线  方便调整
     
564.   }
     
565.   else if (state == "pressup") {
     
566.     stop_run();
     
567.   }
     
568. }
     
569. void btn20_callback(const String & state)
     
570. {
     
571.   BLINKER_LOG("get button state: ", state);
     
572.   if (state == "press") {
     
573.     run_t();//右后
     
574.   }
     
575. }
     
576. // 心跳包函数
     
577. void heartbeat() {
     
578.   //Blinker readString: {"ran-a":177}
     
579. }
     
580. void setup()
     
581. {
     
582.   Serial.begin(115200);
     
583.   BLINKER_DEBUG.stream(Serial);
     
584.   BLINKER_DEBUG.debugAll();
     
585.   //定义引脚为输出
     
586.   pinMode(A1, OUTPUT);
     
587.   pinMode(A2, OUTPUT);
     
588.   pinMode(B1, OUTPUT);
     
589.   pinMode(B2, OUTPUT);
     
590.   pinMode(C1, OUTPUT);
     
591.   pinMode(C2, OUTPUT);
     
592.   pinMode(D1, OUTPUT);
     
593.   pinMode(D2, OUTPUT);
     
594.   //初始化引脚
     
595.   digitalWrite(A1, LOW);
     
596.   digitalWrite(A2, LOW);
     
597.   digitalWrite(B1, LOW);
     
598.   digitalWrite(B2, LOW);
     
599.   digitalWrite(C1, LOW);
     
600.   digitalWrite(C2, LOW);
     
601.   digitalWrite(D1, LOW);
     
602.   digitalWrite(D2, LOW);
     
603.   Blinker.begin(auth, ssid, pswd);
     
604.   Blinker.attachData(dataRead);
     
605.   But1.attach(btn1_callback);
     
606.   But2.attach(btn2_callback);
     
607.   But3.attach(btn3_callback);
     
608.   But4.attach(btn4_callback);
     
609.   But5.attach(btn5_callback);
     
610.   But6.attach(btn6_callback);
     
611.   But7.attach(btn7_callback);
     
612.   But8.attach(btn8_callback);
     
613.   But9.attach(btn9_callback);
     
614.   But10.attach(btn10_callback);
     
615.   But11.attach(btn11_callback);
     
616.   But12.attach(btn12_callback);
     
617.   But13.attach(btn13_callback);
     
618.   But14.attach(btn14_callback);
     
619.   But15.attach(btn15_callback);
     
620.   But16.attach(btn16_callback);
     
621.   But17.attach(btn17_callback);
     
622.   But18.attach(btn18_callback);
     
623.   But19.attach(btn19_callback);
     
624.   But20.attach(btn20_callback);
     
625.   //注册一个心跳包
     
626.   Blinker.attachHeartbeat(heartbeat);
     
627. }
     
628. void loop()
     
629. {
     
630.   Blinker.run();
     
631. }
     

复制代码

[/pre]
--------------------------[新增功能]----------------------

新增  利用避障,雷达  妈妈在也不怕小车撞坏了
删除 403和404行代码出现网页代码 导致烧写失败。删除即可

-----------------------------------------------------------
功能慢慢跟新中新增代码晚一点补上（突然有事）
[pre]//esp32
#define BLINKER_WIFI
#include <Blinker.h>
#include <ESP32Servo.h>
//资料链接：https://pan.baidu.com/s/14D4XDXt986y_RJ1lYNFvXw
//提取码：flgj
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
//------需要修改为自己的信息----------------
char auth[] = "XXXXXXXXXX";//自己app的key
char ssid[] = "gyq";//自己的wifi名字
char pswd[] = "762340778";//WIFI密码
int distance  ;
int LD ; //雷达
int JL = 30 ; //距离30厘米
Servo myservo;  //创建伺服对象以控制服务
int pos = 0; //变量来存储伺服位置
int servoPin = 26;//雷达舵机引脚
//引脚
#define A_1 23 //这里定义引脚 主要是为了可以在多个esp型号上可用方便修改, A_1对应引脚16  只需改这里 方向动作就不用去修改方便迁移
#define A_2 22
#define B_1 21
#define B_2 19
#define C_1 18
#define C_2 5
#define D_1 4
#define D_2 2
#define PWM 13
#define trig 27
#define echo 14
#define fl    15//红外避障
#define LED1   12//红外避障灯
#define LED2   13//红外避障灯
#define MG1   25//
#define MG2   33//
//const int PWM = run-a.value;
//------------------------------------------------------------------------------------------------
BlinkerButton  But1("btn-a");//这行代码就是But1绑定app山的btn-a 这个按键
BlinkerButton  But2("btn-b");
BlinkerButton  But3("btn-c");
BlinkerButton  But4("btn-d");
BlinkerButton  But5("btn-e");
BlinkerButton  But6("btn-f");
BlinkerButton  But7("btn-g");
BlinkerButton  But8("btn-h");
BlinkerButton  But9("btn-i");
BlinkerButton  But10("btn-j");
BlinkerButton  But11("btn-k");
BlinkerButton  But12("btn-l");
BlinkerButton  But13("btn-m");
BlinkerButton  But14("btn-n");
BlinkerButton  But15("btn-o");
BlinkerButton  But16("btn-p");
BlinkerButton  But17("btn-q");
BlinkerButton  But18("btn-r");
BlinkerButton  But19("btn-s");
BlinkerButton  But20("btn-t");
BlinkerSlider   S1("run-a");
BlinkerText   Txt1("tex-a");
//---------------------------
//小车十八方向控制
//------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------
void stop_run()
{ //停止
  Serial.println("停止---------------");
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_a()
{ //上
  Serial.println("前进---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_b()
{ //下
  Serial.println("后退---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_c()
{ //左
  Serial.println("左---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_d()
{ //右
  Serial.println("右---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_e()
{ //左前
  Serial.println("左前---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_f()
{ //右前
  Serial.println("右前---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_g()
{ //左后
  Serial.println("左后---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_h()
{ //右后
  Serial.println("右后---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_i()
{ //原地右旋转
  Serial.println("原地右旋转---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_j()
{ //原地左旋转
  Serial.println("原地左旋转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_k()
{ //右转
  Serial.println("右前转---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_l()
{ //左转
  Serial.println("左前转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_m()
{ //右后转
  Serial.println("右后转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_n()
{ //左后转
  Serial.println("左后转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_o()
{ //后轴右转
  Serial.println("后轴右转---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_p()
{ //后轴左转
  Serial.println("后轴左转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_q()
{ //前轴右转
  Serial.println("后轴左转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}
void run_r()
{ //前轴左转
  Serial.println("后轴左转---------------");
  delay(50);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
}
void run_s()
{ //测试
  Serial.println("测试A轮子正转");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  delay(500);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  Serial.println("测试A轮子反转");
  delay(100);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, HIGH);
  delay(500);
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  delay(50);
  Serial.println("测试B轮子正转");
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  delay(500);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  delay(100);
  Serial.println("测试B轮子反转");
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, HIGH);
  delay(500);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  Serial.println("测试C轮子正转");
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  delay(500);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  delay(100);
  Serial.println("测试C轮子反转");
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, HIGH);
  delay(500);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  Serial.println("测试D轮子正转");
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
  delay(500);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
  delay(100);
  Serial.println("测试D轮子反转");
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, HIGH);
  delay(500);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
}
void run_t()
{ //右后
  Serial.println("右后---------------");
  delay(50);
  digitalWrite(A_1, HIGH);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, HIGH);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, HIGH);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, HIGH);
  digitalWrite(D_2, LOW);
}

void leida()//雷达测距方法
{
  digitalWrite(trig, LOW);
  delayMicroseconds(20);
  digitalWrite(trig, HIGH);
  delayMicroseconds(20);
  digitalWrite(trig, LOW);                    //发一个20US的高脉冲去触发Trig
  distance  = pulseIn(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1/2声速距离 3：计数时钟为1US

  Serial.print("距离: ");
  Serial.print(distance);
  Serial.println("cm");
  Serial.println("距离+++++++++++++++");
  Serial.println(".");
  Serial.println(".");
  Serial.println(".");
  Serial.println(".");
  Serial.print(distance);
  Serial.println("厘米");
  Serial.println(".");
  Serial.println(".");
  Serial.println(".");
  if (distance > JL) {
    Serial.println("j距离大于30厘米");

    digitalWrite(LED1, LOW);
    digitalWrite(LED2, LOW);
  }

  if (distance < JL) {
    digitalWrite(LED1, LOW);
    digitalWrite(LED2, HIGH);

    Serial.println("j距离小于30厘米");
    //------------------舵机----------
    delay(800);
    myservo.write(0);

    delay(800);

    myservo.write(60);
    delay(800);
    myservo.write(45);
    delay(800);

    myservo.write(90);
    delay(800);

    myservo.write(30);
    delay(800);
    myservo.write(120);
    delay(800);

    myservo.write(60);
    delay(800);

    myservo.write(120);
    delay(800);
    myservo.write(70);
    delay(800);
    myservo.write(0);
    //------------------舵机----------


  }
  else if (distance == JL) {
    Serial.println("j距离等于30厘米");
  }
  delay(20);                                   //单次测离完成后加20mS的延时再进行下次测量。防止近距离测量时，测量到上次余波，导致测量不准确。
  delay(1000);                                  //500mS测量一次
}










void dataRead(const String & data)
{
  BLINKER_LOG("Blinker readString: ", data);
  Blinker.vibrate();
  uint32_t BlinkerTime = millis();
  Blinker.print("millis", BlinkerTime);
}
void btn1_callback(const String & state)     //点按键上触发
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") { //按下按键上
    run_a();//执行方法run_a()的方法也就是上面的上 ,按住按键btn-a时就一直执行上的方法也就是一直前进, 下面都是一样的道理
  }
  else if (state == "pressup") {
    stop_run(); //松开按键上 全部低电平也就是停止
  }
}
void btn2_callback(const String & state)   //点按键下触发
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {   //按下按键下
    run_b(); // 执行方法run_b()的方法也就是上面的上 ,按住按键btn-b时就一直执行上的方法也就是一直后退,下面都是一样的道理,一下类似只是方向不一样
  }
  else if (state == "pressup") {
    stop_run(); //松开按键下 停止
  }
}
void btn3_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_c(); //左
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn4_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_d();//右
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn5_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_e();//左前
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn6_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_f();//右前
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn7_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_g();//左后
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn8_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_h();//右后
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn9_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_i();//原地右旋转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn10_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_j();//原地左旋转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn11_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_k();//右转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn12_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_l();//左转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn13_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_m();//右后转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn14_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_n();//左后转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn15_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_o();//后轴右转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn16_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_p();//后轴左转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn17_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_q();//前轴右转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn18_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_r();//前轴左转
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn19_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_s();//测试 测试每个轮子 从ＡBCD依次正传500毫秒反正500毫秒 此方法也是测试轮子接线和IN的接线  方便调整
  }
  else if (state == "pressup") {
    stop_run();
  }
}
void btn20_callback(const String & state)
{
  BLINKER_LOG("get button state: ", state);
  if (state == "press") {
    run_t();//右后
  }
}
// 心跳包函数
void heartbeat() {
  //Blinker readString: {"ran-a":177}
}
void setup()
{
  Serial.begin(115200);
  BLINKER_DEBUG.stream(Serial);
  BLINKER_DEBUG.debugAll();
  //定义引脚为输出
  pinMode(A_1, OUTPUT);
  pinMode(A_2, OUTPUT);
  pinMode(B_1, OUTPUT);
  pinMode(B_2, OUTPUT);
  pinMode(C_1, OUTPUT);
  pinMode(C_2, OUTPUT);
  pinMode(D_1, OUTPUT);
  pinMode(D_2, OUTPUT);

  pinMode(echo, INPUT);
  pinMode(trig, OUTPUT);
  pinMode(fl, OUTPUT);//红外避障
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
pinMode(MG1, OUTPUT);
  pinMode(MG2, OUTPUT);


  //初始化引脚
  digitalWrite(A_1, LOW);
  digitalWrite(A_2, LOW);
  digitalWrite(B_1, LOW);
  digitalWrite(B_2, LOW);
  digitalWrite(C_1, LOW);
  digitalWrite(C_2, LOW);
  digitalWrite(D_1, LOW);
  digitalWrite(D_2, LOW);
  digitalWrite(LED1, LOW);
  digitalWrite(LED2, LOW);
  digitalWrite(MG1, HIGH);
  digitalWrite(MG2, LOW);
  Blinker.begin(auth, ssid, pswd);
  Blinker.attachData(dataRead);
  But1.attach(btn1_callback);
  But2.attach(btn2_callback);
  But3.attach(btn3_callback);
  But4.attach(btn4_callback);
  But5.attach(btn5_callback);
  But6.attach(btn6_callback);
  But7.attach(btn7_callback);
  But8.attach(btn8_callback);
  But9.attach(btn9_callback);
  But10.attach(btn10_callback);
  But11.attach(btn11_callback);
  But12.attach(btn12_callback);
  But13.attach(btn13_callback);
  But14.attach(btn14_callback);
  But15.attach(btn15_callback);
  But16.attach(btn16_callback);
  But17.attach(btn17_callback);
  But18.attach(btn18_callback);
  But19.attach(btn19_callback);
  But20.attach(btn20_callback);
  //注册一个心跳包
  Blinker.attachHeartbeat(heartbeat);
  //舵机1--------------------------------------
  // Allow allocation of all timers
  ESP32PWM::allocateTimer(0);
  ESP32PWM::allocateTimer(1);
  ESP32PWM::allocateTimer(2);
  ESP32PWM::allocateTimer(3);
  myservo.setPeriodHertz(70);    // standard 50 hz servo
  myservo.attach(servoPin, 1000, 2000); // attaches the servo on pin 23 to the servo object
  // using default min/max of 1000us and 2000us
  // different servos may require different min/max settings
  // for an accurate 0 to 180 sweep
  //舵机1--------------------------------------


}
void loop()
{
  Blinker.run();
  leida();


}[/pre]

gyq-svip

自己占个宝座

gyq-svip

所有文件全部在这 接线线

lucq7896

用什么配件？接线图。 小白一枚。

gyq-svip

lucq7896 发表于 2021-8-7 17:45
用什么配件？接线图。 小白一枚。

esp8266  和L298N电机驱动

Sunny金牌

大佬 我问下 #define PWM 15

Sunny金牌

大佬 我问下 #define PWM 15，接线图没有接东西 怎么pwm调速呀

gyq-svip

Sunny金牌 发表于 2021-10-10 21:51
大佬 我问下 #define PWM 15，接线图没有接东西 怎么pwm调速呀

这速度有很多种方式 我还没想好觉得用那种方式控制速度  还在测试那个效果好

宇之枫海云

刘明，有空鼓捣