v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式
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@@ -0,0 +1,158 @@
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#include "XboxControllerNotificationParser.h"
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#define XBOX_CONTROLLER_INDEX_BUTTONS_DIR 12
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#define XBOX_CONTROLLER_INDEX_BUTTONS_MAIN 13
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#define XBOX_CONTROLLER_INDEX_BUTTONS_CENTER 14
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#define XBOX_CONTROLLER_INDEX_BUTTONS_SHARE 15
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XboxControllerNotificationParser::XboxControllerNotificationParser() {
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btnA = btnB = btnX = btnY = false;
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btnShare = btnStart = btnSelect = btnXbox = false;
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btnLB = btnRB = btnLS = btnRS = false;
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btnDirUp = btnDirLeft = btnDirRight = btnDirDown = false;
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joyLHori = joyLVert = joyRHori = joyRVert = 0xffff / 2;
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trigLT = trigRT = 0;
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}
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uint8_t XboxControllerNotificationParser::update(uint8_t* data, size_t length) {
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if (length != expectedDataLen) {
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return XBOX_CONTROLLER_ERROR_INVALID_LENGTH;
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}
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for (uint8_t i = 0; i < expectedDataLen; i++)
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{
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rx_buf[i]=data[i];
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}
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uint8_t btnBits;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_MAIN];
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btnA = btnBits & 0b00000001;
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btnB = btnBits & 0b00000010;
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btnX = btnBits & 0b00001000;
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btnY = btnBits & 0b00010000;
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btnLB = btnBits & 0b01000000;
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btnRB = btnBits & 0b10000000;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_CENTER];
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btnSelect = btnBits & 0b00000100;
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btnStart = btnBits & 0b00001000;
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btnXbox = btnBits & 0b00010000;
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btnLS = btnBits & 0b00100000;
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btnRS = btnBits & 0b01000000;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_SHARE];
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btnShare = btnBits & 0b00000001;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_DIR];
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btnDirUp = btnBits == 1 || btnBits == 2 || btnBits == 8;
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btnDirRight = 2 <= btnBits && btnBits <= 4;
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btnDirDown = 4 <= btnBits && btnBits <= 6;
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btnDirLeft = 6 <= btnBits && btnBits <= 8;
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joyLHori = (uint16_t)data[0] | ((uint16_t)data[1] << 8);
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joyLVert = (uint16_t)data[2] | ((uint16_t)data[3] << 8);
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joyRHori = (uint16_t)data[4] | ((uint16_t)data[5] << 8);
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joyRVert = (uint16_t)data[6] | ((uint16_t)data[7] << 8);
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trigLT = (uint16_t)data[8] | ((uint16_t)data[9] << 8);
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trigRT = (uint16_t)data[10] | ((uint16_t)data[11] << 8);
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return 0;
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}
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void XboxControllerNotificationParser::convertU16TU8Arr(uint16_t vU16,
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uint8_t* data) {
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data[0] = vU16 & 0xff;
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data[1] = vU16 >> 8;
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}
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uint8_t XboxControllerNotificationParser::toArr(uint8_t* data, size_t length) {
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if (length < expectedDataLen) {
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return XBOX_CONTROLLER_ERROR_INVALID_LENGTH;
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}
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convertU16TU8Arr(joyLHori, &data[0]);
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convertU16TU8Arr(joyLVert, &data[2]);
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convertU16TU8Arr(joyRHori, &data[4]);
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convertU16TU8Arr(joyRVert, &data[6]);
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convertU16TU8Arr(trigLT, &data[8]);
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convertU16TU8Arr(trigRT, &data[10]);
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{
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uint8_t btnBits = 0;
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if (btnA) btnBits |= 0b00000001;
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if (btnB) btnBits |= 0b00000010;
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if (btnX) btnBits |= 0b00001000;
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if (btnY) btnBits |= 0b00010000;
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if (btnLB) btnBits |= 0b01000000;
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if (btnRB) btnBits |= 0b10000000;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_MAIN] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnSelect) btnBits |= 0b00000100;
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if (btnStart) btnBits |= 0b00001000;
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if (btnXbox) btnBits |= 0b00010000;
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if (btnLS) btnBits |= 0b00100000;
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if (btnRS) btnBits |= 0b01000000;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_CENTER] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnShare) btnBits |= 0b00000001;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_SHARE] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnDirUp) {
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if (btnDirRight) {
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btnBits = 2;
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} else if (btnDirLeft) {
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btnBits = 8;
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} else {
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btnBits = 1;
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}
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} else if (btnDirDown) {
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if (btnDirRight) {
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btnBits = 4;
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} else if (btnDirLeft) {
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btnBits = 6;
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} else {
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btnBits = 5;
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}
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} else {
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if (btnDirRight) {
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btnBits = 3;
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} else if (btnDirLeft) {
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btnBits = 7;
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} else {
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btnBits = 0;
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}
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}
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data[XBOX_CONTROLLER_INDEX_BUTTONS_DIR] = btnBits;
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}
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return 0;
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}
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String XboxControllerNotificationParser::toString() {
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// clang-format off
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String str = String("") +
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"btnY: " + String(btnY) + " " +
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"btnX: " + String(btnX) + " " +
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"btnB: " + String(btnB) + " " +
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"btnA: " + String(btnA) + " " +
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"btnLB: " + String(btnLB) + " " +
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"btnRB: " + String(btnRB) + "\n" +
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"btnSelect: " + String(btnSelect) + " " +
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"btnStart: " + String(btnStart) + " " +
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"btnXbox: " + String(btnXbox) + " " +
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"btnShare: " + String(btnShare) + " " +
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"btnLS: " + String(btnLS) + " " +
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"btnRS: " + String(btnRS) + "\n" +
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"btnDirUp: " + String(btnDirUp) + " " +
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"btnDirRight: " + String(btnDirRight) + " " +
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"btnDirDown: " + String(btnDirDown) + " " +
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"btnDirLeft: " + String(btnDirLeft) + "\n"
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"joyLHori: " + String(joyLHori) + "\n" +
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"joyLVert: " + String(joyLVert) + "\n" +
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"joyRHori: " + String(joyRHori) + "\n" +
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"joyRVert: " + String(joyRVert) + "\n" +
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"trigLT: " + String(trigLT) + "\n" +
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"trigRT: " + String(trigRT) + "\n";
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// clang-format on
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return str;
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}
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@@ -0,0 +1,36 @@
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#ifndef __XBOX_CONTROLLER_NOTIFICATION_PARSER_H__
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#define __XBOX_CONTROLLER_NOTIFICATION_PARSER_H__
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#include <Arduino.h>
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#define XBOX_CONTROLLER_ERROR_INVALID_LENGTH 1
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class XboxControllerNotificationParser {
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public:
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XboxControllerNotificationParser();
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bool btnA, btnB, btnX, btnY;
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bool btnShare, btnStart, btnSelect, btnXbox;
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// side top button
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bool btnLB, btnRB;
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// button on joy stick
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bool btnLS, btnRS;
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bool btnDirUp, btnDirLeft, btnDirRight, btnDirDown;
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uint16_t joyLHori = maxJoy / 2;
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uint16_t joyLVert = maxJoy / 2;
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uint16_t joyRHori = maxJoy / 2;
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uint16_t joyRVert = maxJoy / 2;
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uint16_t trigLT, trigRT;
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uint8_t update(uint8_t* data, size_t length);
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uint8_t toArr(uint8_t* data, size_t length);
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String toString();
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static const size_t expectedDataLen = 16;
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static const uint16_t maxJoy = 0xffff;
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static const uint16_t maxTrig = 0x3ff;
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uint8_t rx_buf[expectedDataLen];
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private:
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static void convertU16TU8Arr(uint16_t vU16, uint8_t* data);
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};
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#endif
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@@ -0,0 +1,553 @@
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#pragma once
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#include <NimBLEDevice.h>
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#include <XboxControllerNotificationParser.h>
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#include <XboxSeriesXHIDReportBuilder_asukiaaa.hpp>
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// #define XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL Serial
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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const unsigned long printInterval = 100UL;
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#endif
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namespace XboxSeriesXControllerESP32_asukiaaa {
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static NimBLEUUID uuidServiceGeneral("1801");
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static NimBLEUUID uuidServiceBattery("180f");
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static NimBLEUUID uuidServiceHid("1812");
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static NimBLEUUID uuidCharaReport("2a4d");
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static NimBLEUUID uuidCharaPnp("2a50");
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static NimBLEUUID uuidCharaHidInformation("2a4a");
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static NimBLEUUID uuidCharaPeripheralAppearance("2a01");
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static NimBLEUUID uuidCharaPeripheralControlParameters("2a04");
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static NimBLEAdvertisedDevice* advDevice;
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static NimBLEClient* pConnectedClient = nullptr;
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static const uint16_t controllerAppearance = 964;
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static const String controllerManufacturerDataNormal = "060000";
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static const String controllerManufacturerDataSearching = "0600030080";
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enum class ConnectionState : uint8_t {
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Connected = 0,
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WaitingForFirstNotification = 1,
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Found = 2,
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Scanning = 3,
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};
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class ClientCallbacks : public NimBLEClientCallbacks {
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public:
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ConnectionState* pConnectionState;
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ClientCallbacks(ConnectionState* pConnectionState) {
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this->pConnectionState = pConnectionState;
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}
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void onConnect(NimBLEClient* pClient) {
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Connected");
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#endif
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*pConnectionState = ConnectionState::WaitingForFirstNotification;
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// pClient->updateConnParams(120,120,0,60);
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};
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void onDisconnect(NimBLEClient* pClient) {
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print(
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pClient->getPeerAddress().toString().c_str());
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(" Disconnected");
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#endif
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*pConnectionState = ConnectionState::Scanning;
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pConnectedClient = nullptr;
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};
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/********************* Security handled here **********************
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****** Note: these are the same return values as defaults ********/
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uint32_t onPassKeyRequest() {
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// Serial.println("Client Passkey Request");
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/** return the passkey to send to the server */
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return 0;
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};
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bool onConfirmPIN(uint32_t pass_key) {
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// Serial.print("The passkey YES/NO number: ");
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// Serial.println(pass_key);
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/** Return false if passkeys don't match. */
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return true;
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};
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/** Pairing process complete, we can check the results in ble_gap_conn_desc */
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void onAuthenticationComplete(ble_gap_conn_desc* desc) {
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// Serial.println("onAuthenticationComplete");
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if (!desc->sec_state.encrypted) {
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// Serial.println("Encrypt connection failed - disconnecting");
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/** Find the client with the connection handle provided in desc */
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NimBLEDevice::getClientByID(desc->conn_handle)->disconnect();
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return;
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}
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};
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};
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/** Define a class to handle the callbacks when advertisments are received */
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class AdvertisedDeviceCallbacks : public NimBLEAdvertisedDeviceCallbacks {
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public:
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AdvertisedDeviceCallbacks(String strTargetDeviceAddress,
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ConnectionState* pConnectionState) {
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if (strTargetDeviceAddress != "") {
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this->targetDeviceAddress =
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new NimBLEAddress(strTargetDeviceAddress.c_str());
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}
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this->pConnectionState = pConnectionState;
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}
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private:
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NimBLEAddress* targetDeviceAddress = nullptr;
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ConnectionState* pConnectionState;
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void onResult(NimBLEAdvertisedDevice* advertisedDevice) {
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int rssi = advertisedDevice->getRSSI();
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if(rssi > -45)
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{
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Serial.printf("Strong device found: address=%s, RSSI=%d\n",
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advertisedDevice->getAddress().toString().c_str(), rssi);
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}
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print("Advertised Device found: ");
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
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advertisedDevice->toString().c_str());
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(
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"name:%s, address:%s\n", advertisedDevice->getName().c_str(),
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advertisedDevice->getAddress().toString().c_str());
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(
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"uuidService:%s\n",
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advertisedDevice->haveServiceUUID()
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? advertisedDevice->getServiceUUID().toString().c_str()
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: "none");
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#endif
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char* pHex = NimBLEUtils::buildHexData(
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nullptr, (uint8_t*)advertisedDevice->getManufacturerData().data(),
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advertisedDevice->getManufacturerData().length());
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if ((targetDeviceAddress != nullptr &&
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advertisedDevice->getAddress().equals(*targetDeviceAddress)) ||
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(targetDeviceAddress == nullptr &&
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advertisedDevice->getAppearance() == controllerAppearance &&
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(strcmp(pHex, controllerManufacturerDataNormal.c_str()) == 0 ||
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strcmp(pHex, controllerManufacturerDataSearching.c_str()) == 0) &&
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advertisedDevice->getServiceUUID().equals(uuidServiceHid)))
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// if (advertisedDevice->isAdvertisingService(uuidServiceHid))
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{
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Found target");
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#endif
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/** stop scan before connecting */
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// NimBLEDevice::getScan()->stop();
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/** Save the device reference in a global for the client to use*/
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*pConnectionState = ConnectionState::Found;
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advDevice = advertisedDevice;
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}
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};
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};
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class Core {
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public:
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Core(String targetDeviceAddress = "") {
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this->advDeviceCBs =
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new AdvertisedDeviceCallbacks(targetDeviceAddress, &connectionState);
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this->clientCBs = new ClientCallbacks(&connectionState);
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}
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AdvertisedDeviceCallbacks* advDeviceCBs;
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ClientCallbacks* clientCBs;
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uint8_t battery = 0;
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static const int deviceAddressLen = 6;
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uint8_t deviceAddressArr[deviceAddressLen];
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void begin() {
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NimBLEDevice::setScanFilterMode(CONFIG_BTDM_SCAN_DUPL_TYPE_DEVICE);
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// NimBLEDevice::setScanDuplicateCacheSize(200);
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NimBLEDevice::init("");
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NimBLEDevice::setOwnAddrType(BLE_OWN_ADDR_PUBLIC);
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NimBLEDevice::setSecurityAuth(true, false, false);
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NimBLEDevice::setPower(ESP_PWR_LVL_P9); /* +9db */
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}
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void writeHIDReport(uint8_t* dataArr, size_t dataLen) {
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if (pConnectedClient == nullptr) {
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("no connnected client");
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#endif
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return;
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}
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NimBLEClient* pClient = pConnectedClient;
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auto pService = pClient->getService(uuidServiceHid);
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(pService->toString().c_str());
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#endif
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for (auto pChara : *pService->getCharacteristics()) {
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if (pChara->canWrite()) {
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#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
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"canWrite " + String(pChara->canWrite()));
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XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
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pChara->toString().c_str());
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writeWithComment(pChara, dataArr, dataLen);
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#else
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pChara->writeValue(dataArr, dataLen, false);
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#endif
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}
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}
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}
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void writeHIDReport(
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const XboxSeriesXHIDReportBuilder_asukiaaa::ReportBase& repo) {
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writeHIDReport((uint8_t*)repo.arr8t, repo.arr8tLen);
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}
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void writeHIDReport(
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const XboxSeriesXHIDReportBuilder_asukiaaa::ReportBeforeUnion&
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repoBeforeUnion) {
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XboxSeriesXHIDReportBuilder_asukiaaa::ReportBase repo;
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repo.v = repoBeforeUnion;
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writeHIDReport((uint8_t*)repo.arr8t, repo.arr8tLen);
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}
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void onLoop() {
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if (!isConnected()) {
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if (advDevice != nullptr) {
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auto connectionResult = connectToServer(advDevice);
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if (!connectionResult || !isConnected()) {
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NimBLEDevice::deleteBond(advDevice->getAddress());
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++countFailedConnection;
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// reset();
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connectionState = ConnectionState::Scanning;
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} else {
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countFailedConnection = 0;
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}
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advDevice = nullptr;
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} else if (!isScanning()) {
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// reset();
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startScan();
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}
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}
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}
|
||||
|
||||
String buildDeviceAddressStr() {
|
||||
char buffer[18];
|
||||
auto addr = deviceAddressArr;
|
||||
snprintf(buffer, sizeof(buffer), "%02x:%02x:%02x:%02x:%02x:%02x", addr[5],
|
||||
addr[4], addr[3], addr[2], addr[1], addr[0]);
|
||||
return String(buffer);
|
||||
}
|
||||
|
||||
void startScan() {
|
||||
connectionState = ConnectionState::Scanning;
|
||||
auto pScan = NimBLEDevice::getScan();
|
||||
// pScan->clearResults();
|
||||
// pScan->clearDuplicateCache();
|
||||
pScan->setDuplicateFilter(false);
|
||||
pScan->setAdvertisedDeviceCallbacks(advDeviceCBs);
|
||||
// pScan->setActiveScan(true);
|
||||
pScan->setInterval(97);
|
||||
pScan->setWindow(97);
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Start scan");
|
||||
#endif
|
||||
// assign scanCompleteCB to scan on other thread
|
||||
pScan->start(scanTime, &Core::scanCompleteCB, false);
|
||||
}
|
||||
|
||||
XboxControllerNotificationParser xboxNotif;
|
||||
|
||||
bool isWaitingForFirstNotification() {
|
||||
return connectionState == ConnectionState::WaitingForFirstNotification;
|
||||
}
|
||||
bool isConnected() {
|
||||
return connectionState == ConnectionState::WaitingForFirstNotification ||
|
||||
connectionState == ConnectionState::Connected;
|
||||
}
|
||||
unsigned long getReceiveNotificationAt() { return receivedNotificationAt; }
|
||||
uint8_t getCountFailedConnection() { return countFailedConnection; }
|
||||
|
||||
private:
|
||||
ConnectionState connectionState = ConnectionState::Scanning;
|
||||
unsigned long receivedNotificationAt = 0;
|
||||
uint32_t scanTime = 4; /** 0 = scan forever */
|
||||
uint8_t countFailedConnection = 0;
|
||||
uint8_t retryCountInOneConnection = 3;
|
||||
unsigned long retryIntervalMs = 100;
|
||||
NimBLEClient* pClient = nullptr;
|
||||
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
static void writeWithComment(NimBLERemoteCharacteristic* pChara,
|
||||
uint8_t* data, size_t len) {
|
||||
Serial.println("send(print from addr 0) ");
|
||||
for (int i = 0; i < len; ++i) {
|
||||
Serial.print(data[i]);
|
||||
Serial.print(" ");
|
||||
}
|
||||
if (pChara->writeValue(data, len, true)) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("suceeded in writing");
|
||||
} else {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("failed writing");
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
static void readAndPrint(NimBLERemoteCharacteristic* pChara) {
|
||||
auto str = pChara->readValue();
|
||||
if (str.size() == 0) {
|
||||
str = pChara->readValue();
|
||||
}
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
printValue(str);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool isScanning() { return NimBLEDevice::getScan()->isScanning(); }
|
||||
|
||||
// void reset() {
|
||||
// NimBLEDevice::deinit(true);
|
||||
// delay(500);
|
||||
// begin();
|
||||
// delay(500);
|
||||
// }
|
||||
|
||||
/** Handles the provisioning of clients and connects / interfaces with the
|
||||
* server */
|
||||
bool connectToServer(NimBLEAdvertisedDevice* advDevice) {
|
||||
NimBLEClient* pClient = nullptr;
|
||||
|
||||
/** Check if we have a client we should reuse first **/
|
||||
if (NimBLEDevice::getClientListSize()) {
|
||||
pClient = NimBLEDevice::getClientByPeerAddress(advDevice->getAddress());
|
||||
if (pClient) {
|
||||
pClient->connect();
|
||||
}
|
||||
}
|
||||
|
||||
/** No client to reuse? Create a new one. */
|
||||
if (!pClient) {
|
||||
if (NimBLEDevice::getClientListSize() >= NIMBLE_MAX_CONNECTIONS) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
"Max clients reached - no more connections available");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
pClient = NimBLEDevice::createClient();
|
||||
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("New client created");
|
||||
#endif
|
||||
|
||||
// default values
|
||||
// pClient->setConnectionParams(
|
||||
// BLE_GAP_INITIAL_CONN_ITVL_MIN, BLE_GAP_INITIAL_CONN_ITVL_MAX,
|
||||
// BLE_GAP_INITIAL_CONN_LATENCY, BLE_GAP_INITIAL_SUPERVISION_TIMEOUT,
|
||||
// 16, 16);
|
||||
// pClient->setConnectionParams(
|
||||
// BLE_GAP_INITIAL_CONN_ITVL_MIN, BLE_GAP_INITIAL_CONN_ITVL_MAX,
|
||||
// BLE_GAP_INITIAL_CONN_LATENCY, BLE_GAP_INITIAL_SUPERVISION_TIMEOUT,
|
||||
// 100, 100);
|
||||
pClient->setClientCallbacks(clientCBs, true);
|
||||
pClient->connect(advDevice, true);
|
||||
}
|
||||
|
||||
int retryCount = retryCountInOneConnection;
|
||||
while (!pClient->isConnected()) {
|
||||
if (retryCount <= 0) {
|
||||
return false;
|
||||
} else {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Try connection. left: " +
|
||||
String(retryCount));
|
||||
#endif
|
||||
}
|
||||
|
||||
// NimBLEDevice::getScan()->stop();
|
||||
// pClient->disconnect();
|
||||
delay(retryIntervalMs);
|
||||
// Serial.println(pClient->toString().c_str());
|
||||
pClient->connect(true);
|
||||
--retryCount;
|
||||
}
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print("Connected to: ");
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
pClient->getPeerAddress().toString().c_str());
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print("RSSI: ");
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(pClient->getRssi());
|
||||
#endif
|
||||
|
||||
// pClient->discoverAttributes();
|
||||
|
||||
bool result = afterConnect(pClient);
|
||||
if (!result) {
|
||||
return result;
|
||||
}
|
||||
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Done with this device!");
|
||||
#endif
|
||||
pConnectedClient = pClient;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool afterConnect(NimBLEClient* pClient) {
|
||||
memcpy(deviceAddressArr, pClient->getPeerAddress().getNative(),
|
||||
deviceAddressLen);
|
||||
for (auto pService : *pClient->getServices(true)) {
|
||||
auto sUuid = pService->getUUID();
|
||||
if (!sUuid.equals(uuidServiceHid) && !sUuid.equals(uuidServiceBattery)) {
|
||||
continue; // skip
|
||||
}
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
pService->toString().c_str());
|
||||
#endif
|
||||
for (auto pChara : *pService->getCharacteristics(true)) {
|
||||
charaHandle(pChara);
|
||||
charaSubscribeNotification(pChara);
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
void charaPrintId(NimBLERemoteCharacteristic* pChara) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(
|
||||
"s:%s c:%s h:%d",
|
||||
pChara->getRemoteService()->getUUID().toString().c_str(),
|
||||
pChara->getUUID().toString().c_str(), pChara->getHandle());
|
||||
}
|
||||
|
||||
static void printValue(std::__cxx11::string str) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf("str: %s\n", str.c_str());
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf("hex:");
|
||||
for (auto v : str) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(" %02x", v);
|
||||
}
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("");
|
||||
}
|
||||
#endif
|
||||
|
||||
void charaHandle(NimBLERemoteCharacteristic* pChara) {
|
||||
if (pChara->canWrite()) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
charaPrintId(pChara);
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(" canWrite");
|
||||
#endif
|
||||
}
|
||||
if (pChara->canRead()) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
charaPrintId(pChara);
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(" canRead");
|
||||
#endif
|
||||
// Reading value is required for subscribe
|
||||
auto str = pChara->readValue();
|
||||
if (str.size() == 0) {
|
||||
str = pChara->readValue();
|
||||
}
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
printValue(str);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
void charaSubscribeNotification(NimBLERemoteCharacteristic* pChara) {
|
||||
if (pChara->canNotify()) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
charaPrintId(pChara);
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(" canNotify ");
|
||||
#endif
|
||||
if (pChara->subscribe(
|
||||
true,
|
||||
std::bind(&Core::notifyCB, this, std::placeholders::_1,
|
||||
std::placeholders::_2, std::placeholders::_3,
|
||||
std::placeholders::_4),
|
||||
true)) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
"succeeded in subscribing");
|
||||
#endif
|
||||
} else {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("failed subscribing");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void notifyCB(NimBLERemoteCharacteristic* pRemoteCharacteristic,
|
||||
uint8_t* pData, size_t length, bool isNotify) {
|
||||
auto sUuid = pRemoteCharacteristic->getRemoteService()->getUUID();
|
||||
if (connectionState != ConnectionState::Connected) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
"Received first notification");
|
||||
#endif
|
||||
connectionState = ConnectionState::Connected;
|
||||
}
|
||||
if (sUuid.equals(uuidServiceHid)) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
static bool isPrinting = false;
|
||||
static unsigned long printedAt = 0;
|
||||
if (isPrinting || millis() - printedAt < printInterval) return;
|
||||
isPrinting = true;
|
||||
std::string str = (isNotify == true) ? "Notification" : "Indication";
|
||||
str += " from ";
|
||||
/** NimBLEAddress and NimBLEUUID have std::string operators */
|
||||
str += std::string(pRemoteCharacteristic->getRemoteService()
|
||||
->getClient()
|
||||
->getPeerAddress());
|
||||
str += ": Service = " +
|
||||
std::string(pRemoteCharacteristic->getRemoteService()->getUUID());
|
||||
str +=
|
||||
", Characteristic = " + std::string(pRemoteCharacteristic->getUUID());
|
||||
// str += ", Value = " + std::string((char*)pData, length);
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(str.c_str());
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print("value: ");
|
||||
for (int i = 0; i < length; ++i) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(" %02x", pData[i]);
|
||||
}
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("");
|
||||
#endif
|
||||
xboxNotif.update(pData, length);
|
||||
receivedNotificationAt = millis();
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
// XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.print(xboxNotif.toString());
|
||||
printedAt = millis();
|
||||
isPrinting = false;
|
||||
#endif
|
||||
} else {
|
||||
if (sUuid.equals(uuidServiceBattery)) {
|
||||
battery = pData[0];
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("battery notification");
|
||||
#endif
|
||||
} else {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf("s:%s",
|
||||
sUuid.toString().c_str());
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println(
|
||||
"not handled notification");
|
||||
#endif
|
||||
}
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
for (int i = 0; i < length; ++i) {
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.printf(" %02x", pData[i]);
|
||||
}
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
static void scanCompleteCB(NimBLEScanResults results) {
|
||||
#ifdef XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL
|
||||
XBOX_SERIES_X_CONTROLLER_DEBUG_SERIAL.println("Scan Ended");
|
||||
#endif
|
||||
}
|
||||
};
|
||||
|
||||
}; // namespace XboxSeriesXControllerESP32_asukiaaa
|
||||
@@ -0,0 +1,73 @@
|
||||
#pragma once
|
||||
|
||||
namespace XboxSeriesXHIDReportBuilder_asukiaaa {
|
||||
|
||||
struct InfoSelect {
|
||||
uint8_t center : 1;
|
||||
uint8_t shake : 1;
|
||||
uint8_t right : 1;
|
||||
uint8_t left : 1;
|
||||
uint8_t _unkown_bit_4 : 1;
|
||||
uint8_t _unkown_bit_5 : 1;
|
||||
uint8_t _unkown_bit_6 : 1;
|
||||
uint8_t _unkown_bit_7 : 1;
|
||||
};
|
||||
|
||||
// 0 to 0x64 (100), over 0x64 becomes 0x64
|
||||
struct InfoPower {
|
||||
uint8_t left;
|
||||
uint8_t right;
|
||||
uint8_t shake;
|
||||
uint8_t center;
|
||||
};
|
||||
|
||||
struct ReportBeforeUnion {
|
||||
InfoSelect select;
|
||||
InfoPower power;
|
||||
// value * 0.01 seconds, max 2.55 seconds
|
||||
uint8_t timeActive;
|
||||
uint8_t timeSilent;
|
||||
// max 0xff
|
||||
uint8_t countRepeat;
|
||||
};
|
||||
|
||||
class ReportBase {
|
||||
public:
|
||||
static const size_t arr8tLen = 8;
|
||||
union {
|
||||
ReportBeforeUnion v;
|
||||
uint8_t arr8t[arr8tLen];
|
||||
};
|
||||
|
||||
ReportBase() { setFullPowerFor1Sec(); }
|
||||
|
||||
void setFullPowerFor1Sec() {
|
||||
v.select.center = true;
|
||||
v.select.left = true;
|
||||
v.select.right = true;
|
||||
v.select.shake = false;
|
||||
v.power.center = 30;
|
||||
// v.power.left = 30;
|
||||
// v.power.right = 30;
|
||||
// v.power.shake = 30;
|
||||
// v.timeActive = 30;
|
||||
v.timeSilent = 0;
|
||||
v.countRepeat = 0;
|
||||
}
|
||||
|
||||
void setAllOff() {
|
||||
v.select.center = false;
|
||||
v.select.left = false;
|
||||
v.select.right = false;
|
||||
v.select.shake = false;
|
||||
v.power.center = 0;
|
||||
v.power.left = 0;
|
||||
v.power.right = 0;
|
||||
v.power.shake = 0;
|
||||
v.timeActive = 0;
|
||||
v.timeSilent = 0;
|
||||
v.countRepeat = 0;
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace XboxSeriesXHIDReportBuilder_asukiaaa
|
||||
@@ -0,0 +1,954 @@
|
||||
/* ---------------------------------
|
||||
Copyright (c) 2024 Mu Shibo
|
||||
Modify by Tommy 2025.10.30
|
||||
------------------------------------- */
|
||||
#include <Arduino.h>
|
||||
#include <FastLED.h>
|
||||
#include <MPU6050_tockn.h>
|
||||
#include <SMS_STS.h>
|
||||
#include <SimpleFOC.h>
|
||||
#include <FS.h>
|
||||
#include <esp_adc_cal.h>
|
||||
#include <XboxSeriesXControllerESP32_asukiaaa.hpp> // xbox手柄
|
||||
|
||||
/************ xbox手柄实体 *************/
|
||||
XboxSeriesXControllerESP32_asukiaaa::Core xboxController("0a:27:12:5c:71:79");
|
||||
|
||||
/************函数申明*************/
|
||||
|
||||
// 电压检测函数
|
||||
void adc_calibration_init();
|
||||
void bat_check();
|
||||
|
||||
// 平衡算法函数
|
||||
void lqr_balance_loop();
|
||||
void yaw_loop();
|
||||
void leg_loop();
|
||||
void jump_loop();
|
||||
void resetZeroPoint();
|
||||
void jump_charge(); // 腿部弯曲（蓄能）
|
||||
|
||||
// RGB相关函数
|
||||
void handleLEDBlink();
|
||||
|
||||
// Xbox函数
|
||||
void process_xbox_notif();
|
||||
void process_xbox_string();
|
||||
void processControllerData(const XboxControllerNotificationParser& data);
|
||||
|
||||
const int deadZone = 10; // 摇杆死区阈值
|
||||
bool last_btnbtnRS = 0;
|
||||
|
||||
/************实例定义*************/
|
||||
|
||||
// 电机实例
|
||||
BLDCMotor motor1 = BLDCMotor(7);
|
||||
BLDCMotor motor2 = BLDCMotor(7);
|
||||
BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
|
||||
BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
|
||||
|
||||
// 编码器实例
|
||||
TwoWire I2Cone = TwoWire(0);
|
||||
TwoWire I2Ctwo = TwoWire(1);
|
||||
MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
|
||||
MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
|
||||
|
||||
// PID控制器实例
|
||||
PIDController pid_angle(1, 0, 0, 100000, 8); // 比例系数（P）, 积分系数（I）, 微分系数（D）, 积分限幅(当I=0,无效), 输出限幅（8V防止电机过载）
|
||||
PIDController pid_gyro(0.06, 0, 0, 100000, 8);
|
||||
PIDController pid_distance(0.5, 0, 0, 100000, 8);
|
||||
PIDController pid_speed(0.7, 0, 0, 100000, 8);
|
||||
PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
|
||||
PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
|
||||
PIDController pid_lqr_u(1, 15, 0, 100000, 8);
|
||||
PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
|
||||
PIDController pid_roll_angle(8, 0, 0, 100000, 450);
|
||||
|
||||
// 低通滤波器实例
|
||||
LowPassFilter lpf_joyy(0.2); // 新输入值占输出值的10%，历史值占90%
|
||||
LowPassFilter lpf_zeropoint(0.1);
|
||||
LowPassFilter lpf_roll(0.3);
|
||||
LowPassFilter lpf_height(0.1);
|
||||
|
||||
// STS舵机实例
|
||||
SMS_STS sms_sts;
|
||||
|
||||
// MPU6050实例
|
||||
MPU6050 mpu6050(I2Ctwo);
|
||||
|
||||
// FastLED配置
|
||||
#define RGB_PIN 21
|
||||
#define NUM_LEDS 2
|
||||
CRGB leds[NUM_LEDS];
|
||||
unsigned long previousBlinkMillis = 0;
|
||||
int blinkState = 0;
|
||||
int blinkCount = 0;
|
||||
bool isBlinking = false;
|
||||
CRGB blinkColors[6] = {CRGB::Red, CRGB::Red, CRGB::Yellow, CRGB::Yellow, CRGB::Green, CRGB::Green};
|
||||
|
||||
/************参数定义*************/
|
||||
#define pi 3.1415927
|
||||
|
||||
// 机身平衡角度调整 roll轴
|
||||
float roll_adjust = 0.0f;
|
||||
|
||||
// 机身高度
|
||||
float leg_height_base = 20.0f; // 改为全局变量，初始值20 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低）
|
||||
|
||||
// #define LEG_HEIGHT_BASE 20 //20 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低）
|
||||
#define SERVO0_MIN 2047 // 舵机1最低位置，大腿与小腿碰到一起， 从小车正面看右手边舵机
|
||||
#define SERVO1_MIN 2047 // 舵机2最低位置，大腿与小腿碰到一起， 从小车正面看左手边舵机
|
||||
#define SERVO0_MAX (2047 + 12 + 8.4 * (35 + 10)) // 2438 舵机1最高
|
||||
#define SERVO1_MAX (2047 - 12 - 8.4 * (35 + 10)) // 1658 舵机2最高
|
||||
|
||||
float leg_position_add = 0; // roll轴平衡控制量
|
||||
int left_height;
|
||||
int right_height;
|
||||
float LegHeightDiff = 0; // 左右腿高度差
|
||||
|
||||
// 舵机运动参数
|
||||
byte ID[2] = {1, 2};
|
||||
s16 Position[2];
|
||||
u16 Speed[2];
|
||||
byte ACC[2];
|
||||
|
||||
// 腿部高度逻辑
|
||||
// #define LEG_HEIGHT_BASE 20 # 固定值
|
||||
// float LegHeightDiff ; # 根据前后转向运动时，智能计算两腿高度差
|
||||
// left_height，right_height = wrobot.height + LegHeightDiff # 根据前后左右智能计算两腿高度差
|
||||
// leg_position_add = pid_roll_angle(lpf_roll(roll_angle)); 根据roll自动计算
|
||||
// Position[0] 2047 + 12 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add;
|
||||
// Position[1] 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add;
|
||||
// Position 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add;
|
||||
// Position 2047 - 12 - 8.4 * (wrobot.height + LegHeightDiff - LEG_HEIGHT_BASE) - pid_roll_angle(lpf_roll(roll_angle));
|
||||
// 遥控器 两腿高度差 固定值 roll轴平衡控制量
|
||||
|
||||
// LQR自平衡控制器参数
|
||||
float LQR_angle = 0;
|
||||
float LQR_gyro = 0;
|
||||
float LQR_gyroZ = 0;
|
||||
float LQR_speed = 0;
|
||||
float LQR_distance = 0;
|
||||
float angle_control = 0;
|
||||
float gyro_control = 0;
|
||||
float speed_control = 0;
|
||||
float distance_control = 0;
|
||||
float LQR_u = 0;
|
||||
float angle_zeropoint = 8; // 5 设定默认俯仰角度，向前到正，向后倒负
|
||||
float original_angle_zeropoint = 8; // 保存原始的角度零点
|
||||
float distance_zeropoint = 0.5f; // 轮部位移零点偏置
|
||||
|
||||
// YAW轴控制数据
|
||||
float YAW_gyro = 0;
|
||||
float YAW_angle = 0;
|
||||
float YAW_angle_last = 0;
|
||||
float YAW_angle_total = 0;
|
||||
float YAW_angle_zero_point = -10;
|
||||
float YAW_output = 0;
|
||||
|
||||
// 记录轮部转速，用于判断跳跃状态
|
||||
unsigned long last_speed_record_time = 0; // 上次记录转速的时间
|
||||
const unsigned long SPEED_RECORD_INTERVAL = 100; // 转速记录间隔(毫秒) ，因为时间相隔太近速度差不明显的
|
||||
float last_lqr_speed = 0; // 记录上一时刻的轮部转速
|
||||
float robot_speed_diff = 0; // 速度差
|
||||
|
||||
int jump_flag = 0; // 跳跃过程计数
|
||||
int jump_pre_flag = 0; // 跳跃前蓄能计数
|
||||
int wheel_ground_flag = 1; // 轮子是否离地标记 默认着地
|
||||
|
||||
|
||||
// 电压检测
|
||||
#define LED_BAT 13
|
||||
uint16_t bat_check_num = 0;
|
||||
int BAT_PIN = 35; // select the input pin for the ADC
|
||||
static esp_adc_cal_characteristics_t adc_chars;
|
||||
static const adc1_channel_t channel = ADC1_CHANNEL_7;
|
||||
static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
|
||||
static const adc_atten_t atten = ADC_ATTEN_DB_12;
|
||||
static const adc_unit_t unit = ADC_UNIT_1;
|
||||
|
||||
// 倒地起来辅助计数
|
||||
int loopCounter = 0; // loop函数执行计数
|
||||
int resetToDefaultCounter = 0; // resetToDefault执行计数
|
||||
|
||||
// 小车状态控制
|
||||
bool robot_enabled = true; // 小车使能状态，true为起立状态，false为坐下状态
|
||||
bool last_robot_enabled = true; // 记录上一次的小车状态
|
||||
int sitting_down = 0; // 标记是否正在执行坐下动作
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int mode = 0; // 0:左摇杆左右转向控制（智能），1:左摇杆上下摇摆控制（手动）
|
||||
int height = 30;
|
||||
int roll;
|
||||
int jump = 0; // 0 =不跳跃 1= 跳跃
|
||||
int joyy;
|
||||
int joyy_last;
|
||||
int joyx;
|
||||
int joyx_last;
|
||||
} Wrobot;
|
||||
Wrobot wrobot;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200); // 通讯串口
|
||||
Serial2.begin(1000000); // 腿部sts舵机
|
||||
|
||||
// 舵机初始化
|
||||
sms_sts.pSerial = &Serial2;
|
||||
|
||||
ID[0] = 1;
|
||||
ID[1] = 2;
|
||||
ACC[0] = 30;
|
||||
ACC[1] = 30;
|
||||
Speed[0] = 400;
|
||||
Speed[1] = 400;
|
||||
Position[0] = SERVO0_MIN;
|
||||
Position[1] = SERVO1_MIN;
|
||||
// 舵机(ID1/ID2)以速度V=2400步/秒，加速度A=50(50*100步/秒^2)，运行至各自的Position位置
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
// 电压检测
|
||||
adc_calibration_init();
|
||||
adc1_config_width(width);
|
||||
adc1_config_channel_atten(channel, atten);
|
||||
esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
|
||||
|
||||
// 电量显示LED
|
||||
pinMode(LED_BAT, OUTPUT);
|
||||
|
||||
// 编码器设置
|
||||
I2Cone.begin(19, 18, 400000UL);
|
||||
I2Ctwo.begin(23, 5, 400000UL);
|
||||
sensor1.init(&I2Cone);
|
||||
sensor2.init(&I2Ctwo);
|
||||
|
||||
// mpu6050设置
|
||||
mpu6050.begin();
|
||||
mpu6050.calcGyroOffsets(true);
|
||||
|
||||
// 连接motor对象与编码器对象
|
||||
motor1.linkSensor(&sensor1);
|
||||
motor2.linkSensor(&sensor2);
|
||||
|
||||
// 速度环PID参数
|
||||
motor1.PID_velocity.P = 0.05;
|
||||
motor1.PID_velocity.I = 1;
|
||||
motor1.PID_velocity.D = 0;
|
||||
|
||||
motor2.PID_velocity.P = 0.05;
|
||||
motor2.PID_velocity.I = 1;
|
||||
motor2.PID_velocity.D = 0;
|
||||
|
||||
// 驱动器设置
|
||||
motor1.voltage_sensor_align = 6;
|
||||
motor2.voltage_sensor_align = 6;
|
||||
driver1.voltage_power_supply = 8;
|
||||
driver2.voltage_power_supply = 8;
|
||||
driver1.init();
|
||||
driver2.init();
|
||||
|
||||
// 连接motor对象与驱动器对象
|
||||
motor1.linkDriver(&driver1);
|
||||
motor2.linkDriver(&driver2);
|
||||
|
||||
motor1.torque_controller = TorqueControlType::voltage; // 扭矩控制器类型为 "电压模式"
|
||||
motor2.torque_controller = TorqueControlType::voltage;
|
||||
motor1.controller = MotionControlType::torque; // 运动控制器类型为 "扭矩模式"
|
||||
motor2.controller = MotionControlType::torque;
|
||||
|
||||
// monitor相关设置
|
||||
motor1.useMonitoring(Serial);
|
||||
motor2.useMonitoring(Serial);
|
||||
|
||||
// 电机初始化
|
||||
motor1.init();
|
||||
motor1.initFOC();
|
||||
motor2.init();
|
||||
motor2.initFOC();
|
||||
|
||||
// FastLED初始化
|
||||
FastLED.addLeds<WS2812, RGB_PIN, GRB>(leds, NUM_LEDS);
|
||||
FastLED.setBrightness(50); // 设置亮度
|
||||
fill_solid(leds, NUM_LEDS, CRGB::Black); // 初始化为熄灭
|
||||
FastLED.show();
|
||||
|
||||
// Xbox手柄初始化
|
||||
Serial.println("Starting Xbox Bluetooth Client");
|
||||
xboxController.begin();
|
||||
|
||||
|
||||
delay(500);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
// 处理LED闪烁
|
||||
// handleLEDBlink();
|
||||
|
||||
// 处理xbox手柄通知
|
||||
process_xbox_notif();
|
||||
|
||||
bat_check(); // 电压检测
|
||||
delayMicroseconds(1500);
|
||||
mpu6050.update(); // IMU数据更新
|
||||
lqr_balance_loop(); // lqr自平衡控制
|
||||
yaw_loop(); // yaw轴转向控制
|
||||
jump_loop(); // 跳跃动作
|
||||
leg_loop(); // 腿部动作控制
|
||||
|
||||
// 记录上一次的遥控数据数据
|
||||
wrobot.joyx_last = wrobot.joyx;
|
||||
wrobot.joyy_last = wrobot.joyy;
|
||||
|
||||
motor1.target = (-0.5) * (LQR_u + YAW_output); // target正数小车向前，负数向后
|
||||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||||
|
||||
loopCounter++;
|
||||
// loopCounter作用：在期初的800次循环内视为电源开通后第一次自平衡，不能进入resetToDefault()函数重置参数
|
||||
// resetToDefaultCounter作用：防止小车倒地后某个角度，陷入循环，motor.target一直=0
|
||||
if ((LQR_angle < -35.0f || LQR_angle > 70.0f ) && loopCounter > 800 && resetToDefaultCounter < 130) {
|
||||
resetZeroPoint();
|
||||
resetToDefaultCounter++;
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
}
|
||||
|
||||
// 大仰角到底，轮子就不要转了 修改
|
||||
if (abs(LQR_angle) > 120.0f) {
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
}
|
||||
|
||||
// 达到平衡角度后，重置重置计数器
|
||||
if( abs(LQR_angle) < 25.0f){
|
||||
resetToDefaultCounter = 0;
|
||||
}
|
||||
|
||||
|
||||
// 小车坐下
|
||||
if (sitting_down) {
|
||||
sitting_down ++;
|
||||
|
||||
if (sitting_down < 15) {
|
||||
// 如果遥感向后运动，给个向后退脉冲，让小车向前倒地
|
||||
if(wrobot.joyy < 0){
|
||||
motor1.target = -1.0; // 负数小车向后，正数向前
|
||||
motor2.target = -1.0;
|
||||
Position[0] = SERVO0_MIN; // 修改
|
||||
Position[1] = SERVO1_MIN;
|
||||
} else { // 否则默认向前倒地 给个向前脉冲
|
||||
motor1.target = 1.0; // 负数小车向后，正数向前
|
||||
motor2.target = 1.0;
|
||||
Position[0] = SERVO0_MIN + 60; // 修改
|
||||
Position[1] = SERVO1_MIN - 60;
|
||||
|
||||
}
|
||||
}else{
|
||||
|
||||
// 通过简单的开环控制前后左右
|
||||
float speed_coeff = 0.02; // 速度系数：值越大，移动越快（建议0.01~0.02）
|
||||
motor1.target = (-0.5) * (wrobot.joyy + wrobot.joyx) * speed_coeff;
|
||||
motor2.target = (-0.5) * (wrobot.joyy - wrobot.joyx) * speed_coeff;
|
||||
|
||||
}
|
||||
|
||||
// 收缩双腿，舵机到最低位置
|
||||
if (sitting_down == 5) {
|
||||
ACC[0] = ACC[1] = 100;
|
||||
Speed[0] = Speed[1] = 200;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 迭代计算FOC相电压
|
||||
motor1.loopFOC();
|
||||
motor2.loopFOC();
|
||||
|
||||
// 设置轮部电机输出
|
||||
motor1.move();
|
||||
motor2.move();
|
||||
|
||||
} // loop()
|
||||
|
||||
// lqr自平衡控制
|
||||
void lqr_balance_loop()
|
||||
{
|
||||
/*
|
||||
motor.target 负数小车向后，正数小车向前
|
||||
LQR_u 越大，电机输出的转矩越大，电机向后转，默认0-8V
|
||||
LQR_u = angle_control + gyro_control + distance_control + speed_control
|
||||
= 俯仰角度控制 + 俯仰角速度控制 + 距离控制 + 速度控制
|
||||
|
||||
angle_control = pid_angle( LQR_angle - angle_zeropoint) // 实际pitch角度-目标pitch角度
|
||||
LQR_angle = mpu6050.getAngleY()
|
||||
|
||||
gyro_control = pid_gyro( LQR_gyro - 0 ) // 实际角速度，目标值是零
|
||||
LQR_gyro = mpu6050.getGyroY()
|
||||
|
||||
distance_control = pid_distance( LQR_distance - distance_zeropoint) // 两个电机平均旋转弧度（实际位移量） - 位移基准零点（某一时刻LQR_distance快照）
|
||||
LQR_distance = (-0.5)*(motor1.shaft_angle + motor2.shaft_angle)
|
||||
|
||||
speed_control = pid_speed(LQR_speed - speed_target_coeff * lpf_joyy(wrobot.joyy)) // 两个电机平均速度（实际速度） - 摇杆前后输入值* 系数 ，就速度差
|
||||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity)
|
||||
speed_target_coeff = 前进后退系数
|
||||
yaw 偏航角控制
|
||||
float yaw_angle_control = pid_yaw_angle(yaw_target);
|
||||
yaw_target = wrobot.joyx * 0.1; // 使用摇杆左右转向值
|
||||
|
||||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro); // yaw 轴的角速度控制
|
||||
YAW_gyro = (float)mpu6050.getGyroZ();
|
||||
|
||||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||||
|
||||
motor1.target = (-0.5) * (LQR_u + YAW_output); // target正数小车向前，负数向后
|
||||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||||
|
||||
*/
|
||||
|
||||
LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle); // 两个电机的旋转角度（shaft_angle）,单位：弧度（rad）实际位移量
|
||||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity); // 两个电机角速度（shaft_velocity）,单位：弧度 / 秒（rad/s）
|
||||
LQR_angle = (float)mpu6050.getAngleY(); // mpu6050 pitch 角度，单位：度（°）
|
||||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch Y轴角速度,单位：度 / 秒（°/s）
|
||||
|
||||
angle_control = pid_angle(LQR_angle - angle_zeropoint);
|
||||
gyro_control = pid_gyro(LQR_gyro);
|
||||
|
||||
// 前进后退跳跃的系数都不一样
|
||||
float speed_target_coeff = 0.1;
|
||||
if( jump_flag ){ // 跳跃
|
||||
speed_target_coeff = 0.1;
|
||||
}else if(wrobot.joyy > 0 ){ // 前进
|
||||
speed_target_coeff = 0.18;
|
||||
}else if(wrobot.joyy < 0){ // 后退
|
||||
speed_target_coeff = 0.11;
|
||||
}else{
|
||||
speed_target_coeff = 0.1;
|
||||
}
|
||||
|
||||
speed_control = pid_speed(LQR_speed - speed_target_coeff * lpf_joyy(wrobot.joyy)); // 最大8v
|
||||
|
||||
// 检测轮子差速，判断轮子是否离地
|
||||
unsigned long current_time = millis();
|
||||
if (current_time - last_speed_record_time >= SPEED_RECORD_INTERVAL) {
|
||||
robot_speed_diff = LQR_speed - last_lqr_speed;
|
||||
|
||||
if(robot_speed_diff > 18.0) // 轮子离地
|
||||
{
|
||||
wheel_ground_flag = 0; // 轮子离地标记
|
||||
// Serial.print("TAKE OFF");
|
||||
// Serial.print(wheel_ground_flag);
|
||||
// Serial.print(",robot_speed_diff:");
|
||||
// Serial.print(robot_speed_diff);
|
||||
// Serial.print(",jump_flag:");
|
||||
// Serial.println(jump_flag); // 100 左右
|
||||
}
|
||||
if( robot_speed_diff < -9.0) // 轮子着地
|
||||
{
|
||||
wheel_ground_flag = 1; // 轮子着地标记
|
||||
// Serial.print("LANDING:");
|
||||
// Serial.print(",robot_speed_diff:");
|
||||
// Serial.print(robot_speed_diff);
|
||||
// Serial.print(",jump_flag:");
|
||||
// Serial.println(jump_flag); // 120左右
|
||||
|
||||
if( jump_flag ){ // 落地点作为新的位移零点
|
||||
resetZeroPoint();
|
||||
}
|
||||
}
|
||||
last_lqr_speed = LQR_speed; // 每隔100ms更新一次历史转速
|
||||
last_speed_record_time = current_time; // 更新记录时间
|
||||
}
|
||||
|
||||
// 重置位移零点和积分情形
|
||||
// 1.判断摇杆是否没有前后左右运动指令
|
||||
if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0))
|
||||
{
|
||||
resetZeroPoint();
|
||||
}
|
||||
|
||||
// 2. 运动中实时重置位移零点和积分情形
|
||||
if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) // 这两种是启动后自平衡，速度较快
|
||||
|| wrobot.joyy != 0 || sitting_down )
|
||||
{
|
||||
resetZeroPoint();
|
||||
}
|
||||
|
||||
distance_control = pid_distance(LQR_distance - distance_zeropoint);
|
||||
|
||||
// 计算 LQR_u
|
||||
// 必须是在跳跃时jump_flag > 0，LQR_u= 角度控制量 + 角速度控制量
|
||||
if ((jump_flag > 0 and jump_flag < 120)) // jump_flag：100离地 120着地
|
||||
{
|
||||
LQR_u = angle_control + gyro_control; // 角度控制量 + 角速度控制，位移和速度控制分量被忽略
|
||||
}
|
||||
else // 当轮部未离地时，LQR_u：4个参数
|
||||
{
|
||||
// 当轮部未离地时，LQR_u =角度控制量+角速度控制量+位移控制量+速度控制量
|
||||
LQR_u = angle_control + gyro_control + distance_control + speed_control;
|
||||
}
|
||||
|
||||
// 小车没有控制的时候自稳定状态
|
||||
// 控制量lqr_u<5V，前进后退控制量很小， 遥控器无信号输入joyy=0，轮部位移控制正常介入distance_control<4，不处于跳跃后的恢复时期jump_flag=0,以及不是坐下状态
|
||||
if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0)) // && !sitting_down
|
||||
{
|
||||
LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
|
||||
angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control)); // 重心自适应
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
|
||||
// 平衡控制参数自适应
|
||||
if (wrobot.height < 50){
|
||||
pid_speed.P = 0.7;
|
||||
}else if (wrobot.height < 64){
|
||||
pid_speed.P = 0.6;
|
||||
}else{
|
||||
pid_speed.P = 0.5;
|
||||
}
|
||||
}
|
||||
|
||||
// 腿部动作控制（舵机）
|
||||
void leg_loop()
|
||||
{
|
||||
// 如果坐下就不控制腿部
|
||||
if(sitting_down || jump_flag || jump_pre_flag ){
|
||||
return; // 跳过后续leg高度计算
|
||||
}
|
||||
|
||||
// 机身大角度，譬如倒地时，强制腿部收缩
|
||||
if (abs(LQR_angle) > 25.0f)
|
||||
{
|
||||
ACC[0] = ACC[1] = 100;
|
||||
Speed[0] = Speed[1] = 400;
|
||||
Position[0] = SERVO0_MIN;
|
||||
Position[1] = SERVO1_MIN;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
return; // 跳过后续leg高度计算
|
||||
}
|
||||
|
||||
ACC[0] = ACC[1] = 100; // max 230
|
||||
Speed[0] = Speed[1] = 400;
|
||||
|
||||
float roll_angle = (float)mpu6050.getAngleX() + roll_adjust; // 加上roll角度偏差
|
||||
leg_position_add = pid_roll_angle(lpf_roll(roll_angle));
|
||||
|
||||
// 左后腿默认等于 wrobot.height
|
||||
left_height = wrobot.height;
|
||||
right_height = wrobot.height;
|
||||
LegHeightDiff = 0; // 初始化 roll 角度补偿值
|
||||
|
||||
// 智能计算左右脚高度差， 如果同时有转向和前后指令 ，自动计算腿部高度补偿
|
||||
if(wrobot.mode == 0){
|
||||
if (abs(wrobot.joyx) > 10 && abs(wrobot.joyy) > 10)
|
||||
{
|
||||
LegHeightDiff = map(abs(wrobot.joyy), 0, 100, 0, 10);
|
||||
leg_position_add = 0; // 不需要两个脚一样高
|
||||
}
|
||||
if (wrobot.joyx > 10 && abs(wrobot.joyy) > 10)
|
||||
{
|
||||
// 左脚抬高
|
||||
left_height = wrobot.height + LegHeightDiff ;
|
||||
// Serial.print("左脚抬高");
|
||||
}
|
||||
else if (wrobot.joyx < -10 && abs(wrobot.joyy) > 10)
|
||||
{
|
||||
// 右脚抬高
|
||||
right_height = wrobot.height + LegHeightDiff;
|
||||
// Serial.print("右脚抬高");
|
||||
}
|
||||
}
|
||||
|
||||
// 根据新的高度计算舵机位置
|
||||
// id[0] 正面看右手，id[1] 正面看左手
|
||||
// 2047是舵机中间位置，8.4是系数，32是默认高度，最高80，最低32
|
||||
// const int LEG_HEIGHT_BASE 这值越小，机身越高，实测范围 0（最高），52（最低）
|
||||
Position[0] = 2047 + 8.4 * (left_height - leg_height_base ) - leg_position_add;
|
||||
Position[1] = 2047 - 8.4 * (right_height - leg_height_base ) - leg_position_add;
|
||||
|
||||
// Serial.print("roll_angle:");
|
||||
// Serial.print(roll_angle);
|
||||
// Serial.print(",Position[0]:");
|
||||
// Serial.print(Position[0]);
|
||||
// Serial.print(",Position[1]:");
|
||||
// Serial.println(Position[1]);
|
||||
|
||||
// 限制舵机位置范围
|
||||
if (Position[0] < SERVO0_MIN) // 舵机1最低
|
||||
Position[0] = SERVO0_MIN;
|
||||
else if (Position[0] > SERVO0_MAX) // 舵机1最高
|
||||
Position[0] = SERVO0_MAX;
|
||||
|
||||
if (Position[1] > SERVO1_MIN) // 舵机2最低（和舵机1方向是反的）
|
||||
Position[1] = SERVO1_MIN;
|
||||
else if (Position[1] < SERVO1_MAX) // 舵机2最高
|
||||
Position[1] = SERVO1_MAX;
|
||||
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
}
|
||||
|
||||
// 收缩小腿蓄能
|
||||
void jump_charge() // 腿部弯曲（蓄能）
|
||||
{
|
||||
ACC[0] = 250;
|
||||
ACC[1] = 250;
|
||||
Speed[0] = 400;
|
||||
Speed[1] = 400;
|
||||
Position[0] = (SERVO0_MIN + 80); // 不能是SERVO1_MIN值，防止腿部碰撞
|
||||
Position[1] = (SERVO1_MIN - 80);
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
|
||||
// 跳跃控制
|
||||
void jump_loop()
|
||||
{
|
||||
if ((wrobot.jump == 1) && (jump_pre_flag == 0))
|
||||
{
|
||||
jump_charge();
|
||||
jump_pre_flag = 1;
|
||||
}
|
||||
|
||||
if(jump_pre_flag > 0 ){
|
||||
jump_pre_flag ++;
|
||||
}
|
||||
|
||||
if(jump_pre_flag){
|
||||
if(!sms_sts.ReadMove(ID[0]) && !sms_sts.ReadMove(ID[1])){
|
||||
jump_flag = 1;
|
||||
jump_pre_flag = 0;
|
||||
|
||||
// 跳跃开始
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = SERVO0_MAX + 20; // 极限距离
|
||||
Position[1] = SERVO1_MAX - 20;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
}
|
||||
|
||||
if (jump_flag > 0) // 跳跃计数;
|
||||
{
|
||||
jump_flag ++;
|
||||
}
|
||||
|
||||
// 跳跃中，腿部缩起来
|
||||
if( (jump_flag > 30) && (jump_flag < 35) )
|
||||
{
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = (SERVO0_MIN + 100); // 100 约等于食指宽度
|
||||
Position[1] = (SERVO1_MIN - 100);
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
|
||||
// 轮子着地
|
||||
if (jump_flag > 200) // 2000=6s ,1s=2000/6=333.33
|
||||
{
|
||||
jump_flag = 0; // 跳跃过程结束
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// yaw轴转向控制 （转向控制）
|
||||
void yaw_loop()
|
||||
{
|
||||
// 跳跃中，YAW_output 设为0，避免干扰左右旋转
|
||||
if(jump_flag)
|
||||
{
|
||||
YAW_output = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
// 1. 根据abs(wrobot.joyx)，动态设置yaw_target系数
|
||||
float coeff = map( abs(wrobot.joyx), 0, 100, 10, 100) / 100.0f;
|
||||
coeff = constrain(coeff, 0.1f, 1.0f);
|
||||
float yaw_target = wrobot.joyx * coeff;
|
||||
|
||||
// 2. 根据abs(wrobot.joyx)，提高PID响应：临时放大yaw_angle_control（核心突破上限）
|
||||
float yaw_angle_control_coeff = 1.0f;
|
||||
if( wrobot.joyy == 0 && abs(wrobot.joyx) > 10){ // 原地打转
|
||||
yaw_angle_control_coeff = map( abs(wrobot.joyx), 0, 100, 1.0, 2.0);
|
||||
// 根据转向速度，智能计算wrobot.height
|
||||
// abs(wrobot.joyx) 范围0到100，默认0，输出范围20-50,默认 30
|
||||
// 反向映射：绝对值30→60，绝对值100→0（线性过渡）
|
||||
wrobot.height = map(abs(wrobot.joyx), 0, 100, 50, 30);
|
||||
// 强制约束输出在0~60范围内（防止异常值）
|
||||
wrobot.height = constrain(wrobot.height, 30, 50);
|
||||
// 使用低波过滤器，平滑数据
|
||||
wrobot.height = lpf_height(wrobot.height);
|
||||
|
||||
// 增加rgb效果
|
||||
if(abs(wrobot.joyx) > 60){
|
||||
handleLEDBlink();
|
||||
}
|
||||
}
|
||||
|
||||
float yaw_angle_control = pid_yaw_angle(yaw_target) * yaw_angle_control_coeff;
|
||||
// 限制yaw_angle_control上限，避免超压（按电机7.4V反推，设为12较合适）
|
||||
yaw_angle_control = constrain(yaw_angle_control, -12.0f, 12.0f);
|
||||
|
||||
YAW_gyro = (float)mpu6050.getGyroZ(); // 左右偏航角速度，用于纠正小车前后走直线时的角度偏差
|
||||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
|
||||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||||
}
|
||||
|
||||
// 电压检测初始化
|
||||
void adc_calibration_init()
|
||||
{
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) {
|
||||
printf("eFuse Two Point: Supported\n");
|
||||
} else {
|
||||
printf("eFuse Two Point: NOT supported\n");
|
||||
}
|
||||
// Check Vref is burned into eFuse
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK) {
|
||||
printf("eFuse Vref: Supported\n");
|
||||
} else {
|
||||
printf("eFuse Vref: NOT supported\n");
|
||||
}
|
||||
}
|
||||
|
||||
// 电压检测
|
||||
void bat_check()
|
||||
{
|
||||
if (bat_check_num > 1000)
|
||||
{
|
||||
// 电压读取
|
||||
uint32_t sum = 0;
|
||||
sum = analogRead(BAT_PIN);
|
||||
uint32_t voltage = esp_adc_cal_raw_to_voltage(sum, &adc_chars);
|
||||
double battery = (voltage * 3.97) / 1000.0;
|
||||
|
||||
// Serial.println(battery);
|
||||
// 电量显示
|
||||
if (battery >= 7.8)
|
||||
digitalWrite(LED_BAT, HIGH);
|
||||
else
|
||||
digitalWrite(LED_BAT, LOW);
|
||||
bat_check_num = 0;
|
||||
}
|
||||
else
|
||||
bat_check_num++;
|
||||
}
|
||||
|
||||
// 重置距离零点
|
||||
void resetZeroPoint() {
|
||||
distance_zeropoint = LQR_distance;
|
||||
pid_lqr_u.error_prev = 0;
|
||||
}
|
||||
|
||||
// 添加LED闪烁处理函数
|
||||
void handleLEDBlink() {
|
||||
if (!isBlinking) return;
|
||||
|
||||
unsigned long currentMillis = millis();
|
||||
|
||||
if (currentMillis - previousBlinkMillis >= 100) { // 每100ms切换一次状态，实现快速闪烁
|
||||
previousBlinkMillis = currentMillis;
|
||||
|
||||
if (blinkState == 0) {
|
||||
// LED亮
|
||||
fill_solid(leds, NUM_LEDS, blinkColors[blinkCount]);
|
||||
FastLED.show();
|
||||
blinkState = 1;
|
||||
} else {
|
||||
// LED灭
|
||||
fill_solid(leds, NUM_LEDS, CRGB::Black);
|
||||
FastLED.show();
|
||||
blinkState = 0;
|
||||
blinkCount++;
|
||||
|
||||
// 检查是否完成6次闪烁
|
||||
if (blinkCount >= 6) {
|
||||
isBlinking = false;
|
||||
blinkCount = 0;
|
||||
// 闪烁完成后保持熄灭状态
|
||||
fill_solid(leds, NUM_LEDS, CRGB::Black);
|
||||
FastLED.show();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*========================================
|
||||
* 控制器数据处理（共用函数）
|
||||
* ========================================*/
|
||||
void processControllerData(const XboxControllerNotificationParser& remoteData) {
|
||||
|
||||
/*
|
||||
String str = String(xboxController.xboxNotif.btnY) + "," + // Y键
|
||||
String(xboxController.xboxNotif.btnX) + "," + // X键
|
||||
String(xboxController.xboxNotif.btnB) + "," + // B键
|
||||
String(xboxController.xboxNotif.btnA) + "," + // A键
|
||||
String(xboxController.xboxNotif.btnLB) + "," + // 左肩键
|
||||
String(xboxController.xboxNotif.btnRB) + "," + // 右肩键
|
||||
String(xboxController.xboxNotif.btnSelect) + "," + // 中间十字 左键 试图键
|
||||
String(xboxController.xboxNotif.btnStart) + "," + // 中间十字 右键 菜单键
|
||||
String(xboxController.xboxNotif.btnXbox) + "," + // 中间十字 上键 home键
|
||||
String(xboxController.xboxNotif.btnShare) + "," + // 中间十字 下键 截图键
|
||||
String(xboxController.xboxNotif.btnLS) + "," + // 左摇杆键
|
||||
String(xboxController.xboxNotif.btnRS) + "," + // 右摇杆键
|
||||
String(xboxController.xboxNotif.btnDirUp) + "," + // 上键
|
||||
String(xboxController.xboxNotif.btnDirRight) + "," + // 右键
|
||||
String(xboxController.xboxNotif.btnDirDown) + "," + // 下键
|
||||
String(xboxController.xboxNotif.btnDirLeft) + "," + // 左键
|
||||
String(xboxController.xboxNotif.joyLHori) + "," + // 左摇杆 水平轴 （左-右 0 -65535）
|
||||
String(xboxController.xboxNotif.joyLVert) + "," + // 左摇杆 垂直轴 （上-下 0 -65535）
|
||||
String(xboxController.xboxNotif.joyRHori) + "," + // 右摇杆 水平轴 （左-右 0 -65535）
|
||||
String(xboxController.xboxNotif.joyRVert) + "," + // 右摇杆 垂直轴 （上-下 0 -65535）
|
||||
String(xboxController.xboxNotif.trigLT) + "," + // 左扳机键 （松开- 按下 0 -1023）
|
||||
String(xboxController.xboxNotif.trigRT) ; // 右扳机键 （松开- 按下 0 -1023）
|
||||
Serial.println(str);
|
||||
*/
|
||||
|
||||
// rgb led 上键 闪烁6次：红红黄黄绿绿
|
||||
if(remoteData.btnDirUp && !isBlinking){
|
||||
isBlinking = true;
|
||||
blinkCount = 0;
|
||||
blinkState = 0;
|
||||
previousBlinkMillis = millis();
|
||||
}
|
||||
|
||||
// 坐下 back键
|
||||
if (remoteData.btnLB && robot_enabled) {
|
||||
robot_enabled = false;
|
||||
sitting_down = 1; // 标记开始坐下动作保存当前的角度零点
|
||||
}
|
||||
// 起立 start键
|
||||
if (remoteData.btnRB && !robot_enabled) {
|
||||
robot_enabled = true;
|
||||
sitting_down = 0; // 清除坐下动作标记
|
||||
}
|
||||
|
||||
// 修改后代码（保留摇杆指令，仅禁止起升/跳跃）
|
||||
if (!robot_enabled || sitting_down) {
|
||||
wrobot.jump = 0; // 禁止跳跃
|
||||
wrobot.roll = 0; // 禁止左右摇摆（起升相关）
|
||||
wrobot.height = 0; // 禁止高度调整（起升相关）
|
||||
}
|
||||
|
||||
// 跳跃状态不接受指令
|
||||
if( jump_flag > 0){
|
||||
wrobot.jump = 0; // 强制设为“不跳跃”
|
||||
wrobot.joyx = 0; // 清空左右转向指令
|
||||
wrobot.joyy = 0; // 清空前后移动指令
|
||||
wrobot.roll = 0; // 清空左右摇摆指令
|
||||
return;
|
||||
}
|
||||
|
||||
// 前后移动 右摇杆Y轴
|
||||
int convertedJ2PotY = constrain(
|
||||
map(remoteData.joyRVert, 0, 65535, 100, -100), // 原始0~65535，目标100~-100
|
||||
-100, 100
|
||||
);
|
||||
if(abs(convertedJ2PotY) > deadZone) { // 前后运动 -100 到 100
|
||||
wrobot.joyy = convertedJ2PotY;
|
||||
}else{
|
||||
wrobot.joyy = 0;
|
||||
}
|
||||
|
||||
|
||||
if(wrobot.mode == 0) // 智能模式
|
||||
{
|
||||
|
||||
// 左右转向 左摇杆X轴：先映射到-100~100，再按比例放大到-100~100
|
||||
int convertedJ1PotX = constrain(
|
||||
map(remoteData.joyLHori, 0, 65535, -100, 100),
|
||||
-100, 100
|
||||
);
|
||||
if(abs(convertedJ1PotX) > deadZone) { // 左右运动 -100 到 100
|
||||
wrobot.joyx = convertedJ1PotX;
|
||||
} else {
|
||||
wrobot.joyx = 0;
|
||||
}
|
||||
|
||||
// 智能计算wrobot.height ，根据前后速度，
|
||||
// convertedJ2PotY 范围-100到100，默认0，输出范围30（最矮）-50（最高）, 默认 50
|
||||
wrobot.height = map( abs(convertedJ2PotY), 0, 100, 50, 30);
|
||||
wrobot.height = constrain(wrobot.height, 30, 50);
|
||||
wrobot.height = lpf_height(wrobot.height);
|
||||
|
||||
}
|
||||
else if(wrobot.mode == 1) // 手动模式
|
||||
{
|
||||
// 摇摆角度 左摇杆X轴，先映射到-60~60，再按比例放大到-100~100
|
||||
int convertedJ1PotX = constrain(
|
||||
map(remoteData.joyLHori, 0, 65535, -30, 30) * (100.0/30), // 先映射到-30~30，再按比例放大到-100~100
|
||||
-100, 100
|
||||
);
|
||||
if(abs(convertedJ1PotX) > (deadZone * 2) ) { // 防止同一个摇杆上下左右移动相互干扰
|
||||
roll_adjust = convertedJ1PotX;
|
||||
}else{
|
||||
roll_adjust = 0;
|
||||
}
|
||||
|
||||
// 上下高度 左摇杆Y轴：原始0-65535 → 目标MAX到MIN
|
||||
int convertedJ1PotY = constrain(
|
||||
map(remoteData.joyLVert, 0, 65535, 100, -100), // 原始范围0-65535，目标范围100到-100，默认中间0
|
||||
-100, 100
|
||||
);
|
||||
if(abs(convertedJ1PotY) < (deadZone * 2) ) {
|
||||
convertedJ1PotY = 0;
|
||||
}
|
||||
wrobot.height = map( convertedJ1PotY, -100, 100, 30, 70);
|
||||
wrobot.height = constrain(wrobot.height, 30, 70);
|
||||
wrobot.height = lpf_height(wrobot.height);
|
||||
|
||||
// 左右转向 右摇杆X轴：原始0-960 → 目标-100到100
|
||||
int convertedJ2PotX = constrain(
|
||||
map(remoteData.joyRHori, 0, 65535, -100, 100), // 原始范围0-65535，目标范围-100到100，默认中间0
|
||||
-100, 100
|
||||
);
|
||||
if(abs(convertedJ2PotX) > ( deadZone * 2)) {
|
||||
wrobot.joyx = convertedJ2PotX;
|
||||
}else{
|
||||
wrobot.joyx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 跳跃 右摇杆按键
|
||||
if (remoteData.btnRS && !last_btnbtnRS) { // 1=true，0=false
|
||||
wrobot.jump = 1; // 跳跃
|
||||
}else{
|
||||
wrobot.jump = 0; // 不跳跃
|
||||
}
|
||||
last_btnbtnRS = remoteData.btnRS;
|
||||
|
||||
// 切换智能模式和手动模式
|
||||
if (remoteData.btnY) { // 1:左摇杆上下摇摆控制（手动）
|
||||
wrobot.mode = 1;
|
||||
}
|
||||
if (remoteData.btnA) { // 0:左摇杆左右转向控制（智能）
|
||||
wrobot.mode = 0;
|
||||
roll_adjust = 0.0f;
|
||||
leg_height_base = 20.0f;
|
||||
}
|
||||
}
|
||||
|
||||
/* Xbox数据处理函数（直接传递原生数据） */
|
||||
void process_xbox_notif(){
|
||||
xboxController.onLoop();
|
||||
if (xboxController.isConnected()){
|
||||
if (xboxController.isWaitingForFirstNotification()){
|
||||
Serial.println("Waiting for first Xbox data...");
|
||||
}else{
|
||||
// Serial.println("Xbox controller connected !!!"); // 手柄蓝灯常亮
|
||||
processControllerData(xboxController.xboxNotif);
|
||||
}
|
||||
}
|
||||
else{
|
||||
Serial.println("Xbox controller not connected");
|
||||
}
|
||||
}
|
||||
|
||||
Reference in new issue
Block a user