继续优化平衡控制，多次连续跳跃，毫无压力。
增加原地起立功能。 简化控制，通过 esp32 遥控器直接控制，无需配网。 遥控器地址：#小程序://闲鱼/4I7SlDlYRnybNWd
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@@ -0,0 +1,108 @@
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// -----------------------------------------------------------------------------
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||||
// Copyright (c) 2024 Mu Shibo
|
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//
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||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
// THE SOFTWARE.
|
||||
// -----------------------------------------------------------------------------
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||||
|
||||
// 飞特STS3032舵机同步控制指令
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||||
// 调用方式为sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
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|
||||
#ifndef _SERVO_STS3032_H
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||||
#define _SERVO_STS3032_H
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||||
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||||
#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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||||
#include "WProgram.h"
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#endif
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||||
// 数据结构定义
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typedef char s8;
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typedef unsigned char u8;
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||||
typedef unsigned short u16;
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||||
typedef short s16;
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||||
typedef unsigned long u32;
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||||
typedef long s32;
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||||
|
||||
// 内存表定义
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#define SMS_STS_ACC 41
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||||
#define INST_SYNC_WRITE 0x83
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||||
|
||||
// 飞特串行舵机通信层协议程序
|
||||
class SCS
|
||||
{
|
||||
public:
|
||||
SCS();
|
||||
SCS(u8 End);
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||||
SCS(u8 End, u8 Level);
|
||||
void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen); // 同步写指令
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||||
public:
|
||||
u8 Level; // 舵机返回等级
|
||||
u8 End; // 处理器大小端结构
|
||||
u8 Error; // 舵机状态
|
||||
u8 syncReadRxPacketIndex;
|
||||
u8 syncReadRxPacketLen;
|
||||
u8 *syncReadRxPacket;
|
||||
u8 *syncReadRxBuff;
|
||||
u16 syncReadRxBuffLen;
|
||||
u16 syncReadRxBuffMax;
|
||||
u32 syncTimeOut;
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||||
|
||||
protected:
|
||||
virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
|
||||
virtual int writeSCS(unsigned char bDat) = 0;
|
||||
virtual void rFlushSCS() = 0;
|
||||
virtual void wFlushSCS() = 0;
|
||||
|
||||
protected:
|
||||
void Host2SCS(u8 *DataL, u8 *DataH, u16 Data); // 1个16位数拆分为2个8位数
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||||
int Ack(u8 ID); // 返回应答
|
||||
int checkHead(); // 帧头检测
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||||
};
|
||||
|
||||
// 飞特串行舵机硬件接口层程序
|
||||
class SCSerial : public SCS
|
||||
{
|
||||
public:
|
||||
SCSerial();
|
||||
SCSerial(u8 End);
|
||||
SCSerial(u8 End, u8 Level);
|
||||
|
||||
protected:
|
||||
int writeSCS(unsigned char *nDat, int nLen); // 输出nLen字节
|
||||
int writeSCS(unsigned char bDat); // 输出1字节
|
||||
void rFlushSCS(); //
|
||||
void wFlushSCS(); //
|
||||
public:
|
||||
unsigned long IOTimeOut; // 输入输出超时
|
||||
HardwareSerial *pSerial; // 串口指针
|
||||
int Err;
|
||||
|
||||
public:
|
||||
virtual int getErr() { return Err; }
|
||||
};
|
||||
|
||||
// 飞特SMS/STS系列串行舵机应用层程序
|
||||
class SMS_STS : public SCSerial
|
||||
{
|
||||
public:
|
||||
virtual void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]); // 同步写多个舵机位置指令
|
||||
};
|
||||
|
||||
#endif
|
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@@ -0,0 +1,432 @@
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// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
// Modify by Tommy
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
#include <WiFi.h>
|
||||
|
||||
/***********html&javascript网页构建**********/
|
||||
const char basic_web[] PROGMEM = R"=====(
|
||||
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<title>legged wheel robot web ctrl</title>
|
||||
<style>
|
||||
h2{width: auto;height: 60px;line-height: 60px;text-align: center;font-family: 等线;color: white;background-color:cornflowerblue;border-radius: 12px;}
|
||||
input{width: 160px;height: 30px;margin: 0px;}
|
||||
.view{width: 140px;height: 30px;padding: 0px;margin: 15px auto;vertical-align:middle;}
|
||||
.dir{font-size: 15px;width: 100px;height: 60px;text-align: center;border-radius: 12px;background-color: white;color: cornflowerblue;border: 3px solid cornflowerblue;padding: 0px;transition: all 0.3s;}
|
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input[type='checkbox'].switch{outline: none;appearance: none;-webkit-appearance: none;-moz-appearance: none;position: relative;width: 40px;height: 20px;background: #ccc;border-radius: 10px;transition: border-color .3s, background-color .3s;margin: 0px 20px 0px 0px;}
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||||
input[type='checkbox'].switch::after{content: '';display: inline-block;width: 1rem;height:1rem;border-radius: 50%;background: #fff;box-shadow: 0, 0, 2px, #999;transition:.4s;top: 2px;position: absolute;left: 2px;}
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input[type='checkbox'].switch:checked{background: rgb(78, 78, 240);}
|
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input[type='checkbox'].switch:checked::after{content: '';position: absolute;left: 55%;top: 2px;}
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*{-webkit-touch-callout:none;-webkit-user-select:none;-khtml-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;}
|
||||
.row{display: flex;justify-content: center;clear: both;}
|
||||
.columnLateral{float: left;width: 15%;min-width: 300px;}
|
||||
.buttons{width: 300px;height: 180px;padding: 10px;margin: 10px auto;position: relative;}
|
||||
#jump{display: inline-block;}
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</style>
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||||
</head>
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||||
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||||
<!-- onload 事件在页面载入完成后立即触发 -->
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<body onload="javascript:socket_init()">
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<h2>WL-PRO WiFi遥控模式</h2>
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<div class="view" style="display:none">
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||||
<input type="checkbox" id="stable" class="switch" onclick="is_stable()" style="vertical-align:middle">Robot Go!</input>
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||||
</div>
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<center>
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||||
<!-- Example of two JoyStick integrated in the page structure -->
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||||
<div class="row">
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||||
<div class="columnLateral">
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<div id="joy1Div" style="width:200px;height:200px;margin:10px"></div>
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||||
<!-- 新增显示 joy1 的 x 和 y 值 -->
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||||
<div id="joy1Info">
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<span>Joy_x: <span id="joy1XValue">0</span></span>
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||||
<br>
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||||
<span>Joy_y: <span id="joy1YValue">0</span></span>
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||||
</div>
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||||
</div>
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||||
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||||
<div class="columnLateral">
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||||
<div id="joy2Div" style="width:200px;height:200px;margin:10px"></div>
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||||
<!-- 新增显示 joy2 的 x 和 y 值 -->
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<div id="joy2Info">
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<span>Roll: <span id="joy2XValue">0</span></span>
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<br>
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<span>Height: <span id="joy2YValue">32</span></span>
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</div>
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</div>
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</div>
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<div class="buttons">
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<button class="dir" id="jump">Jump</button>
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</div>
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</center>
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<script>
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var socket; // socket通信
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var g_roll=0; g_h=38;
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var g_stable = 0;
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var joyX = 0;
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var joyY = 0;
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// socket_init在页面载入完成后触发
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function socket_init() {
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// 初始化websocket客户端
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//socket = new WebSocket('ws://' + '192.168.4.1' + ':81/'); // AP模式
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socket = new WebSocket('ws://' + window.location.hostname + ':81/'); // sta模式
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}
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function send_data() {
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var data = {
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'roll': g_roll,
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'height': g_h,
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'stable': g_stable,
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'mode': 'basic',
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'dir': "stop",
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'joy_y': joyY,
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'joy_x': joyX
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};
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console.log(data);
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socket.send(JSON.stringify(data));
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}
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function is_stable() {
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var obj = document.getElementById("stable");
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if(obj.checked) {
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// alert("is_stable checked");
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g_stable = 1;
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} else {
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// alert("is_stable unchecked");
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g_stable = 0;
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}
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send_data();
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}
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// 绑定按钮
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var buttons = document.getElementsByClassName("dir");
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for(i=0;i<buttons.length;i++) {
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buttons[i].addEventListener("mousedown",move,true);
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buttons[i].addEventListener("mouseup",stop,true);
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buttons[i].addEventListener("touchstart",move,true);
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buttons[i].addEventListener("touchend",stop,true);
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}
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function move() {
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this.style = "background-color: cornflowerblue; color: white;";
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var data = {
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'dir': this.id,
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'mode': 'basic',
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'roll': g_roll,
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'height': g_h,
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'stable': g_stable,
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'joy_x': joyX,
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'joy_y': joyY
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};
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console.log(data);
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socket.send(JSON.stringify(data));
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}
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function stop() {
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this.style = "background-color: white; color: cornflowerblue;";
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var data = {
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'dir': "stop",
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'mode': 'basic',
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'roll': g_roll,
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'height': g_h,
|
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'stable': g_stable,
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'joy_x': joyX,
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'joy_y': joyY
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};
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console.log(data); // 打印测试
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socket.send(JSON.stringify(data));
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|
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}
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/*摇杆内容*/
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var JoyStick = (function(container, parameters) {
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parameters = parameters || {};
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var title = (typeof parameters.title === "undefined" ? "joystick" : parameters.title),
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width = (typeof parameters.width === "undefined" ? 0 : parameters.width),
|
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height = (typeof parameters.height === "undefined" ? 0 : parameters.height),
|
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internalFillColor = (typeof parameters.internalFillColor === "undefined" ? "#00979C" : parameters.internalFillColor),
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internalLineWidth = (typeof parameters.internalLineWidth === "undefined" ? 2 : parameters.internalLineWidth),
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internalStrokeColor = (typeof parameters.internalStrokeColor === "undefined" ? "#00979C" : parameters.internalStrokeColor),
|
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externalLineWidth = (typeof parameters.externalLineWidth === "undefined" ? 2 : parameters.externalLineWidth),
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externalStrokeColor = (typeof parameters.externalStrokeColor === "undefined" ? "#0097BC" : parameters.externalStrokeColor),
|
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autoReturnToCenter = (typeof parameters.autoReturnToCenter === "undefined" ? true : parameters.autoReturnToCenter);
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// Create Canvas element and add it in the Container object
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var objContainer = document.getElementById(container);
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var canvas = document.createElement("canvas");
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canvas.id = title;
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if(width === 0) { width = objContainer.clientWidth; }
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if(height === 0) { height = objContainer.clientHeight; }
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canvas.width = width;
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canvas.height = height;
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objContainer.appendChild(canvas);
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var context = canvas.getContext("2d");
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var isPressing = 0;
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var isMoving = 0;
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var isRelease = 0;
|
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var circumference = 2 * Math.PI;
|
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var internalRadius = (canvas.width - ((canvas.width / 2) + 10)) / 2;
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var maxMoveStick = internalRadius + 5;
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var externalRadius = internalRadius + 30;
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var centerX = canvas.width / 2;
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var centerY = canvas.height / 2;
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var directionHorizontalLimitPos = canvas.width / 10;
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var directionHorizontalLimitNeg = directionHorizontalLimitPos * -1;
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var directionVerticalLimitPos = canvas.height / 10;
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var directionVerticalLimitNeg = directionVerticalLimitPos * -1;
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// Used to save current position of stick
|
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var movedX = centerX;
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var movedY = centerY;
|
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|
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// Check if the device support the touch or not
|
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if("ontouchstart" in document.documentElement) {
|
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canvas.addEventListener("touchstart", onTouchStart, true);
|
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canvas.addEventListener("touchmove", onTouchMove, true);
|
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document.addEventListener("touchend", onTouchEnd, true);
|
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} else {
|
||||
canvas.addEventListener("mousedown", onMouseDown, true);
|
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canvas.addEventListener("mousemove", onMouseMove, true);
|
||||
document.addEventListener("mouseup", onMouseUp, true);
|
||||
}
|
||||
// Draw the object
|
||||
drawExternal();
|
||||
drawInternal();
|
||||
|
||||
/**
|
||||
* @desc Draw the external circle used as reference position
|
||||
*/
|
||||
function drawExternal() {
|
||||
context.beginPath();
|
||||
context.arc(centerX, centerY, externalRadius, 0, circumference, false);
|
||||
context.lineWidth = externalLineWidth;
|
||||
context.strokeStyle = externalStrokeColor;
|
||||
context.stroke();
|
||||
}
|
||||
|
||||
/**
|
||||
* @desc Draw the internal stick in the current position the user have moved it
|
||||
*/
|
||||
function drawInternal() {
|
||||
context.beginPath();
|
||||
if(movedX < internalRadius) { movedX = maxMoveStick; }
|
||||
if((movedX + internalRadius) > canvas.width) { movedX = canvas.width - (maxMoveStick); }
|
||||
if(movedY < internalRadius) { movedY = maxMoveStick; }
|
||||
if((movedY + internalRadius) > canvas.height) { movedY = canvas.height - (maxMoveStick); }
|
||||
context.arc(movedX, movedY, internalRadius, 0, circumference, false);
|
||||
// create radial gradient
|
||||
var grd = context.createRadialGradient(centerX, centerY, 5, centerX, centerY, 200);
|
||||
// Light color
|
||||
grd.addColorStop(0, internalFillColor);
|
||||
// Dark color
|
||||
grd.addColorStop(1, internalStrokeColor);
|
||||
context.fillStyle = grd;
|
||||
context.fill();
|
||||
context.lineWidth = internalLineWidth;
|
||||
context.strokeStyle = internalStrokeColor;
|
||||
context.stroke();
|
||||
}
|
||||
|
||||
function postCoordinate(containerId) {
|
||||
var xValue = (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
|
||||
var yValue = ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
|
||||
|
||||
if(containerId === 'joy1Div') {
|
||||
joyX = xValue;
|
||||
joyY = yValue;
|
||||
// 更新 joy1 的显示信息
|
||||
document.getElementById('joy1XValue').textContent = xValue;
|
||||
document.getElementById('joy1YValue').textContent = yValue;
|
||||
} else if(containerId === 'joy2Div') {
|
||||
// 限定 x 轴 roll 取值范围
|
||||
let rollValue = parseInt((xValue * 30 / 100).toFixed());
|
||||
if (rollValue < -30) {
|
||||
rollValue = -30;
|
||||
} else if (rollValue > 30) {
|
||||
rollValue = 30;
|
||||
}
|
||||
g_roll = rollValue;
|
||||
|
||||
// 限定 y 轴 小车高度 取值范围为 15 到 85
|
||||
let heightValue = parseInt(yValue) ;
|
||||
if (heightValue < 15) {
|
||||
heightValue = 15;
|
||||
} else if (heightValue > 85) {
|
||||
heightValue = 85;
|
||||
}
|
||||
g_h = heightValue;
|
||||
|
||||
// 更新 joy2 的显示信息，显示实际限制后的值
|
||||
document.getElementById('joy2XValue').textContent = g_roll;
|
||||
document.getElementById('joy2YValue').textContent = g_h;
|
||||
}
|
||||
|
||||
send_data();
|
||||
}
|
||||
|
||||
function releaseControl() {
|
||||
joyX = 0;
|
||||
joyY = 0;
|
||||
g_roll = 0;
|
||||
g_h = 32;
|
||||
// 重置显示信息
|
||||
document.getElementById('joy1XValue').textContent = '0';
|
||||
document.getElementById('joy1YValue').textContent = '0';
|
||||
document.getElementById('joy2XValue').textContent = '0';
|
||||
document.getElementById('joy2YValue').textContent = g_h;
|
||||
|
||||
send_data();
|
||||
}
|
||||
|
||||
/**
|
||||
* @desc Events for manage touch
|
||||
*/
|
||||
function noTouch(event) {
|
||||
isPressing = 0;
|
||||
isMoving = 0;
|
||||
isRelease = 0;
|
||||
}
|
||||
|
||||
function onTouchStart(event) {
|
||||
isPressing = 1;
|
||||
isMoving = 0;
|
||||
isRelease = 0;
|
||||
}
|
||||
|
||||
function onTouchMove(event) {
|
||||
// Prevent the browser from doing its default thing (scroll, zoom)
|
||||
event.preventDefault();
|
||||
if(isPressing === 1 && event.targetTouches[0].target === canvas) {
|
||||
isMoving = 1;
|
||||
isRelease = 0;
|
||||
|
||||
movedX = event.targetTouches[0].pageX;
|
||||
movedY = event.targetTouches[0].pageY;
|
||||
// Manage offset
|
||||
if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
|
||||
movedX -= canvas.offsetLeft;
|
||||
movedY -= canvas.offsetTop;
|
||||
} else {
|
||||
movedX -= canvas.offsetParent.offsetLeft;
|
||||
movedY -= canvas.offsetParent.offsetTop;
|
||||
}
|
||||
// Delete canvas
|
||||
context.clearRect(0, 0, canvas.width, canvas.height);
|
||||
// Redraw object
|
||||
drawExternal();
|
||||
drawInternal();
|
||||
|
||||
postCoordinate(canvas.parentNode.id);
|
||||
}
|
||||
}
|
||||
|
||||
function onTouchEnd(event) {
|
||||
//event.preventDefault();
|
||||
isPressing = 0;
|
||||
isMoving = 0;
|
||||
isRelease = 1;
|
||||
|
||||
// If required reset position store variable
|
||||
if(autoReturnToCenter) {
|
||||
movedX = centerX;
|
||||
movedY = centerY;
|
||||
}
|
||||
// Delete canvas
|
||||
context.clearRect(0, 0, canvas.width, canvas.height);
|
||||
// Redraw object
|
||||
drawExternal();
|
||||
drawInternal();
|
||||
|
||||
releaseControl();
|
||||
}
|
||||
|
||||
/**
|
||||
* @desc Events for manage mouse
|
||||
*/
|
||||
function noMouse(event) {
|
||||
isPressing = 0;
|
||||
isMoving = 0;
|
||||
isRelease = 0;
|
||||
}
|
||||
|
||||
function onMouseDown(event) {
|
||||
isPressing = 1;
|
||||
isMoving = 0;
|
||||
isRelease = 0;
|
||||
}
|
||||
|
||||
function onMouseMove(event) {
|
||||
if(isPressing === 1) {
|
||||
isMoving = 1;
|
||||
isRelease = 0;
|
||||
|
||||
movedX = event.pageX;
|
||||
movedY = event.pageY;
|
||||
// Manage offset
|
||||
if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
|
||||
movedX -= canvas.offsetLeft;
|
||||
movedY -= canvas.offsetTop;
|
||||
} else {
|
||||
movedX -= canvas.offsetParent.offsetLeft;
|
||||
movedY -= canvas.offsetParent.offsetTop;
|
||||
}
|
||||
// Delete canvas
|
||||
context.clearRect(0, 0, canvas.width, canvas.height);
|
||||
// Redraw object
|
||||
drawExternal();
|
||||
drawInternal();
|
||||
|
||||
postCoordinate(canvas.parentNode.id);
|
||||
}
|
||||
}
|
||||
|
||||
function onMouseUp(event) {
|
||||
isPressing = 0;
|
||||
isMoving = 0;
|
||||
isRelease = 1;
|
||||
|
||||
// If required reset position store variable
|
||||
if(autoReturnToCenter) {
|
||||
movedX = centerX;
|
||||
movedY = centerY;
|
||||
}
|
||||
// Delete canvas
|
||||
context.clearRect(0, 0, canvas.width, canvas.height);
|
||||
// Redraw object
|
||||
drawExternal();
|
||||
drawInternal();
|
||||
|
||||
releaseControl();
|
||||
}
|
||||
|
||||
this.GetX = function () {
|
||||
return (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
|
||||
};
|
||||
|
||||
/**
|
||||
* @desc Normalizzed value of Y move of stick
|
||||
* @return Integer from -100 to +100
|
||||
*/
|
||||
this.GetY = function () {
|
||||
return ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
|
||||
};
|
||||
});
|
||||
|
||||
var joy1Param = { "title": "1" };
|
||||
var Joy1 = new JoyStick('joy1Div', joy1Param);
|
||||
var joy2Param = { "title": "2" };
|
||||
var Joy2 = new JoyStick('joy2Div', joy2Param);
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
)=====";
|
||||
@@ -0,0 +1,32 @@
|
||||
#ifndef _MAIN_H
|
||||
#define _MAIN_H
|
||||
|
||||
// 机器人控制头文件
|
||||
#include <MPU6050_tockn.h>
|
||||
#include "Servo_STS3032.h"
|
||||
#include <SimpleFOC.h>
|
||||
#include <Arduino.h>
|
||||
|
||||
// wifi控制数据传输头文件
|
||||
#include <WebSocketsServer.h>
|
||||
#include <ArduinoJson.h>
|
||||
#include <WebServer.h>
|
||||
#include <WiFi.h>
|
||||
#include <FS.h>
|
||||
#include "basic_web.h"
|
||||
#include "robot.h"
|
||||
#include "wifi_config.h"
|
||||
#include "esp_adc_cal.h"
|
||||
|
||||
void basicWebCallback(void);
|
||||
void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length);
|
||||
void adc_calibration_init();
|
||||
void bat_check();
|
||||
void web_loop();
|
||||
void lqr_balance_loop();
|
||||
void yaw_loop();
|
||||
void leg_loop();
|
||||
void jump_loop();
|
||||
void yaw_angle_addup();
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,76 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
// THE SOFTWARE.
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <WiFi.h>
|
||||
#include <ArduinoJson.h>
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int height = 38;
|
||||
int roll;
|
||||
int linear;
|
||||
int angular;
|
||||
int dir;
|
||||
int dir_last;
|
||||
int joyy;
|
||||
int joyy_last;
|
||||
int joyx;
|
||||
int joyx_last;
|
||||
bool go;
|
||||
} Wrobot;
|
||||
|
||||
extern Wrobot wrobot;
|
||||
|
||||
// 机器人运动状态枚举
|
||||
typedef enum
|
||||
{
|
||||
FORWARD = 0,
|
||||
BACK,
|
||||
RIGHT,
|
||||
LEFT,
|
||||
STOP,
|
||||
JUMP,
|
||||
} QR_State_t;
|
||||
|
||||
// 机器人模式枚举类型
|
||||
typedef enum
|
||||
{
|
||||
BASIC = 0,
|
||||
} Robot_Mode_t;
|
||||
|
||||
class RobotProtocol
|
||||
{
|
||||
public:
|
||||
RobotProtocol(uint8_t len);
|
||||
~RobotProtocol();
|
||||
void spinOnce(void);
|
||||
void parseBasic(StaticJsonDocument<300> &doc);
|
||||
|
||||
private:
|
||||
uint8_t *_now_buf;
|
||||
uint8_t *_old_buf;
|
||||
uint8_t _len;
|
||||
void UART_WriteBuf(void);
|
||||
int checkBufRefresh(void);
|
||||
};
|
||||
@@ -0,0 +1,28 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
// THE SOFTWARE.
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <WiFi.h>
|
||||
|
||||
void WiFi_SetAP(void);
|
||||
void set_sta_wifi(); // STA模式接入WiFi网络
|
||||
Reference in new issue
Block a user