优化了平衡，尤其对于向后倾倒的几种极限情况进行优化
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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
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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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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#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
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class SCS
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{
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public:
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SCS();
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SCS(u8 End);
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SCS(u8 End, u8 Level);
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void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen); // 同步写指令
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public:
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u8 Level; // 舵机返回等级
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u8 End; // 处理器大小端结构
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u8 Error; // 舵机状态
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u8 syncReadRxPacketIndex;
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u8 syncReadRxPacketLen;
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u8 *syncReadRxPacket;
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u8 *syncReadRxBuff;
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u16 syncReadRxBuffLen;
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u16 syncReadRxBuffMax;
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u32 syncTimeOut;
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protected:
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virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
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virtual int writeSCS(unsigned char bDat) = 0;
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virtual void rFlushSCS() = 0;
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virtual void wFlushSCS() = 0;
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protected:
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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
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int checkHead(); // 帧头检测
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};
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// 飞特串行舵机硬件接口层程序
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class SCSerial : public SCS
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{
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public:
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SCSerial();
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SCSerial(u8 End);
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SCSerial(u8 End, u8 Level);
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protected:
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int writeSCS(unsigned char *nDat, int nLen); // 输出nLen字节
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int writeSCS(unsigned char bDat); // 输出1字节
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void rFlushSCS(); //
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void wFlushSCS(); //
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public:
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unsigned long IOTimeOut; // 输入输出超时
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HardwareSerial *pSerial; // 串口指针
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int Err;
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public:
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virtual int getErr() { return Err; }
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};
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// 飞特SMS/STS系列串行舵机应用层程序
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class SMS_STS : public SCSerial
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{
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public:
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virtual void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]); // 同步写多个舵机位置指令
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};
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#endif
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@@ -0,0 +1,484 @@
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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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// Modify by Tommy
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// -----------------------------------------------------------------------------
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#include <WiFi.h>
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/***********html&javascript网页构建**********/
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const char basic_web[] PROGMEM = R"=====(
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>legged wheel robot web ctrl</title>
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<style>
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*{box-sizing:border-box;margin:0;padding:0}
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body{display:flex;flex-direction:column;align-items:center;min-height:100vh;background-color:#fff;font-family:'Segoe UI',Arial,sans-serif;padding:15px;overflow:hidden;width:100vw}
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.page-title{color:#333;margin-bottom:15px;text-align:center;font-weight:600;font-size:1.3rem;width:100%}
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.connection-status{margin-bottom:15px;padding:6px 12px;border-radius:4px;font-weight:500;font-size:14px}
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.status-connected{background-color:#e8f5e9;color:#2e7d32}
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.status-disconnected{background-color:#ffebee;color:#c62828}
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.btn{display:inline-block;font-size:15px;width:100px;height:60px;text-align:center;border-radius:12px;background-color:#fff;color:#6495ed;border:3px solid #6495ed;padding:0;transition:all .3s;margin:10px 0}
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.row{display:flex;width:100%;justify-content:space-between;align-items:center;gap:10px}
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.columnLateral{flex:1;min-width:0;text-align:center}
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#joy1Div,#joy2Div{width:100%;max-width:200px;height:200px;margin:10px auto}
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@media (max-width:360px){.page-title{font-size:1.1rem}
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#joy1Div,#joy2Div{height:160px}
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.btn{width:80px;height:50px;font-size:14px}
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}
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</style>
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</head>
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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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<h1 class="page-title">WLROBOT WiFi遥控模式</h1>
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<div class="connection-status status-disconnected" id="connectionStatus">未连接</div>
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<center>
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<div class="row">
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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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<div id="joy2Info">
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<span>高度: <span id="joy2YValue">30</span></span>
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<br>
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<span>倾角: <span id="joy2XValue">0</span></span>
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</div>
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</div>
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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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<div id="joy1Info">
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<span>前后: <span id="joy1YValue">0</span></span>
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<br>
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<span>左右: <span id="joy1XValue">0</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="btn" 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 isConnected = false; // 连接状态
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var g_roll = 0;
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var g_h = 30;
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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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// 更新连接状态显示
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function updateConnectionStatus(connected) {
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isConnected = connected;
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const statusElement = document.getElementById('connectionStatus');
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if (connected) {
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statusElement.textContent = '已连接';
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statusElement.className = 'connection-status status-connected';
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} else {
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statusElement.textContent = '未连接';
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statusElement.className = 'connection-status status-disconnected';
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}
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}
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function socket_init() {
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try {
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// 根据环境选择合适的连接方式
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const wsProtocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
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socket = new WebSocket(wsProtocol + '//' + window.location.hostname + ':81/');
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// 连接成功事件
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socket.onopen = function() {
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// console.log('WebSocket连接已建立');
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updateConnectionStatus(true);
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};
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// 接收消息事件
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socket.onmessage = function(event) {
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console.log('收到消息:', event.data);
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// 可以在这里处理从服务器返回的消息
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};
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// 连接关闭事件
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socket.onclose = function() {
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console.log('WebSocket连接已关闭');
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updateConnectionStatus(false);
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// 尝试重连
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setTimeout(socket_init, 3000);
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};
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// 错误事件
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socket.onerror = function(error) {
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console.error('WebSocket错误:', error);
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updateConnectionStatus(false);
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};
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} catch (e) {
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console.error('WebSocket初始化失败:', e);
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updateConnectionStatus(false);
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// 重试连接
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setTimeout(socket_init, 3000);
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}
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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("btn");
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for(i=0;i<buttons.length;i++) {
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buttons[i].addEventListener("mousedown",btn_down,true);
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buttons[i].addEventListener("mouseup",btn_up,true);
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buttons[i].addEventListener("touchstart",btn_down,true);
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buttons[i].addEventListener("touchend",btn_up,true);
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}
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function btn_down() {
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this.style = "background-color: cornflowerblue; color: white;";
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dir = (this.id == 'jump') ? 'jump' : 'stop';
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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 btn_up() {
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this.style = "background-color: white; color: cornflowerblue;";
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dir = (this.id == 'jump') ? 'stop' : 'jump';
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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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/*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" ? "#4a90e2" : parameters.internalFillColor),
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internalLineWidth = (typeof parameters.internalLineWidth === "undefined" ? 2 : parameters.internalLineWidth),
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internalStrokeColor = (typeof parameters.internalStrokeColor === "undefined" ? "#4a90e2" : parameters.internalStrokeColor),
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externalLineWidth = (typeof parameters.externalLineWidth === "undefined" ? 2 : parameters.externalLineWidth),
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externalStrokeColor = (typeof parameters.externalStrokeColor === "undefined" ? "#4a90e2" : 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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// 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 {
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canvas.addEventListener("mousedown", onMouseDown, true);
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canvas.addEventListener("mousemove", onMouseMove, true);
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document.addEventListener("mouseup", onMouseUp, true);
|
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}
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// Draw the object
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drawExternal();
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drawInternal();
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/**
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* @desc Draw the external circle used as reference position
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*/
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||||
function drawExternal() {
|
||||
context.beginPath();
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||||
context.arc(centerX, centerY, externalRadius, 0, circumference, false);
|
||||
context.lineWidth = externalLineWidth;
|
||||
context.strokeStyle = externalStrokeColor;
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||||
context.stroke();
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}
|
||||
|
||||
/**
|
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* @desc Draw the internal stick in the current position the user have moved it
|
||||
*/
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||||
function drawInternal() {
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||||
context.beginPath();
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||||
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 < 0) {
|
||||
heightValue = 0;
|
||||
} else if (heightValue > 60) {
|
||||
heightValue = 60;
|
||||
}
|
||||
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 = 30;
|
||||
// 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 +1,35 @@
|
||||
#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();
|
||||
void blinkLed();
|
||||
void detectObstacle();
|
||||
void resetToDefault();
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,77 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// 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;
|
||||
int blink;
|
||||
} 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