322 lines
9.0 KiB
C++
322 lines
9.0 KiB
C++
#include <ESP8266WiFi.h>
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#include <WebSocketsClient.h>
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const String ssid = "AutoWiFiManager";
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const String passwd = "123456789";
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String remoteHost = "192.168.4.1";
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// 超声波传感器引脚
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#define trigPin 14 // D5 引脚 蓝色 trig
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#define echoPin 12 // D6 引脚 褐色 echo
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#define LED1 4 // D2
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#define LED2 0 // D3
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#define leftPin 13 // 左边红外 传感器 D7
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#define rightPin 5 // 右边红外 传感器 D1
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bool isAuto = false;
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bool isHand = false;
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WebSocketsClient wsClient;
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//静态地址、网关、子网掩码
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IPAddress local_IP(192, 168, 4, 2);
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IPAddress gateway(192, 168, 4, 1);
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IPAddress subnet(255, 255, 255, 0);
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void setup()
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{
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Serial.begin(9600);
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WiFi.config(local_IP, gateway, subnet); //设置静态IP
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WiFi.mode(WIFI_STA);
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WiFi.begin(ssid, passwd);
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// 判断是否连接成功
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while (WiFi.status() != WL_CONNECTED)
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{
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Serial.print('.');
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delay(100);
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}
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Serial.println("");
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Serial.println("Connected to " + ssid);
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Serial.print("Current ip address is ");
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Serial.println(WiFi.localIP());
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pinMode(leftPin, INPUT);
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pinMode(rightPin, INPUT);
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pinMode(LED_BUILTIN, OUTPUT);
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digitalWrite(LED_BUILTIN, HIGH);
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pinMode(LED1, OUTPUT);
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pinMode(LED2, OUTPUT);
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analogWrite(LED1, 0);
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analogWrite(LED2, 0);
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pinMode(trigPin, OUTPUT); // 将trigPin设置为输出
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pinMode(echoPin, INPUT); // 将echoPin设置为输入
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// 启动WebSocket客户端
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wsClient.begin(remoteHost, 81);
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// 指定事件处理函数
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wsClient.onEvent([](WStype_t type, uint8_t *payload, size_t length)
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{
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if (type == WStype_TEXT)
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{
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// 接收来自服务端的信息（服务端FLASH按键状态），并控制LED的工作
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String data = (char *)payload;
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Serial.print("wsClient ======== ：");
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Serial.println(data);
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String type = getValue(data, '|', 0);
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if (type == "client")
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{
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String status = getValue(data, '|', 1);
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if (status == "Automatic")
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{
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String val = getValue(data, '|', 2);
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val == "1" ? isAuto = true : isAuto = false;
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}
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else if (status == "fronLamp")
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{
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String LampStatus = getValue(data, '|', 2);
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LampStatus == "1" ? oftenOpen() : close();
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}
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else if (status == "doubleFlash")
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{
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String flashStatus = getValue(data, '|', 2);
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flashStatus == "1" ? open() : close();
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}
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else if (status == "AutoHand")
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{
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String handStatus = getValue(data, '|', 2);
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handStatus == "1" ? isHand = true : isHand = false;
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}
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}
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}
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});
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}
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void loop()
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{
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// Serial.println("loop...");
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if (isAuto)
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{
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Serial.println("Automatic...");
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Automatic();
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delay(800);
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}
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if (isHand)
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{
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Serial.println("follow...");
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follow();
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delay(300);
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}
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wsClient.loop();
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}
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// 自动跟随的代码
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void follow()
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{
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int Right_Value = digitalRead(rightPin);
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int Left_Value = digitalRead(leftPin);
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Serial.print("RIGHT：");
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Serial.println(Right_Value);
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Serial.print("LEFT：");
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Serial.println(Left_Value);
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// Serial.print("getDistance(): ========");
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// Serial.println(getDistance());
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// Serial.println(getDistance() <= 30);
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Serial.println(
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(Right_Value == 1 && Left_Value == 1) && (getDistance() <= 30));
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// 1 没有检测到障碍物，0 检测到障碍物
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// 左右都没有检测到障碍物 直行
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if ((Right_Value == 1 && Left_Value == 1) && (getDistance() <= 30))
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{
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Serial.println("straight..");
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// 直行
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digitalWrite(LED_BUILTIN, LOW); // 开
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String straightForwardPos = String("sensor|motor|straight");
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wsClient.sendTXT(straightForwardPos);
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}
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// 右边 有 障碍物， 左边 没有 障碍物 右行
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else if ((Right_Value == 0) && (Left_Value == 1))
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{
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Serial.println("right..");
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String rightPos = String("sensor|servo|140");
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wsClient.sendTXT(rightPos);
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delay(200);
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String rightForwardPos = String("sensor|motor|right");
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wsClient.sendTXT(rightForwardPos);
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}
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// 右边 没有 障碍物， 左边 有 障碍物 左行
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else if ((Right_Value == 1) && (Left_Value == 0))
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{
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Serial.println("left..");
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String leftPos = String("sensor|servo|40");
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wsClient.sendTXT(leftPos);
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delay(200);
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String leftForwardPos = String("sensor|motor|left");
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wsClient.sendTXT(leftForwardPos);
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}
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// 左右 没有 障碍物 停车
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else if ((Right_Value == 1) && (Left_Value == 1))
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{
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Serial.println("stop1..");
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// 停车
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digitalWrite(LED_BUILTIN, HIGH); // 关
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String instructions = String("sensor|ultrasonic|stop");
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wsClient.sendTXT(instructions);
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delay(1000);
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}
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}
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// 自动寻路
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void Automatic()
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{
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Serial.print("getDistance(): ========");
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Serial.println(getDistance());
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Serial.println(getDistance() <= 50);
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// 如果距离小于30cm那么停车
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if (getDistance() <= 50)
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{
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Serial.println("stop car ========");
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digitalWrite(LED_BUILTIN, LOW);
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// 停车
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String instructions = String("sensor|ultrasonic|stop");
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wsClient.sendTXT(instructions);
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delay(500);
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Serial.println("left car ========");
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// 左转舵机
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String leftPos = String("sensor|servo|40");
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wsClient.sendTXT(leftPos);
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delay(800);
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if (getDistance() <= 50)
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{
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Serial.println("right car ========");
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// 右转舵机
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String rightPos = String("sensor|servo|140");
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wsClient.sendTXT(rightPos);
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delay(1200);
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if (getDistance() <= 50)
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{
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Serial.println("center car ========");
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// 向中间转动舵机
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String centerPos = String("sensor|servo|90");
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wsClient.sendTXT(centerPos);
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delay(800);
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Serial.println("back car ========");
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// 后退
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String backForwardPos = String("sensor|motor|back");
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wsClient.sendTXT(backForwardPos);
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// 如果右边没有障碍物
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}
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else
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{
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Serial.println("right car run ========");
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String rightForwardPos = String("sensor|motor|right");
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wsClient.sendTXT(rightForwardPos);
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}
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// 如果左转没有障碍物
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}
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else
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{
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Serial.println("left car run ========");
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String leftForwardPos = String("sensor|motor|left");
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wsClient.sendTXT(leftForwardPos);
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}
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// 如果前面没有障碍物
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}
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else
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{
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Serial.println("run car ========");
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digitalWrite(LED_BUILTIN, HIGH);
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String straightForwardPos = String("sensor|motor|straight");
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wsClient.sendTXT(straightForwardPos);
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}
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}
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// 一直打开大灯
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void oftenOpen()
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{
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analogWrite(LED1, 255);
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analogWrite(LED2, 255);
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}
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void open()
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{
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analogWrite(LED1, 255);
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analogWrite(LED2, 255);
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delay(300);
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analogWrite(LED1, 0);
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analogWrite(LED2, 0);
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delay(300);
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}
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void close()
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{
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analogWrite(LED1, 0);
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analogWrite(LED2, 0);
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}
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// 返回距离
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int getDistance()
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{
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long duration;
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int distance;
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// Clears the trigPin
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digitalWrite(trigPin, LOW);
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delayMicroseconds(2);
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//将trigPin设置为HIGH状态10微秒
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digitalWrite(trigPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(trigPin, LOW);
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// 读取echoPin，以微秒为单位返回声波传播时间
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duration = pulseIn(echoPin, HIGH);
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// 计算距离
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distance = duration * 0.034 / 2;
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return distance;
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}
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String getValue(String data, char separator, int index)
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{
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int found = 0;
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int strIndex[] = {0, -1};
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int maxIndex = data.length() - 1;
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for (int i = 0; i <= maxIndex && found <= index; i++)
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{
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if (data.charAt(i) == separator || i == maxIndex)
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{
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found++;
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strIndex[0] = strIndex[1] + 1;
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strIndex[1] = (i == maxIndex) ? i + 1 : i;
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}
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}
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return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
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}
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