esp32-使用UDP控制电机（七）

前言

端口配置

代码

前言

本文基于esp32使用platformio平台，通过udp来控制电机运行。

关键词：platformio，freertos，upd，esp32，motor，

端口配置

采用drv8833驱动板，其中esp32的d25接in2，d26接in1，d13接in4，d12接in3，esp32的3v3接drv8833的vcc，esp32的GND接drv8833的GND，2个电机的正负极接drv8833的OUT1至4。

代码

电机motor.h和motor.cpp代码如下

#ifndef MOTOR_H_
#define MOTOR_H_

#include <stdint.h>


class Motor
{
public:
	Motor(int inv);
	~Motor();

	void initialize(int pin_A, int pwm_channel_A, int pin_B, int pwm_channel_B);
	void setPwmDuty(float duty);

private:

	double frequency = 1000;
	uint8_t resolution_bits = 10;

	int pin_A;
	int pin_B;

	int pwm_channel_A;
	int pwm_channel_B;

	int inverse;

};

#endif

#include "Motor.h"
#include <Arduino.h>
#include <esp32-hal-ledc.h>


void Motor::initialize(int pin_A, int pwm_channel_A, int pin_B, int pwm_channel_B)
{
	this->pin_A = pin_A;
	this->pin_B = pin_B;
	this->pwm_channel_A = pwm_channel_A;
	this->pwm_channel_B = pwm_channel_B;

	ledcSetup(pwm_channel_A, frequency, resolution_bits);
	ledcAttachPin(pin_A, pwm_channel_A);
	ledcSetup(pwm_channel_B, frequency, resolution_bits);
	ledcAttachPin(pin_B, pwm_channel_B);
}

void Motor::setPwmDuty(float duty)
{
	duty = constrain(inverse * duty, -1, 1);

	if (duty > 0)
	{
		ledcWrite(this->pwm_channel_A, (int)(1000* duty));
		ledcWrite(this->pwm_channel_B, 0);
	}
	else
	{
		ledcWrite(this->pwm_channel_B, (int)(1000 * -duty));
		ledcWrite(this->pwm_channel_A, 0);
	}

}


Motor::Motor(int inv): inverse(inv)
{
}

Motor::~Motor()
{
}

main函数如下

#include<Arduino.h>
#include "motor.h"
#include<WiFi.h>
Motor * motorFL = new Motor(1);

Motor *motorFR = new Motor(1);
const char *ssid = "PDCN";
const char *password = "1234567890";
WiFiUDP udp;
int recv_length;
char recvbuff[255];       // 存储接收到的数据
uint16_t udp_port = 1234; // 端口号，ESP32默认IP:192.168.4.1
void motorTask(void *param){
    int recv_length;
    while (1)
    {
        recv_length = udp.parsePacket(); // 获取接收的数据的长度
        //Serial.println("recvlength:" + recv_length);
        if (recv_length) // 如果有数据那么recv_length不为0
        {
            int len = udp.read(recvbuff, 255); // 读取数据到recvbuff中
            if (len > 0)
            {
                int a = atoi(recvbuff);

                Serial.println(recvbuff); // 串口打印网口收到的数据
                switch (a)
                {
                case 1 /* constant-expression */:
                    /* code */
                    motorFL->setPwmDuty(1);
                    break;
                case 2:
                    motorFL->setPwmDuty(-1);
                    break;
                case 0:
                    motorFL->setPwmDuty(0);
                default:
                    break;
                }
                vTaskDelay(100);
                motorFL->setPwmDuty(0);
            }

            // 将接收到的数据发送回去
            udp.beginPacket(udp.remoteIP(), udp.remotePort()); // 准备发送数据到目标IP和目标端口
            udp.print("Receive:");
            udp.println(recvbuff); // 数据放入发送的缓冲区
            udp.endPacket();       // 发送

            for (int i = 0; i < 255; i++) // 清空接收数组
            {
                recvbuff[i] = 0;
            }
        }
        vTaskDelay(100);
    }
}
void setup(){
    Serial.begin(115200);

    WiFi.begin(ssid, password);
    Serial.println("正在连接到WiFi...");

    while (WiFi.status() != WL_CONNECTED)
    {
        delay(500);
        Serial.print(".");
    }

    Serial.println("");
    Serial.print("已连接到 ");
    Serial.println(ssid);
    Serial.print("IP地址：");
    Serial.println(WiFi.localIP());
    Serial.println(udp_port);

    udp.begin(udp_port); // 启动UDP监听端口,等待电脑发送数据
    Serial.println("Ready!");

    motorFL->initialize(25, 8, 26, 9);//PWM通道8和9，对应esp32的d25和d26
    motorFR->initialize(12, 10, 13, 11);//PWM通道的10和11，对应esp32的d12和d13
    //motorFL->setPwmDuty(0.5);
    xTaskCreatePinnedToCore(motorTask,"motorTask",8192,NULL,1,NULL,1);
}


void loop()
{
    // Do nothing. Everything is done in another task by the web server
    //motorFL->setPwmDuty(1);
    //motorFR->setPwmDuty(1);
}

实验通过电脑端串口调试器，如下所示，通过发送数字1或2使得电机运转0.1秒。