KG_KAIROS/MCU (Arduino & STM32)

[KG_KAIROS] ESP32 모터제어(ThingSpeak)

projectlim 2024. 7. 17. 17:30
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/*MIT License

Copyright (c) 2024 JD edu. http://jdedu.kr author: conner.jeong@gmail.com
     
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 OR0
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 TH
SOFTWARE.*/
#include <WiFi.h>
#include <WebServer.h>

#define M1_B    26
#define M1_A    27

#define FORWARD   1
#define BACKWARD  2
#define STOP      3

/* Put your SSID & Password */
const char* ssid = "ConnectValue_C402_2G";  // Enter SSID here
const char* password = "CVC402!@#$";  //Enter Password here

int motor_status = STOP;

WebServer server(80);

void go_forward(){
  Serial.println("forward");
  digitalWrite(M1_A, LOW);
  digitalWrite(M1_B, HIGH);
}

void go_backward(){
  Serial.println("backward");
  digitalWrite(M1_A, HIGH);
  digitalWrite(M1_B, LOW);
}

void stop(){
  Serial.println("stop");
  digitalWrite(M1_A, LOW);
  digitalWrite(M1_B, LOW);
  delay(200);
}

void setup() {
  Serial.begin(115200);

  pinMode(M1_A, OUTPUT);
  pinMode(M1_B, OUTPUT);
  stop();

  //connect to your local wi-fi network
  WiFi.begin(ssid, password);

  //check wi-fi is connected to wi-fi network
  while (WiFi.status() != WL_CONNECTED) {
  delay(1000);
  Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected..!");
  Serial.print("Got IP: ");  Serial.println(WiFi.localIP());
  
  server.on("/", handle_OnConnect);
  server.on("/forward", handle_forward);
  server.on("/backward", handle_backward);
  server.on("/stop", handle_stop);
  server.onNotFound(handle_NotFound);
  
  server.begin();
  Serial.println("HTTP server started");
}
void loop() {
  server.handleClient();
  
}

void handle_OnConnect() {
  stop();
  Serial.println("motor stop");
  server.send(200, "text/html", SendHTML(motor_status)); 
}

void handle_forward() {
  go_forward();
  motor_status = FORWARD;
  Serial.println("motor forward");
  server.send(200, "text/html", SendHTML(motor_status)); 
}

void handle_backward() {
  go_backward();
  motor_status = BACKWARD;
  Serial.println("motor backward");
  server.send(200, "text/html", SendHTML(motor_status)); 
}

void handle_stop() {
  stop();
  motor_status = STOP;
  Serial.println("motor stop");
  server.send(200, "text/html", SendHTML(motor_status)); 
}

void handle_NotFound(){
  server.send(404, "text/plain", "Not found");
}

String SendHTML(uint8_t motor_status){
  String ptr = "<!DOCTYPE html> <html>\n";
  ptr +="<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0, user-scalable=no\">\n";
  ptr +="<title>LED Control</title>\n";
  ptr +="<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}\n";
  ptr +="body{margin-top: 50px;} h1 {color: #444444;margin: 50px auto 30px;} h3 {color: #444444;margin-bottom: 50px;}\n";
  ptr +=".button {display: block;width: 80px;background-color: #3498db;border: none;color: white;padding: 13px 30px;text-decoration: none;font-size: 25px;margin: 0px auto 35px;cursor: pointer;border-radius: 4px;}\n";
  ptr +=".button-on {background-color: #3498db;}\n";
  ptr +=".button-on:active {background-color: #2980b9;}\n";
  ptr +=".button-off {background-color: #34495e;}\n";
  ptr +=".button-off:active {background-color: #2c3e50;}\n";
  ptr +="p {font-size: 14px;color: #888;margin-bottom: 10px;}\n";
  ptr +="</style>\n";
  ptr +="</head>\n";
  ptr +="<body>\n";
  ptr +="<h1>ESP32 Web Server</h1>\n";
  ptr +="<h3>Using Station Mode</h3>\n";

  switch(motor_status){
    case 1:
      {ptr +="<p>Motor forward</p><a class=\"button button-on\" href=\"/forward\">ON</a>\n";}
      {ptr +="<p>Motor backward</p><a class=\"button button-off\" href=\"/backward\">OFF</a>\n";}
      {ptr +="<p>stop</p><a class=\"button button-off\" href=\"/stop\">OFF</a>\n";}
      break;
    case 2:
      {ptr +="<p>Motor forward</p><a class=\"button button-off\" href=\"/forward\">OFF</a>\n";}
      {ptr +="<p>Motor backward</p><a class=\"button button-on\" href=\"/backward\">ON</a>\n";}
      {ptr +="<p>stop</p><a class=\"button button-off\" href=\"/stop\">OFF</a>\n";}
      break;
    case 3:
      {ptr +="<p>Motor forward</p><a class=\"button button-off\" href=\"/forward\">OFF</a>\n";}
      {ptr +="<p>Motor backward</p><a class=\"button button-off\" href=\"/backward\">OFF</a>\n";}
      {ptr +="<p>stop</p><a class=\"button button-on\" href=\"/stop\">ON</a>\n";}
      break;
  }
  ptr +="</body>\n";
  ptr +="</html>\n";
  return ptr;
}

 

DHT11

 

온도 변화를 볼수있습니다.

#define motor_A_1A 5
#define encoder_R 3
#define encoder_L 2
unsigned long time_prev = 0;
unsigned long time_curr = 0;
unsigned long start_time = 0;
volatile int encoder_R_cnt = 0;
volatile int encoder_L_cnt = 0;
int moving_direction = 0;
int moving_speed = 0;
int delta_R = 0;
int delta_L = 0;
int speed_R = 120;
int speed_L = 120;
bool stop_flag = false;
String inString;
void forward(int speed_R, int speed_L) {
  analogWrite(motor_A_1A, 0);
  analogWrite(motor_A_1B, speed_R);
  analogWrite(motor_B_1A, speed_L);
  analogWrite(motor_B_1B, 0);
}
void backward(int speed_R, int speed_L) {
  analogWrite(motor_A_1A, speed_R);
  analogWrite(motor_A_1B, 0);
  analogWrite(motor_B_1A, 0);
  analogWrite(motor_B_1B, speed_L);
}
void turnLeft(int speed_R, int speed_L) {
  analogWrite(motor_A_1A, 0);
  analogWrite(motor_A_1B, speed_R);
  analogWrite(motor_B_1A, 0);
  analogWrite(motor_B_1B, speed_L);
}
void turnRight(int speed_R, int speed_L) {
  analogWrite(motor_A_1A, speed_R);
  analogWrite(motor_A_1B, 0);
  analogWrite(motor_B_1A, speed_L);
  analogWrite(motor_B_1B, 0);
}
void stopAll() {
  analogWrite(motor_A_1A, 0);
  analogWrite(motor_A_1B, 0);
  analogWrite(motor_B_1A, 0);
  analogWrite(motor_B_1B, 0);
}
void encoder_R_ISR() {
  encoder_R_cnt++;
}
void encoder_L_ISR() {
  encoder_L_cnt++;
}
void speed_correct() {
  static int encoder_R_cnt_last = 0;
  static int encoder_L_cnt_last = 0;
  delta_R = encoder_R_cnt - encoder_R_cnt_last;
  delta_L = encoder_L_cnt - encoder_L_cnt_last;
  encoder_R_cnt_last = encoder_R_cnt;
  encoder_L_cnt_last = encoder_L_cnt;
  int diff = delta_R - delta_L;
  int correction_factor = 1;
  if (diff > 0) {
    speed_R -= diff * correction_factor;
    speed_L += diff * correction_factor;
    if (speed_R < 0) speed_R = 0;
    if (speed_L > 255) speed_L = 255;
  } else if (diff < 0) {
    speed_R += -diff * correction_factor;
    speed_L -= -diff * correction_factor;
    if (speed_R > 255) speed_R = 255;
    if (speed_L < 0) speed_L = 0;
  }
}
void setup() {
  Serial.begin(115200);
  pinMode(motor_A_1A, OUTPUT);
  pinMode(motor_A_1B, OUTPUT);
  pinMode(motor_B_1A, OUTPUT);
  pinMode(motor_B_1B, OUTPUT);
  pinMode(encoder_R, INPUT_PULLUP);
  pinMode(encoder_L, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(encoder_R), encoder_R_ISR, FALLING);
  attachInterrupt(digitalPinToInterrupt(encoder_L), encoder_L_ISR, FALLING);
  start_time = millis();
  stop_flag = false;
}
void loop() {
  if (!stop_flag) {
    forward(speed_R, speed_L);
    Serial.print("speed_R: ");
    Serial.println(speed_R);
    Serial.print("speed_L: ");
    Serial.println(speed_L);
    Serial.println("");
  } else {
    stopAll();
  }
  time_curr = millis();
  if (time_curr - time_prev >= 100) {
    time_prev = time_curr;
    speed_correct();
  } 
  if (millis() - start_time >= 3000) {
    stop_flag = true;
  }
  delay(50);
}

이번엔 엔코더를 장착한 RC카 제작을 통해 라인트레이싱을 해볼예정입니다

 

 

제작완료

 

#define motor_A_1A 5
#define motor_A_1B 6
#define motor_B_1A 10
#define motor_B_1B 9
#define encoder_R 2
#define encoder_L 3
volatile int encoder_R_cnt = 0;
volatile int encoder_L_cnt = 0;
int speed_R = 100;  // 원하는 속도로 설정 (0-255)
int speed_L = 100;  // 원하는 속도로 설정 (0-255)
void forward(int speed_R, int speed_L) {
  analogWrite(motor_A_1A, 0);
  analogWrite(motor_A_1B, speed_R);
  analogWrite(motor_B_1A, speed_L);
  analogWrite(motor_B_1B, 0);
}
void encoder_R_ISR(){
  encoder_R_cnt++;
}
void encoder_L_ISR(){
  encoder_L_cnt++;
}
void setup() {
  Serial.begin(115200);
  pinMode(motor_A_1A, OUTPUT);
  pinMode(motor_A_1B, OUTPUT);
  pinMode(motor_B_1A, OUTPUT);
  pinMode(motor_B_1B, OUTPUT);
  pinMode(encoder_R, INPUT_PULLUP);
  pinMode(encoder_L, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(encoder_R), encoder_R_ISR, FALLING);
  attachInterrupt(digitalPinToInterrupt(encoder_L), encoder_L_ISR, FALLING);
  // 로봇을 전진시키기 위해 초기 전진 명령 실행
  forward(speed_R, speed_L);
}
void loop() {
  // 로봇은 무한히 전진함
}

모터만 돌려 볼거면 요걸로테스트...

 

비도 오고 지친하루였습니다..

 

다음에 수정하면서 진행해보겠습니다. 

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