Robot scarabée grimpant aux murs ESP32 : guide complet de bricolage

#include 
#include 
const char* ssid = "wifi_name";
const char* password = "wifi_password7";
WebServer server(80);
// ESC
const int escPin = 4;
const int pwmFreq = 50;
const int pwmResolution = 16;
// MX1508
const int L1 = 16;
const int L2 = 17;
const int R1 = 18;
const int R2 = 19;
bool bldcEnabled = false;
int throttle = 0;
uint32_t usToDuty(uint16_t us)
{
uint32_t maxDuty = (1UL << pwmResolution) - 1;
return (uint32_t)((us / 20000.0) * maxDuty);
}

void setThrottle(int percent)
{
 if (!bldcEnabled)
 {
   ledcWrite(escPin, usToDuty(1000));
   return;
 }
 percent = constrain(percent, 0, 100);
 uint16_t pulse =
     map(percent, 0, 100, 1000, 2000);
 ledcWrite(escPin, usToDuty(pulse));
}

void stopRobot()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, LOW);
 digitalWrite(R1, LOW);
 digitalWrite(R2, LOW);
}
void forward()
{
 digitalWrite(L1, HIGH);
 digitalWrite(L2, LOW);
 digitalWrite(R1, HIGH);
 digitalWrite(R2, LOW);
}
void backward()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, HIGH);
 digitalWrite(R1, LOW);
 digitalWrite(R2, HIGH);
}
void left()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, HIGH);
 digitalWrite(R1, HIGH);
 digitalWrite(R2, LOW);
}
void right()
{
 digitalWrite(L1, HIGH);
 digitalWrite(L2, LOW);
 digitalWrite(R1, LOW);
 digitalWrite(R2, HIGH);
}

void handleRoot()
{
}

void handleSpeed()
{
throttle =
  server.arg("value").toInt();
setThrottle(throttle);
server.send(200, "text/plain", "OK");
}
void handleBLDCOn()
{
bldcEnabled = true;
setThrottle(throttle);
server.send(200, "text/plain", "ON");
}

void setup()
{
}
The setup() initialises serial communication, configures the motor pins as outputs, prints the assigned IP address on the serial monitor and starts the web server.
void loop()
{
server.handleClient();
}

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#include 
#include 
const char* ssid = "your_ssid";
const char* password = "your-password";
WebServer server(80);
// ESC
const int escPin = 4;
const int pwmFreq = 50;
const int pwmResolution = 16;
// MX1508
const int L1 = 16;
const int L2 = 17;
const int R1 = 18;
const int R2 = 19;
bool bldcEnabled = false;
int throttle = 0;
uint32_t usToDuty(uint16_t us)
{
 uint32_t maxDuty = (1UL << pwmResolution) - 1;
 return (uint32_t)((us / 20000.0) * maxDuty);
}
void setThrottle(int percent)
{
 if (!bldcEnabled)
 {
   ledcWrite(escPin, usToDuty(1000));
   return;
 }
 percent = constrain(percent, 0, 100);
 uint16_t pulse =
     map(percent, 0, 100, 1000, 2000);
 ledcWrite(escPin, usToDuty(pulse));
}
// --------------------
// Robot Movement
// --------------------
void stopRobot()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, LOW);
 digitalWrite(R1, LOW);
 digitalWrite(R2, LOW);
}
void forward()
{
 digitalWrite(L1, HIGH);
 digitalWrite(L2, LOW);
 digitalWrite(R1, HIGH);
 digitalWrite(R2, LOW);
}
void backward()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, HIGH);
 digitalWrite(R1, LOW);
 digitalWrite(R2, HIGH);
}
void left()
{
 digitalWrite(L1, LOW);
 digitalWrite(L2, HIGH);
 digitalWrite(R1, HIGH);
 digitalWrite(R2, LOW);
}
void right()
{
 digitalWrite(L1, HIGH);
 digitalWrite(L2, LOW);
 digitalWrite(R1, LOW);
 digitalWrite(R2, HIGH);
}
void handleRoot()
{
 String page = R"rawliteral(







Wall Climbing Robot
BLDC Suction Control

ON


OFF



0%

Movement Control

   

       
       FWD
       
   
   

       
       LEFT
       
       
       STOP
       
       
       RIGHT
       
   
   

       
       BKWD
       
   




)rawliteral";
 server.send(200, "text/html", page);
}
// --------------------
// Web Requests
// --------------------
void handleSpeed()
{
 throttle =
   server.arg("value").toInt();
 setThrottle(throttle);
 server.send(200, "text/plain", "OK");
}
void handleBLDCOn()
{
 bldcEnabled = true;
 setThrottle(throttle);
 server.send(200, "text/plain", "ON");
}
void handleBLDCOff()
{
 bldcEnabled = false;
 setThrottle(0);
 server.send(200, "text/plain", "OFF");
}
// --------------------
// Setup
// --------------------
void setup()
{
 Serial.begin(115200);
 Serial.println("Serial connected successfully!");
 pinMode(L1, OUTPUT);
 pinMode(L2, OUTPUT);
 pinMode(R1, OUTPUT);
 pinMode(R2, OUTPUT);
 stopRobot();
 ledcAttach(
   escPin,
   pwmFreq,
   pwmResolution);
 ledcWrite(
   escPin,
   usToDuty(1000));
 delay(5000); // arm ESC
 WiFi.begin(ssid, password);
 while(WiFi.status()!=WL_CONNECTED)
 {
   delay(500);
   Serial.print(".");
 }
 Serial.println();
 Serial.println(WiFi.localIP());
 server.on("https://raspberryme.com/", handleRoot);
 server.on("/speed", handleSpeed);
 server.on("/bldcOn", handleBLDCOn);
 server.on("/bldcOff", handleBLDCOff);
 server.on("/forward",
   [](){ forward(); server.send(200); });
 server.on("/backward",
   [](){ backward(); server.send(200); });
 server.on("/left",
   [](){ left(); server.send(200); });
 server.on("/right",
   [](){ right(); server.send(200); });
 server.on("/stop",
   [](){ stopRobot(); server.send(200); });
 server.begin();
}
void loop()
{
 server.handleClient();
}

Retrouvez l’histoire de Raspberry Pi dans cette vidéo :