onenet控制小车，自动红外避障，远程控制小车上一个电机清扫，一个电机吸尘，两个电机前进；oled屏显示电量和小车状态
1、项目简介
2、实现逻辑
#stm32负责红外避障、oled显示状态、adc检测电量、进行各个电机的pwm控制等
#nodemcu连接到onenet后负责进行状态的上行和控制指令的下发中转
3、应用场景
#远程清洁卫生
4、核心代码梳理
void clean_start()
{
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,100);
HAL_Delay(500);
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,150);
HAL_Delay(500);
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,200);
}
void run_start(uint8_t front, uint8_t right)
{
static uint8_t stop_cnt;
#define C 2
#define PWM 1800
#define CHA 20
if(front == STOP)
{
stop_cnt++;
if(stop_cnt > 30)
{
stop_cnt = 0;
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,PWM); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,PWM-CHA);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,0);
HAL_Delay(2000); //2s
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,0); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,PWM/C);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,PWM);
HAL_Delay(1000); //ǰ2s
}
}
if(front == RUN)
{
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,0); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,PWM);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,PWM-CHA);
stop_cnt = 0;
}
else if(right == RUN)
{
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,0); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,PWM);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,PWM/C);
}
else if(right == STOP)
{
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,0); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,PWM/C);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,PWM);
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
uint8_t cnt;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_ADC1_Init();
MX_TIM1_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
tx_onenet[0] = 0xff;
tx_onenet[1] = 0x74;
tx_onenet[13] = 0xff;
__HAL_UART_ENABLE_IT(&huart1,UART_IT_RXNE);//open uart1 RXNE
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1 );
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1 );
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_2 );
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_3 );
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4 );
clean_start();
HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_1 );
OLED_Init();
OLED_ColorTurn(0);//
OLED_DisplayTurn(0);//
OLED_Refresh();
OLED_Clear();
OLED_ShowString(0,0,"VOLT: . %",16);
OLED_ShowString(0,14,"STA: ",16);
OLED_ShowString(0,28,"0-OFF 1-ON",16);
OLED_Refresh();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOC, LED_Pin);
cnt++;
HAL_ADC_Start_IT(&hadc1);
HAL_Delay(200);
if((cnt%20 == 0) || (rx_ok))
{
rx_ok = 0;
Vrl = (ADC_num * 825)/1024;
Vrl = (Vrl-1300) *100 / (2900-1300); //ٷֱ
if(Vrl < 0)
Vrl = 0;
else if(Vrl > 100)
Vrl = 100;
uint8_t shi = Vrl;
tx_onenet[2] = shi;
tx_onenet[3] = (Vrl-shi)*100;
tx_onenet[4] = order;
HAL_UART_Transmit(&huart1, (uint8_t *)tx_onenet, 14, 0xFFFF);
}
if(order)
{
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
run_start(HAL_GPIO_ReadPin(GPIOB,IFR_F_Pin), HAL_GPIO_ReadPin(GPIOB,IFR_B_Pin));
HAL_GPIO_WritePin(ctr_mos_GPIO_Port, ctr_mos_Pin, GPIO_PIN_SET);
}
else
{
HAL_TIM_PWM_Stop(&htim1,TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_1,0); //1800 - 50% pwm 2+ 1- run
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3,0);
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,0);
HAL_GPIO_WritePin(ctr_mos_GPIO_Port, ctr_mos_Pin, GPIO_PIN_RESET);
}
//OLED
OLED_ShowNum(53,14,order,1,16); //STA
OLED_ShowNum(53,0,tx_onenet[2],2,16);//VOLT
OLED_ShowNum(77,0,tx_onenet[3],2,16);
OLED_Refresh();
}
/* USER CODE END 3 */
}
//lua脚本
VOLAT = 0
ORDER = 0
cnt = 0
pin=4
gpio.mode(pin,gpio.OUTPUT)
cfg = {}
cfg.ssid = "test"
cfg.pwd = "123456789"
myClient = mqtt.Client(DeviceId, KeepAlive, ProductId, AuthoTnfo)
--print("115200 8-n-1")
uart.setup(0, 115200, 8, uart.PARITY_NONE, uart.STOPBITS_1, 0)
timer1 = tmr.create()
timer2 = tmr.create()
function ReConnect()
if wifi.sta.getip() == nil then
print("Connect AP,waitting...")
else
print("Connected AP,Success!")
--print("IP is:"..wifi.sta.getip())
--print("MAC address:"..wifi.sta.getmac())
timer1:stop()
myClient:connect(host, port, function(client)
-- print("Connected OneNET success!")
gpio.write(pin,gpio.LOW)
end)
uart.on("data", function(data)
cnt = string.len(data)
timer1.stop(1)
timer1.interval(1, 1)
timer1.start(1)
--uart.write(0, data)
print("len:",cnt)
--print(type(data))
if(cnt == 13) then
cnt = 0
if(string.find(data,"t") == 1) then
--print("t!")
--print(string.byte(data,2))
--print(string.byte(data,3)/100)
VOLAT = string.byte(data,2) + string.byte(data,3)/100
ORDER = string.byte(data,4)
end
end
Update_Message()
end, 0)
myClient:on("message", function(client , topic , message)
--print("get a message.\n")
--print(topic..":"..message)
print("order:"..message)
end)
--timer2:alarm(3000, tmr.ALARM_AUTO, Update_Message)
end
end
timer1:alarm(1000,tmr.ALARM_AUTO,ReConnect)
function Update_Message()
info = {}
info.volat = VOLAT
info.order = ORDER
ok,message = pcall(cjson.encode, info)
--print("message:"..message)
header = string.char(3, 0 ,string.len(message))..message
myClient:publish("$dp", header, 0, 0, function(client)
--print("Publish info success!")
end)
end
5、部分参考资料
#nodemcu主控是esp8266
#lua编程
6、注意事项
#电机不适宜选比较大的，电池带不动
#吸尘电机淘宝上买的，几块钱可以吸尘
#吸尘电机启停的时候电量会有变化
#清扫电机用360度舵机就行，清扫速度控制
#电机是12v供电，采集电压前要分压到3.3v以内
