執行用C#寫的MDI_ATS程式, 選擇ATS中的Console, 再依據轉台所接的轉接板com port 開啟所用的port number
2025年2月4日 星期二
2023年12月27日 星期三
ESP32 3-axis controller
Purpose:
我利用手上沒在使用的三個滑軌和三個57步進馬達架構一個XYZ三軸方向的移動平台, 並使用ESP32作為3Axis controller控制移動方向. 有單軸指令, 例如 :X10 :Y10 :Z10跟三軸連動指令:P10,10,10
I used three unused slide rails and three 57 stepper motors to construct a mobile platform in the XYZ three-axis direction, and used ESP32 as the 3Axis controller to control the movement direction. There are single-axis instructions, for example: X10:Y10: Z10 and three-axis linkage command: P10,10,10
Architectures:
Circuit:
Y axis set and Z axis set are the same method.
The DM542 is a new generation microstep stepper motor driver. Due to the adoption of the advanced bipolar constant-current chopper driver technology, it shows stable operation, provides excellent high torque. Moreover, it significantly reduces the noises and vibration of the operating motor. The DM542 has the feature of low-noise, low-vibration and low-heating. The DM542is DC18-50V power supply. It applies to 2-phase hybrid stepper motor under 4.2Acurrent The DM542 has 15 kinds of microsteps. The maximum step number is 25600 steps/rev (microstep is 1/128). The peak operating current ranges from 1.0A to 4.2A., and the output current has 8 stalls. The DM542 has automatic semi-flow, motor misconnected ， over-voltage, under-voltage, andover-current protection functions.
我利用手上沒在使用的三個滑軌和三個57步進馬達架構一個XYZ三軸方向的移動平台, 並使用ESP32作為3Axis controller控制移動方向. 有單軸指令, 例如 :X10 :Y10 :Z10跟三軸連動指令:P10,10,10
I used three unused slide rails and three 57 stepper motors to construct a mobile platform in the XYZ three-axis direction, and used ESP32 as the 3Axis controller to control the movement direction. There are single-axis instructions, for example: X10:Y10: Z10 and three-axis linkage command: P10,10,10
Architectures:
Circuit:
#define MACHINE_NAME "ESP32_V4"
#define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_14
#define Y_STEP_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_15
#define Z_STEP_PIN GPIO_NUM_27
#define Z_DIRECTION_PIN GPIO_NUM_33
#define X_LIMIT_PIN GPIO_NUM_17
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_16
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_2 // labeled SpinPWM
#define SPINDLE_ENABLE_PIN GPIO_NUM_22 // labeled SpinEnbl
#define COOLANT_MIST_PIN GPIO_NUM_21 // labeled Mist
#define COOLANT_FLOOD_PIN GPIO_NUM_25 // labeled Flood
#define PROBE_PIN GPIO_NUM_32 // labeled Probe
Fundamental:
DM542 microstep driver
Reference the previous article link on blog:
Arduino 控制三顆馬達
YouTube Demo:
ESP32 Code:
#include <AccelStepper.h>
#include <MultiStepper.h>
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
uint8_t BTFlag = 0;
uint8_t initial_Flag = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;
//------LED------------------
#define LED_BUILTIN 2
char ctemp[20];
//--------- uart structure --------------------------------------
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
typedef struct _vUart
{
char c;
int lineIndex = 0;
int line1Index = 0;
int BTlineIndex = 0;
bool lineIsComment;
bool lineSemiColon;
char line[128];
char BTline[20];
String inputString;
String BTinputString;
int V[16];
char ctemp[30];
char I2C_Data[80];
float Voltage[16];
int Buffer[128];
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//--------- motor structure --------------------------------------
typedef struct _axis_state_t
{
uint8_t pulPin[6]; //--X,Y,Z,A,B,C
uint8_t dirPin[6];
uint8_t enaPin[6];
uint8_t HomePin[6];
long RotatorAngle[6];
boolean AXISFlag[6];
uint8_t HomeFlag[6];
uint8_t RotatorFlag[6];
float FeedRate[6];
float MaxSpeed[6];
float Acceleration[6];
int AXISNumber[2];
int DC_Speed[6];
} axis_state_t;
axis_state_t *gc_Ptr;
axis_state_t gc;
//----------multi motor ---------------------------------------
MultiStepper steppers;
long positions[3];
#define Stepper_ENABLE 13
#define X_LIMIT_PIN 17
#define Y_LIMIT_PIN 4
#define Z_LIMIT_PIN 16
AccelStepper stepperX (1,12,14); // name of stepper motor (1 = driver, pin 2 = pulse, pin 3 = direction)
AccelStepper stepperY (1,26,15); // name of stepper motor (1 = driver, pin 4 = step, pin 5 = direction)
AccelStepper stepperZ (1,27,33); // name of stepper motor (1 = driver, pin 6 = step, pin 7 = direction)
//------------------------------------------------------------------------------
//-------------------------------------
TaskHandle_t huart;
TaskHandle_t hfunction;
TaskHandle_t hmultimotor; //TaskHandler
void MultiMotorTask(void *pvParameters);
void vUARTTask(void *pvParameters);
void vFunctionTask(void *pvParameters);
//------------------------------------------------------------------------------
void initial()
{
Serial.println(F("Create Task"));
//----------------------------------------------------------------------
xTaskCreatePinnedToCore(
vUARTTask, "UARTTask" // A name just for humans
,
1024 // This stack size can be checked & adjusted by reading the Stack Highwater
,
NULL, 3 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
,
&huart //handle
,
0);
//----------------------------------------------------------------------
initMultiMotorTask();
//----------------------------------------------------------------------
}
void initMultiMotorTask(void)
{
// Create the task
xTaskCreatePinnedToCore(MultiMotorTask, "MultiMotorTask", 1024, NULL, 3, &hmultimotor, 1);
// Check the results
if (hmultimotor == NULL)
{
Serial.println("Create MultiMotor task failed");
}
else
{
Serial.println("MultiMotor task up and running");
vTaskSuspend(hmultimotor);
}
}
//------------------------------------------------------------------------------
void MultiMotorTask(void *pvParameters)
{
(void)pvParameters;
while(1)
{
digitalWrite(Stepper_ENABLE, LOW);
if (gc.AXISFlag[0] || gc.AXISFlag[1] || gc.AXISFlag[2])
{
if (gc.RotatorFlag[0] == 1)
{
//Serial.println( "1" );
gc.RotatorAngle[0] = gc.RotatorAngle[0] * 500;
//gc.RotatorAngle[0] = gc.RotatorAngle[0] * 100; //F4設定
positions[0] = gc.RotatorAngle[0];
}
else
{
positions[0] = stepperX.currentPosition();
}
if (gc.RotatorFlag[1] == 1)
{
//Serial.println( "2" );
gc.RotatorAngle[1]=gc.RotatorAngle[1]*500;//F4設定
positions[1] = gc.RotatorAngle[1];
}
else
{
positions[1] = stepperY.currentPosition();
}
if (gc.RotatorFlag[2] == 1)
{
//Serial.println( "3" );
gc.RotatorAngle[2] = gc.RotatorAngle[2] * 100;
//gc.RotatorAngle[2] = gc.RotatorAngle[2] * 250;//F4設定
positions[2] = gc.RotatorAngle[2];
}
else
{
positions[2] = stepperZ.currentPosition();
}
//----multi motor
//positions[0]=gc.RotatorAngle[0];
//positions[1]=gc.RotatorAngle[1];
//vTaskSuspend(hled);
steppers.moveTo(positions);
steppers.runSpeedToPosition();
//steppers.run();
if (abs(stepperX.currentPosition()) == abs(gc.RotatorAngle[0]))
{
gc.AXISFlag[0] = false;
if (gc.RotatorFlag[0] == 1)
{
gc.AXISNumber[0]--;
}
Serial.println( "X_OK" );
//vTaskSuspend( hmultimotor );
}
if (abs(stepperY.currentPosition()) == abs(gc.RotatorAngle[1]))
{
gc.AXISFlag[1] = false;
if (gc.RotatorFlag[1] == 1)
{
gc.AXISNumber[0]--;
}
Serial.println( "Y_OK" );
//vTaskSuspend( hmultimotor );
}
if (abs(stepperZ.currentPosition()) == abs(gc.RotatorAngle[2]))
{
gc.AXISFlag[2] = false;
if (gc.RotatorFlag[2] == 1)
{
gc.AXISNumber[0]--;
}
Serial.println( "Z_OK" );
//vTaskSuspend( hmultimotor );
}
if (gc.AXISNumber[0] == 0)
{
//vTaskResume(hled);
for (int i = 0; i < 6; i++)
{
gc.RotatorFlag[i] = 0;
}
//vTaskSuspend(hmultimotor);
}
}
vTaskDelay(1);
//vTaskDelay(configTICK_RATE_HZ);
}
}
void initMultiMotorSetup(void)
{
gc.pulPin[0] = 26;
gc.dirPin[0] = 25;
//gc.HomePin[0] = 8;
//gc.enaPin[0]=8;
gc.pulPin[1] = 32;
gc.dirPin[1] = 33;
//gc.enaPin[1]=8;
//gc.HomePin[1] = 9;
gc.pulPin[2] = 34;
gc.dirPin[2] = 35;
//gc.enaPin[2]=8;
//gc.HomePin[2] = 10;
for (int i = 0; i < 6; i++)
{
//pinMode(gc.pulPin[i], OUTPUT);
//pinMode(gc.dirPin[i], OUTPUT);
//pinMode(gc.enaPin[i], OUTPUT);
//digitalWrite(gc.enaPin[i], HIGH);
gc.RotatorAngle[i] = 0;
gc.AXISFlag[i] = false;
gc.HomeFlag[i] = 0;
gc.RotatorFlag[i] = 0;
gc.FeedRate[i] = 1000;
gc.MaxSpeed[i] = 4000;
gc.Acceleration[i] = 800;
}
gc.AXISNumber[0] = 0;
gc.AXISNumber[1] = 0;
pinMode(Stepper_ENABLE, OUTPUT);
digitalWrite(Stepper_ENABLE, HIGH);
//pinMode(26, OUTPUT);
stepperX.setMaxSpeed(4000);
stepperX.setAcceleration(1000);
stepperX.setSpeed(4000); //:f4000,4000,4000
stepperY.setMaxSpeed(4000); //:ms8000,8000,8000
stepperY.setAcceleration(1000);
stepperY.setSpeed(1000);
stepperZ.setMaxSpeed(4000);
stepperZ.setAcceleration(800);
stepperZ.setSpeed(2000);
// Then give them to MultiStepper to manage
steppers.addStepper(stepperX);
steppers.addStepper(stepperY);
steppers.addStepper(stepperZ);
}
//-------------------------------------------------
void setup()
{
Serial.begin(9600);
Serial.println(F("init"));
initial();
initMultiMotorSetup();
}
//-----------------------------------------
void loop()
{
Serial.print(F("Main at core:"));
Serial.println(xPortGetCoreID());
while(1)
{
vTaskDelay(1);
}
}
//----------------------------------------
void processCommand(char *data)
{
int len, xlen, ylen, zlen, alen;
int tempDIO;
String stemp;
len = Uart.inputString.length();
//memset(ctemp, 0, sizeof(ctemp));
//---------------------------------------
if (strstr(data, "VER") != NULL)
{
Serial.println(F("ESP32_20231226"));
}
//-----------Motor----------------------
if (strstr(data, ":P") != NULL)
{
//:p200,100,300
for (int i = 2; i < len; i++)
{
ctemp[i - 2] = data[i];
if (data[i] == ',')
{
xlen = i;
ctemp[xlen] = '\0';
gc.RotatorAngle[0] = atoi(ctemp);
//Serial.println(xlen);
//Serial.println(gc.RotatorAngle[0]);
break;
}
}
int j = (xlen + 1);
for (int i = j; i < len; i++)
{
ctemp[i - j] = data[i];
if (data[i] == ',')
{
ylen = i;
ctemp[ylen] = '\0';
gc.RotatorAngle[1] = atoi(ctemp);
//Serial.print("debug- ");
//Serial.println(gc.RotatorAngle[1]);
break;
}
}
int k = (ylen + 1);
for (int i = k; i < len; i++)
{
zlen = i;
ctemp[i - k] = data[i];
}
ctemp[zlen] = '\0';
gc.RotatorAngle[2] = atoi(ctemp);
//Serial.println(zlen);
//Serial.println(gc.RotatorAngle[2]);
gc.AXISFlag[0] = true;
gc.AXISFlag[1] = true;
gc.AXISFlag[2] = true;
gc.RotatorFlag[0] = 1;
gc.RotatorFlag[1] = 1;
gc.RotatorFlag[2] = 1;
gc.AXISNumber[0] = 3;
vTaskResume(hmultimotor);
}
if (strstr(data, ":F"))
{
//:f4000,4000,2000
for (int i = 2; i < len; i++)
{
Uart.ctemp[i - 2] = data[i];
if (data[i] == ',')
{
xlen = i;
Uart.ctemp[xlen] = '\0';
gc.FeedRate[0] = atoi(Uart.ctemp);
//Serial.println(xlen);
//Serial.println(gc.RotatorAngle[0]);
break;
}
}
int j = (xlen + 1);
for (int i = j; i < len; i++)
{
Uart.ctemp[i - j] = data[i];
if (data[i] == ',')
{
ylen = i;
Uart.ctemp[ylen] = '\0';
gc.FeedRate[1] = atoi(Uart.ctemp);
//Serial.println(ylen);
//Serial.println(gc.RotatorAngle[1]);
break;
}
}
int k = (ylen + 1);
for (int i = k; i < len; i++)
{
zlen = i;
Uart.ctemp[i - k] = data[i];
}
Uart.ctemp[zlen] = '\0';
gc.FeedRate[2] = atoi(Uart.ctemp);
stepperX.setSpeed(gc.FeedRate[0]);
stepperY.setSpeed(gc.FeedRate[1]);
stepperZ.setSpeed(gc.FeedRate[2]);
}
if (strstr(data, ":MS"))
{
//float MaxSpeed[6];
//:p200,100,300
for (int i = 2; i < len; i++)
{
Uart.ctemp[i - 2] = data[i];
if (data[i] == ',')
{
xlen = i;
Uart.ctemp[xlen] = '\0';
gc.MaxSpeed[0] = atoi(Uart.ctemp);
//Serial.println(xlen);
//Serial.println(gc.RotatorAngle[0]);
break;
}
}
int j = (xlen + 1);
for (int i = j; i < len; i++)
{
Uart.ctemp[i - j] = data[i];
if (data[i] == ',')
{
ylen = i;
Uart.ctemp[ylen] = '\0';
gc.MaxSpeed[1] = atoi(Uart.ctemp);
//Serial.println(ylen);
//Serial.println(gc.RotatorAngle[1]);
break;
}
}
int k = (ylen + 1);
for (int i = k; i < len; i++)
{
zlen = i;
Uart.ctemp[i - k] = data[i];
}
Uart.ctemp[zlen] = '\0';
gc.MaxSpeed[2] = atoi(Uart.ctemp);
stepperX.setMaxSpeed(gc.MaxSpeed[0]);
stepperY.setMaxSpeed(gc.MaxSpeed[1]);
stepperZ.setMaxSpeed(gc.MaxSpeed[2]);
}
if (strstr(data, ":ACC"))
{
//float Acceleration[6];
//:ACC1000,1000,1000
for (int i = 2; i < len; i++)
{
Uart.ctemp[i - 2] = data[i];
if (data[i] == ',')
{
xlen = i;
Uart.ctemp[xlen] = '\0';
gc.Acceleration[0] = atoi(Uart.ctemp);
//Serial.println(xlen);
//Serial.println(gc.RotatorAngle[0]);
break;
}
}
int j = (xlen + 1);
for (int i = j; i < len; i++)
{
Uart.ctemp[i - j] = data[i];
if (data[i] == ',')
{
ylen = i;
Uart.ctemp[ylen] = '\0';
gc.Acceleration[1] = atoi(Uart.ctemp);
//Serial.println(ylen);
//Serial.println(gc.RotatorAngle[1]);
break;
}
}
int k = (ylen + 1);
for (int i = k; i < len; i++)
{
zlen = i;
Uart.ctemp[i - k] = data[i];
}
Uart.ctemp[zlen] = '\0';
gc.Acceleration[2] = atoi(Uart.ctemp);
stepperX.setAcceleration(gc.Acceleration[0]);
stepperY.setAcceleration(gc.Acceleration[1]);
stepperZ.setAcceleration(gc.Acceleration[2]);
}
if (strstr(data, ":X") != NULL)
{
gc.HomeFlag[0] = 3;
gc.AXISFlag[0] = true;
for (int i = 2; i < len; i++)
{
ctemp[i - 2] = data[i];
}
ctemp[len - 2] = '\0';
gc.RotatorAngle[0] = atoi(ctemp);
gc.RotatorFlag[0] = 1;
//Serial.println(gc.RotatorAngle[0]);
gc.AXISNumber[0] = 1;
vTaskResume(hmultimotor);
}
if (strstr(data, ":Y") != NULL)
{
gc.AXISFlag[1] = true;
for (int i = 2; i < len; i++)
{
ctemp[i - 2] = data[i];
}
ctemp[len - 2] = '\0';
gc.RotatorAngle[1] = atoi(ctemp);
//Serial.println(gc.RotatorAngle[1]);
gc.RotatorFlag[1] = 1;
gc.AXISNumber[0] = 1;
vTaskResume(hmultimotor);
}
if (strstr(data, ":Z") != NULL)
{
gc.AXISFlag[2] = true;
for (int i = 2; i < len; i++)
{
ctemp[i - 2] = data[i];
}
ctemp[len - 2] = '\0';
gc.RotatorAngle[2] = atoi(ctemp);
//Serial.println(gc.RotatorAngle[2]);
gc.RotatorFlag[2] = 1;
gc.AXISNumber[0] = 1;
vTaskResume(hmultimotor);
}
}
//-----------------------------------------
//-------------------------------------------
void vUARTTask(void *pvParameters)
{
(void)pvParameters;
Serial.print(F("UARTTask at core:"));
Serial.println(xPortGetCoreID());
for (;;)
{
while (Serial.available() > 0)
{
Uart.c = Serial.read();
if ((Uart.c == '\n') || (Uart.c == '\r'))
{ // End of line reached
if (Uart.lineIndex > 0)
{ // Line is complete. Then execute!
Uart.line[Uart.lineIndex] = '\0'; // Terminate string
//Serial.println( F("Debug") );
//Serial.println( Uart.inputString );
processCommand(Uart.line);
Uart.lineIndex = 0;
Uart.inputString = "";
}
else
{
// Empty or comment line. Skip block.
}
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
Serial.println(F("ok>"));
}
else
{
//Serial.println( c );
if ((Uart.lineIsComment) || (Uart.lineSemiColon))
{
if (Uart.c == ')')
Uart.lineIsComment = false; // End of comment. Resume line.
}
else
{
if (Uart.c == '/')
{ // Block delete not supported. Ignore character.
}
else if (Uart.c == '~')
{ // Enable comments flag and ignore all characters until ')' or EOL.
Uart.lineIsComment = true;
}
else if (Uart.c == ';')
{
Uart.lineSemiColon = true;
}
else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
{
Serial.println("ERROR - lineBuffer overflow");
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
}
else if (Uart.c >= 'a' && Uart.c <= 'z')
{ // Upcase lowercase
Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += (char)(Uart.c - 'a' + 'A');
}
else
{
Uart.line[Uart.lineIndex] = Uart.c;
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += Uart.c;
}
}
}
} //while (Serial.available() > 0)
vTaskDelay(1);
}
}
2023年8月2日 星期三
ESP32 Bluetooth Remote Control Car -DIY
Bluetooth RC Car
經由前一篇文章ESP32 Bluetooth SPP control -- DC motors with L298N module延伸來做一台Bluetooth remote control CAR.
Bill of Material
圖一: 車體組合包
圖二: 馬達輪胎組
圖三: 螺絲配件
圖四:壓克力板車體
圖五:電池包
圖六:馬達車體組合
圖9:ESP32
圖10:ESP32車體圖
圖11: 車體組合說明圖
Circuit:
YouTube Demonstration:
Code Introduce:
#include <Robojax_L298N_DC_motor.h>
#include <BluetoothSerial.h>
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
uint8_t BTFlag = 0;
uint8_t L298NFlag = 0;
uint8_t CANFlag = 0;
uint8_t I2C_Flag = 0;
uint8_t BMP180Flag = 0;
uint8_t DS18B20Flag = 0;
uint8_t JSONFlag = 0;
uint8_t Radar_L_Flag = 0;
uint8_t Radar_R_Flag = 0;
uint8_t sensor_Flag = 0;
uint8_t sensor1_Flag = 0;
uint8_t initial_Flag = 0;
uint8_t Tone_Flag = -1;
uint8_t IR_RECV_Flag=0;
uint8_t IR_SEND_Flag=0;
uint8_t FunctionFlag = 3;
uint8_t SendFlag = 0;
uint8_t BMPCnt = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
//--------- uart structure --------------------------------------
typedef struct _vUart
{
char c;
int lineIndex = 0;
int line1Index = 0;
int BTlineIndex = 0;
bool lineIsComment;
bool lineSemiColon;
char line[128];
char BTline[20];
String inputString;
String BTinputString;
String S1inputString;
int V[16];
char ctemp[30];
char I2C_Data[80];
int DC_Spped = 50;
float Voltage[16];
int Buffer[128];
int StartCnt = 0;
int ReadCnt = 0;
int sensorValue = 0;
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//---------BT--------------------
BluetoothSerial SerialBT;
//-------------L298---------------------------------------------------
// motor 1 settings
#define CHA 0
#define ENA 4 // this pin must be PWM enabled pin if Arduino board is used
#define IN1 16
#define IN2 17
// motor 2 settings
#define IN3 18
#define IN4 19
#define ENB 5// this pin must be PWM enabled pin if Arduino board is used
#define CHB 1
const int CCW = 2; // do not change
const int CW = 1; // do not change
#define motor1 1 // do not change
#define motor2 2 // do not change
// for two motors without debug information // Watch video instruciton for this line: https://youtu.be/2JTMqURJTwg
Robojax_L298N_DC_motor motors(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB);
void Forward() //電機前進
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CW direction
motors.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction
}
void Reverse(){
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);
motors.rotate(motor2, 70, CW);
}
void Left()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);
}
void Right()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor2, 70, CW);
}
void Stop() //電機停止
{
motors.brake(1);
motors.brake(2);
}
//-------------------------------------------------
void setup()
{
Serial.begin(9600);
Serial.println(F("init"));
SerialBT.begin("BT_L298N");// BTName為藍芽廣播名稱
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
}
//-----------------------------------------
void loop()
{
Serial.print(F("Main at core:"));
Serial.println(xPortGetCoreID());
while(1)
{
while (Serial.available() > 0)
{
Uart.c = Serial.read();
if ((Uart.c == '\n') || (Uart.c == '\r'))
{ // End of line reached
if (Uart.lineIndex > 0)
{ // Line is complete. Then execute!
Uart.line[Uart.lineIndex] = '\0'; // Terminate string
processCommand(Uart.line); // do something with the command
Uart.lineIndex = 0;
Uart.inputString = "";
}
else
{
// Empty or comment line. Skip block.
}
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
Serial.println(F("ok>"));
}
else
{
if ((Uart.lineIsComment) || (Uart.lineSemiColon))
{
if (Uart.c == ')')
Uart.lineIsComment = false; // End of comment. Resume line.
}
else
{
if (Uart.c == '/')
{ // Block delete not supported. Ignore character.
}
else if (Uart.c == '~')
{ // Enable comments flag and ignore all characters until ')' or EOL.
Uart.lineIsComment = true;
}
else if (Uart.c == ';')
{
Uart.lineSemiColon = true;
}
else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
{
Serial.println("ERROR - lineBuffer overflow");
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
}
else if (Uart.c >= 'a' && Uart.c <= 'z')
{ // Upcase lowercase
Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += (char)(Uart.c - 'a' + 'A');
}
else
{
Uart.line[Uart.lineIndex] = Uart.c;
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += Uart.c;
}
}
}
} //while (Serial.available() > 0)
//檢查藍芽內是否有資料
while (SerialBT.available())
{
flag.L298NFlag=1;
String BTdata = SerialBT.readString();
//顯示在序列視窗
Serial.println(BTdata);
BTprocessCommand(BTdata); // do something with the command
}//while (BT.available())
}
}
//-------------------BT-----------------
void BTprocessCommand(String data)
{
if (data =="F")
{
Serial.println(F("Forward"));
Forward();
}
if (data == "L")
{
Serial.println(F("Left"));
Left();
}
if (data == "R")
{
Serial.println(F("Right"));
Right();
}
if (data == "B")
{
Serial.println(F("Reverse"));
Reverse();
}
if (data == "S")
{
Serial.println(F("Stop"));
Stop();
}
}
//----------------------------------------
void processCommand(char *data)
{
int len, xlen, ylen, zlen, alen;
int tempDIO;
String stemp;
len = Uart.inputString.length();
//---------------------------------------
if (strstr(data, "VER") != NULL)
{
Serial.println(F("ESP32_20230801"));
}
if (strstr(data, "F") != NULL)
{
Serial.println(F("Forward"));
Forward();
}
if (strstr(data, "L") != NULL)
{
Serial.println(F("Left"));
Left();
}
if (strstr(data, "R") != NULL)
{
Serial.println(F("Right"));
Right();
}
if (strstr(data, "B") != NULL)
{
Serial.println(F("Reverse"));
Reverse();
}
if (strstr(data, "S") != NULL)
{
Serial.println(F("Stop"));
Stop();
}
}
//-----------------------------------------
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