ESP32cam智能小車
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// 必須下載的庫文件注意
#include "esp_camera.h" #include <Arduino.h> #include <WiFi.h> #include <AsyncTCP.h> #include <ESPAsyncWebServer.h> #include <iostream> #include <sstream>
struct MOTOR_PINS { int pinEn; int pinIN1; int pinIN2; }; std::vector<MOTOR_PINS> motorPins = { {12, 13, 15}, //RIGHT_MOTOR Pins (EnA, IN1, IN2)
{12, 14, 2}, //LEFT_MOTOR Pins (EnB, IN3, IN4)
}; #define LIGHT_PIN 4
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define STOP 0
#define RIGHT_MOTOR 0
#define LEFT_MOTOR 1
#define FORWARD 1
#define BACKWARD -1
const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8; const int PWMSpeedChannel = 2; const int PWMLightChannel = 3; //Camera related constants
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
// 自己設定無線網絡和密碼 然后連接
const char* ssid = "frank"; const char* password = "12345678"; AsyncWebServer server(80); AsyncWebSocket wsCamera("/Camera"); AsyncWebSocket wsCarInput("/CarInput"); uint32_t cameraClientId = 0; const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
<style> .arrows { font-size:40px; color:red; } td.button { background-color:black; border-radius:25%; box-shadow: 5px 5px #888888; } td.button:active { transform: translate(5px,5px); box-shadow: none; } .noselect { -webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */ user-select: none; /* Non-prefixed version, currently supported by Chrome and Opera */ } .slidecontainer { width: 100%; } .slider { -webkit-appearance: none; width: 100%; height: 15px; border-radius: 5px; background: #d3d3d3; outline: none; opacity: 0.7; -webkit-transition: .2s; transition: opacity .2s; } .slider:hover { opacity: 1; } .slider::-webkit-slider-thumb { -webkit-appearance: none; appearance: none; width: 25px; height: 25px; border-radius: 50%; background: red; cursor: pointer; } .slider::-moz-range-thumb { width: 25px; height: 25px; border-radius: 50%; background: red; cursor: pointer; } </style>
</head>
<body class="noselect" align="center" style="background-color:white">
<!--h2 style="color: teal;text-align:center;">Wi-Fi Camera 🚗 Control</h2-->
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<img id="cameraImage" src="" style="width:400px;height:250px"></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇧</span></td>
<td></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇦</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇨</span></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇩</span></td>
<td></td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>Speed:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="255" value="150" class="slider" id="Speed" oninput='sendButtonInput("Speed",value)'>
</div>
</td>
</tr>
<tr>
<td style="text-align:left"><b>Light:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="255" value="0" class="slider" id="Light" oninput='sendButtonInput("Light",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera"; var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput"; var websocketCamera; var websocketCarInput; function initCameraWebSocket() { websocketCamera = new WebSocket(webSocketCameraUrl); websocketCamera.binaryType = 'blob'; websocketCamera.onopen = function(event){}; websocketCamera.onclose = function(event){setTimeout(initCameraWebSocket, 2000);}; websocketCamera.onmessage = function(event) { var imageId = document.getElementById("cameraImage"); imageId.src = URL.createObjectURL(event.data); }; } function initCarInputWebSocket() { websocketCarInput = new WebSocket(webSocketCarInputUrl); websocketCarInput.onopen = function(event) { var speedButton = document.getElementById("Speed"); sendButtonInput("Speed", speedButton.value); var lightButton = document.getElementById("Light"); sendButtonInput("Light", lightButton.value); }; websocketCarInput.onclose = function(event){setTimeout(initCarInputWebSocket, 2000);}; websocketCarInput.onmessage = function(event){}; } function initWebSocket() { initCameraWebSocket (); initCarInputWebSocket(); } function sendButtonInput(key, value) { var data = key + "," + value; websocketCarInput.send(data); } window.onload = initWebSocket; document.getElementById("mainTable").addEventListener("touchend", function(event){ event.preventDefault() }); </script>
</body>
</html> )HTMLHOMEPAGE";
void rotateMotor(int motorNumber, int motorDirection) { if (motorDirection == FORWARD) { digitalWrite(motorPins[motorNumber].pinIN1, HIGH); digitalWrite(motorPins[motorNumber].pinIN2, LOW); } else if (motorDirection == BACKWARD) { digitalWrite(motorPins[motorNumber].pinIN1, LOW); digitalWrite(motorPins[motorNumber].pinIN2, HIGH); } else { digitalWrite(motorPins[motorNumber].pinIN1, LOW); digitalWrite(motorPins[motorNumber].pinIN2, LOW); } } void moveCar(int inputValue) { Serial.printf("Got value as %d\n", inputValue); switch(inputValue) { case UP: rotateMotor(RIGHT_MOTOR, FORWARD); rotateMotor(LEFT_MOTOR, FORWARD); break; case DOWN: rotateMotor(RIGHT_MOTOR, BACKWARD); rotateMotor(LEFT_MOTOR, BACKWARD); break; case LEFT: rotateMotor(RIGHT_MOTOR, FORWARD); rotateMotor(LEFT_MOTOR, BACKWARD); break; case RIGHT: rotateMotor(RIGHT_MOTOR, BACKWARD); rotateMotor(LEFT_MOTOR, FORWARD); break; case STOP: rotateMotor(RIGHT_MOTOR, STOP); rotateMotor(LEFT_MOTOR, STOP); break; default: rotateMotor(RIGHT_MOTOR, STOP); rotateMotor(LEFT_MOTOR, STOP); break; } } void handleRoot(AsyncWebServerRequest *request) { request->send_P(200, "text/html", htmlHomePage); } void handleNotFound(AsyncWebServerRequest *request) { request->send(404, "text/plain", "File Not Found"); } void onCarInputWebSocketEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len) { switch (type) { case WS_EVT_CONNECT: Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str()); break; case WS_EVT_DISCONNECT: Serial.printf("WebSocket client #%u disconnected\n", client->id()); moveCar(0); ledcWrite(PWMLightChannel, 0); break; case WS_EVT_DATA: AwsFrameInfo *info; info = (AwsFrameInfo*)arg; if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) { std::string myData = ""; myData.assign((char *)data, len); std::istringstream ss(myData); std::string key, value; std::getline(ss, key, ','); std::getline(ss, value, ','); Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str()); int valueInt = atoi(value.c_str()); if (key == "MoveCar") { moveCar(valueInt); } else if (key == "Speed") { ledcWrite(PWMSpeedChannel, valueInt); } else if (key == "Light") { ledcWrite(PWMLightChannel, valueInt); } } break; case WS_EVT_PONG: case WS_EVT_ERROR: break; default: break; } } void onCameraWebSocketEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len) { switch (type) { case WS_EVT_CONNECT: Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str()); cameraClientId = client->id(); break; case WS_EVT_DISCONNECT: Serial.printf("WebSocket client #%u disconnected\n", client->id()); cameraClientId = 0; break; case WS_EVT_DATA: break; case WS_EVT_PONG: case WS_EVT_ERROR: break; default: break; } } void setupCamera() { camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; config.pin_d0 = Y2_GPIO_NUM; config.pin_d1 = Y3_GPIO_NUM; config.pin_d2 = Y4_GPIO_NUM; config.pin_d3 = Y5_GPIO_NUM; config.pin_d4 = Y6_GPIO_NUM; config.pin_d5 = Y7_GPIO_NUM; config.pin_d6 = Y8_GPIO_NUM; config.pin_d7 = Y9_GPIO_NUM; config.pin_xclk = XCLK_GPIO_NUM; config.pin_pclk = PCLK_GPIO_NUM; config.pin_vsync = VSYNC_GPIO_NUM; config.pin_href = HREF_GPIO_NUM; config.pin_sscb_sda = SIOD_GPIO_NUM; config.pin_sscb_scl = SIOC_GPIO_NUM; config.pin_pwdn = PWDN_GPIO_NUM; config.pin_reset = RESET_GPIO_NUM; config.xclk_freq_hz = 20000000; config.pixel_format = PIXFORMAT_JPEG; config.frame_size = FRAMESIZE_VGA; config.jpeg_quality = 10; config.fb_count = 1; // camera init
esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed with error 0x%x", err); return; } if (psramFound()) { heap_caps_malloc_extmem_enable(20000); Serial.printf("PSRAM initialized. malloc to take memory from psram above this size"); } } void sendCameraPicture() { if (cameraClientId == 0) { return; } unsigned long startTime1 = millis(); //capture a frame
camera_fb_t * fb = esp_camera_fb_get(); if (!fb) { Serial.println("Frame buffer could not be acquired"); return; } unsigned long startTime2 = millis(); wsCamera.binary(cameraClientId, fb->buf, fb->len); esp_camera_fb_return(fb); //Wait for message to be delivered
while (true) { AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId); if (!clientPointer || !(clientPointer->queueIsFull())) { break; } delay(1); } unsigned long startTime3 = millis(); Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 ); } void setUpPinModes() { //Set up PWM
ledcSetup(PWMSpeedChannel, PWMFreq, PWMResolution); ledcSetup(PWMLightChannel, PWMFreq, PWMResolution); for (int i = 0; i < motorPins.size(); i++) { pinMode(motorPins[i].pinEn, OUTPUT); pinMode(motorPins[i].pinIN1, OUTPUT); pinMode(motorPins[i].pinIN2, OUTPUT); /* Attach the PWM Channel to the motor enb Pin */ ledcAttachPin(motorPins[i].pinEn, PWMSpeedChannel); } moveCar(STOP); pinMode(LIGHT_PIN, OUTPUT); ledcAttachPin(LIGHT_PIN, PWMLightChannel); } void setup(void) { setUpPinModes(); Serial.begin(115200); WiFi.softAP(ssid, password); IPAddress IP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(IP); server.on("/", HTTP_GET, handleRoot); server.onNotFound(handleNotFound); wsCamera.onEvent(onCameraWebSocketEvent); server.addHandler(&wsCamera); wsCarInput.onEvent(onCarInputWebSocketEvent); server.addHandler(&wsCarInput); server.begin(); Serial.println("HTTP server started"); setupCamera(); } void loop() { wsCamera.cleanupClients(); wsCarInput.cleanupClients(); sendCameraPicture(); Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram()); }