基于Wemos的wifi避障小车的项目实现

项目实现：手机操控小车行动，遇到障碍物自动后退。
项目所需模块：wemos D1 wifi esp8266开发版，超声波模块，继电器
实现代码：

#include <ESP8266WiFi.h>

#define Zhuan1 D6
#define Zhuan2 D7
#define Dong1 D4
#define Dong2 D5
#define Echo D2
#define Trig D8

char* ssid = "xxxx";
char* passwd = "xxxxx";

int port = 8888;
WiFiServer server(port);

long getTime()
{
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);
  return pulseIn(Echo, HIGH);
}

void initChaoShengBo()
{
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
}

void initWifiSta()
{
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  while (WiFi.status() != WL_CONNECTED) {
    Serial.print(".");
    delay(500);
  }
  Serial.println(WiFi.localIP());
}
void initL9110s()
{
  pinMode(Dong1, OUTPUT);
  pinMode(Dong2, OUTPUT);
  pinMode(Zhuan1, OUTPUT);
  pinMode(Zhuan2, OUTPUT);
}
void qian()
{
  digitalWrite(Dong1, HIGH);
  digitalWrite(Dong2, LOW);
}
void hou()
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, HIGH);
}
void ting()
{
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, LOW);
}
void zuo()
{
  digitalWrite(Zhuan1, HIGH);
  digitalWrite(Zhuan2, LOW);
}
void you()
{
  digitalWrite(Zhuan1, LOW);
  digitalWrite(Zhuan2, HIGH);
}
void zheng()
{
  digitalWrite(Zhuan1, LOW);
  digitalWrite(Zhuan2, LOW);
}
void setup() {
  // put your setup code here, to run once:
  initL9110s();
  initChaoShengBo();
  Serial.begin(115200);
  initWifiSta();
  server.begin();
}

void loop() {
  // put your main code here, to run repeatedly:
  char cmd;
  int mark = 0;
  long dis;
  WiFiClient client = server.available();
  while (client.connected()) {
    while (client.available() > 0) {
      cmd = client.read();
      Serial.println(cmd);
      dis = getTime() / 58;
      if (dis < 10) {
        hou();
        delay(200);
        ting();
        mark = 1;
      } else {
        mark = 0;
      }
      if (mark == 0) {
        switch (cmd) {
          case 'q':
            qian();
            break;
          case 'h':
            hou();
            break;
          case 's':
            ting();
            break;
          case 'y':
            you();
            break;
          case 'z':
            zuo();
            break;
          case 'd':
            zheng();
            break;
        }
      }
    }
  }
}

注：具体实物和代码会有偏差，需自行调试。