#include <WiFi.h>
#include <
WebServer.h>
// 替换为你的WiFi名称和密码
const char* ssid = "your_SSID";
const char* password = "your_PASSWORD";
// 电机控制引脚定义
#define AIN1 18
#define AIN2 19
#define PWMA 5
#define BIN1 25
#define BIN2 26
#define PWMB 27
#define STBY 21
// PWM通道设置
#define PWM_CHANNEL_A 0
#define PWM_CHANNEL_B 1
#define PWM_FREQ 1000
#define PWM_RESOLUTION 8
WebServer server(80
); // 创建
Web服务器，监听80
端口
// 当前电机速度，0-255
uint8_t speedA = 0;
uint8_t speedB = 0;
// 方向记录（示例用，可扩展为更复杂的逻辑）
String dirA = "停止";
String dirB = "停止";
// 设置电机方向和速度函数
void motorA_forward
(uint8_t speed
) {
digitalWrite
(AIN1, HIGH
);
digitalWrite
(AIN2, LOW
);
ledcWrite
(PWM_CHANNEL_A, speed
);
speedA = speed;
dirA = "正转";
}
void motorA_backward
(uint8_t speed
) {
digitalWrite
(AIN1, LOW
);
digitalWrite
(AIN2, HIGH
);
ledcWrite
(PWM_CHANNEL_A, speed
);
speedA = speed;
dirA = "反转";
}
void motorA_stop
() {
digitalWrite
(AIN1, LOW
);
digitalWrite
(AIN2, LOW
);
ledcWrite
(PWM_CHANNEL_A, 0
);
speedA = 0;
dirA = "停止";
}
void motorB_forward
(uint8_t speed
) {
digitalWrite
(BIN1, HIGH
);
digitalWrite
(BIN2, LOW
);
ledcWrite
(PWM_CHANNEL_B, speed
);
speedB = speed;
dirB = "正转";
}
void motorB_backward
(uint8_t speed
) {
digitalWrite
(BIN1, LOW
);
digitalWrite
(BIN2, HIGH
);
ledcWrite
(PWM_CHANNEL_B, speed
);
speedB = speed;
dirB = "反转";
}
void motorB_stop
() {
digitalWrite
(BIN1, LOW
);
digitalWrite
(BIN2, LOW
);
ledcWrite
(PWM_CHANNEL_B, 0
);
speedB = 0;
dirB = "停止";
}
// 停止所有电机
void motorStop
() {
motorA_stop
();
motorB_stop
();
}
// 处理网页请求：主页
void handleRoot
() {
String html = R"rawliteral
(
<!DOCTYPE html>
<html lang="zh-CN">
<head>
<meta charset="UTF-8">
<title>ESP32 电机控制</title>
<style>
body {
font-family: Arial, sans-serif;
background-color: #f0f2f5;
text-align: center;
padding: 20px;
}
h2 {
color: #333;
}
.motor-control {
background-color: #fff;
border-radius: 10px;
box-shadow: 0 0 10px rgba
(0,0,0,0.1
);
padding: 20px;
margin: 20px auto;
max-width: 400px;
}
select, input[type="number"] {
padding: 10px;
width: 80%;
margin: 10px 0;
font-size: 16px;
}
button {
padding: 10px 20px;
font-size: 16px;
background-color: #007bff;
color: white;
border: none;
border-radius: 5px;
cursor: pointer;
}
button:hover {
background-color: #0056b3;
}
.status {
margin-top: 20px;
font-weight: bold;
}
</style>
</head>
<body>
<h2>ESP32 Motor Control Panel</h2>
<div class="motor-control">
<h3>电机A 控制</h3>
方向:
<select id="dirA">
<option value="stop">停止</option>
<option value="forward">正转</option>
<option value="backward">反转</option>
</select><br>
速度
(0-255
): <input type="number" id="speedA" min="0" max="255" value="0"><br>
<button onclick="sendCommand
('A'
)">发送指令</button>
</div>
<div class="motor-control">
<h3>电机B 控制</h3>
方向:
<select id="dirB">
<option value="stop">停止</option>
<option value="forward">正转</option>
<option value="backward">反转</option>
</select><br>
速度
(0-255
): <input type="number" id="speedB" min="0" max="255" value="0"><br>
<button onclick="sendCommand
('B'
)">发送指令</button>
</div>
<div class="status" id="status">
当前状态：<br>
电机A：速度=<span id="curSpeedA">0</span>, 状态=<span id="curDirA">停止</span><br>
电机B：速度=<span id="curSpeedB">0</span>, 状态=<span id="curDirB">停止</span>
</div>
<script>
function sendCommand
(motor
) {
let dir = motor === 'A' ? document.getElementById
("dirA"
).value : document.getElementById
("dirB"
).value;
let speed = motor === 'A' ? parseInt
(document.getElementById
("speedA"
).value
) : parseInt
(document.getElementById
("speedB"
).value
);
fetch
('/control?motor=' + motor + '&dir=' + dir + '&speed=' + speed
)
.then
(response => {
if
(response.status === 200
) {
updateStatus
();
}
}
);
}
function updateStatus
() {
fetch
('/status'
)
.then
(res => res.json
())
.then
(data => {
document.getElementById
("curSpeedA"
).innerText = data.speedA;
document.getElementById
("curDirA"
).innerText = data.dirA;
document.getElementById
("curSpeedB"
).innerText = data.speedB;
document.getElementById
("curDirB"
).innerText = data.dirB;
}
);
}
setInterval
(updateStatus, 1000
); // 每秒更新一次状态
window.onload = updateStatus;
</script>
</body>
</html>
)rawliteral";
server.send
(200, "text/html", html
);
}
// 处理控制命令 /control?motor=A&dir=forward&speed=128
void handleControl
() {
if
(server.hasArg
("motor"
) &&
server.hasArg
("dir"
) &&
server.hasArg
("speed"
)) {
char motor =
server.arg
("motor"
)[0];
String dir =
server.arg
("dir"
);
int speed =
server.arg
("speed"
).toInt
();
speed = constrain
(speed, 0, 255
);
if
(motor == 'A'
) {
if
(dir == "forward"
) motorA_forward
(speed
);
else if
(dir == "backward"
) motorA_backward
(speed
);
else motorA_stop
();
} else if
(motor == 'B'
) {
if
(dir == "forward"
) motorB_forward
(speed
);
else if
(dir == "backward"
) motorB_backward
(speed
);
else motorB_stop
();
}
}
server.send
(200, "text/plain", "OK"
);
}
//
返回当前状态 /status
void handleStatus
() {
String json = "{"
"\"speedA\":" + String
(speedA
) + ","
"\"speedB\":" + String
(speedB
) + ","
"\"dirA\":\"" + dirA + "\","
"\"dirB\":\"" + dirB + "\""
"}";
server.send
(200, "application/json", json
);
}
void setup
() {
Serial.begin
(115200
);
Serial.println
("\n启动中..."
);
pinMode
(AIN1, OUTPUT
);
pinMode
(AIN2, OUTPUT
);
pinMode
(BIN1, OUTPUT
);
pinMode
(BIN2, OUTPUT
);
pinMode
(STBY, OUTPUT
);
// 初始化PWM
ledcSetup
(PWM_CHANNEL_A, PWM_FREQ, PWM_RESOLUTION
);
ledcSetup
(PWM_CHANNEL_B, PWM_FREQ, PWM_RESOLUTION
);
ledcAttachPin
(PWMA, PWM_CHANNEL_A
);
ledcAttachPin
(PWMB, PWM_CHANNEL_B
);
digitalWrite
(STBY, HIGH
); // 启用TB6612FNG
// 连接WiFi
WiFi.begin
(ssid, password
);
while
(WiFi.status
() != WL_CONNECTED
) {
delay
(500
);
Serial.print
("."
);
}
Serial.println
("\nConnected to WiFi"
);
Serial.print
("IP Address: "
);
Serial.println
(WiFi.localIP
());
// 设置路由
server.on
("/", handleRoot
);
server.on
("/control", handleControl
);
server.on
("/status", handleStatus
);
server.begin
();
Serial.println
("HTTP
Server Started"
);
}
void loop
() {
server.handleClient
();
}
引脚连接图
扫一扫
1465
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
