关于巡检机器人的主要代码分享

markchenli · 发表于 2019-6-13 16:00:24

我的机器人实现的功能有：自主充电，自动巡检，加减速等，通过wifi与上位机进行交互实现远程控制和数据上传等功能

主要的代码如下：

#include "test.h"
#include "bsp_esp8266.h"
#include "bsp_SysTick.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include "bsp_dht11.h"
#include "bsp_TiMbase.h"
#include "bsp_led.h"
#include "stdint.h"
#include "bsp_GeneralTim.h"
#define PI  3.14
#define C PI*7
typedef  char BYTE;
extern uint32_t time,time1;
extern uint16_t flag,flag1;
extern int32_t j,s,s1,s2 ;
volatile uint8_t ucTcpClosedFlag = 0;
extern void Delay(__IO uint32_t nCount);
extern float ADC_ConvertedValueLocal;
extern __IO uint16_t ADC_ConvertedValue;
//char cStr [ 1500 ] = { 0 };
//¶¨Òå·¢ËÍº¯Êý
//char* DT_Send_User();
extern uint32_t circle,cw;

void dt_send(uint16_t a,uint8_t b);//²ÎÊýaÖ¸µÄÊÇÊý¾Ý£¬²ÎÊýbÖ¸µÄÊÇÖ¸Áî
void dt_send1(uint16_t a,uint8_t b);
void dt_send2(uint16_t a,uint8_t b);
//char* s_str(char*p_str,uint8_t p_nlen,char*p_str1);
//void s_char(int p_num,char*p_ch);
char data_send[100] ={0};
uint16_t a_a;//¶¨ÒåÊý¾ÝÉÏ´«
int sudu ( uint16_t b_a);
int sudu ( uint16_t b_a)// ¼ÆËãµ±Ç°ËÙ¶È
{
  switch(b_a)
   {
   case 0 :  //µ±Ç°ËÙ¶È
   a_a=25;
   // dt_send1(a_a,2);
   break;
   case 1 :  //µ±Ç°ËÙ¶È
   a_a=20;
   //dt_send1(a_a,2);
   break;
   case 2 :  //µ±Ç°ËÙ¶È
   a_a=15;
   ///dt_send1(a_a,2);
   break;
   case 3 :  //µ±Ç°ËÙ¶È
   a_a=10;
   //dt_send1(a_a,2);
   break;

   default:
   a_a=5;
   // dt_send1(a_a,2);
   break;

   }
return a_a;
}

int weizi(uint32_t a);
int weizi(uint32_t a)    //¼ÆËãµ±Ç°Î»ÖÃº¯Êý
{
  if(a<80000000)//Ò»¸öÏÞ¶¨
  {
if(cw==1&&flag==1)
{
s1=(s1)+((a/2)/800)*C;

}
else if(cw==0&&flag==1)
{
s2 =  (-(C*a))+(s2);

}
else
{
return s;
}
s=s1+s2;

return s;
  }
  else
  {
circle=0;

return s;
  }
}

void ESP8266_StaTcpClient_UnvarnishTest ( void )
{
uint8_t ucStatus;

char cStr [ 100 ] = { 0 };

printf ( "\r\nÕýÔÚÅäÖÃ ESP8266 ......\r\n" );

macESP8266_CH_ENABLE();

ESP8266_AT_Test ();

ESP8266_Net_Mode_Choose ( STA );

  while ( ! ESP8266_JoinAP ( macUser_ESP8266_ApSsid, macUser_ESP8266_ApPwd ) );

ESP8266_Enable_MultipleId ( DISABLE );

while ( ! ESP8266_Link_Server ( enumTCP, macUser_ESP8266_TcpServer_IP, macUser_ESP8266_TcpServer_Port, Single_ID_0 ) );

while ( ! ESP8266_UnvarnishSend () );

printf ( "\r\nÅäÖÃ ESP8266 Íê±Ï\r\n" );

a_a=1;
  dt_send(a_a,0);
ESP8266_SendString ( ENABLE, cStr,0 , Single_ID_0 );

while ( 1 )
{
  char*pRecStr =NULL;

pRecStr = ESP8266_ReceiveString( ENABLE);

if(*(pRecStr+1)==0x0A)
{
if(*(pRecStr+2)==01&&flag1 ==0&&flag==0)//×Ô¶¯Ñ²¼ìflag1 ==1
   {
   time =0;
   flag1 = 1;//ÅÐ¶ÏÊÇ·ñÊÇÔÚÔË¶¯»¹ÊÇÔÚÍ£Ö¹  1±íÊ¾ÔË¶¯  0±íÊ¾Í£Ö¹
   Delay(6666);
   if(flag1==1)
   {
   a_a=3;
   TIM_Cmd(BASIC_TIM, ENABLE);
      dt_send(a_a,1);
   }
   }
      else if(*(pRecStr+2)==0x02&&flag1 ==1)//ÈË¹¤Ñ²¼ìflag1 ==0
   {
   TIM_Cmd(BASIC_TIM, DISABLE);
   time =0;
   printf(cStr,"ÕýÔÚÇÐ»»ÈË¹¤Ä£Ê½");
   j=4;
   flag1 = 0;
   Delay(6666);
   a_a=2;
         dt_send(a_a,2);
   }
      else if(*(pRecStr+2)==0x03&&flag1 ==0)
   {
   TIM_Cmd(BASIC_TIM, ENABLE);

   flag=1;
   printf(cStr,"µ±Ç°ËÙ¶È5cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=0x0001;
   dt_send(a_a,3);//a_a±íÊ¾µÄÊÇÊý¾Ý  3±íÊ¾µÄÊÇÖ¸Áî

   }
   else if(*(pRecStr+2)==0x04&&flag1 ==0&&flag==1)//¼ÓËÙÖ¸Áî
   {
   j--;//j±íÊ¾ÓëËÙ¶ÈÏà¶ÔÓ¦£¨×Ô¼ºÉè¶¨ËüµÄÖµ£©
   if(j==3)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È10cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=2;
   dt_send(a_a,4);//ÏÂÎ»»úµÄ»Ø·¢Êý¾Ý
   }
   if(j==2)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È15cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=3;
   dt_send(a_a,4);
   }
   if(j==1)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È20cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=4;
   dt_send(a_a,4);
   }
   if(j<=0)
   {
   j=0;
   time=0;
   printf(cStr,"µ±Ç°×î´óËÙ¶È25cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=5;
   dt_send(a_a,4);
   }
   }
   else if(*(pRecStr+2)==0x05&&flag1 ==0&&flag==1)//¼õËÙÖ¸Áî
   {
   j++;
   if(j==3)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È10cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=2;
   dt_send(a_a,5);
   }
   if(j==2)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È15cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=3;
   dt_send(a_a,5);
   }
   if(j==1)
   {
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È20cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=4;
   dt_send(a_a,5);
   }
   if(j>=4)
   {
   j=4;
   time=0;
   printf(cStr,"µ±Ç°ËÙ¶È5cm/s£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=1;
   dt_send(a_a,5);
   }
   }
   else if(*(pRecStr+2)==0x06&&flag1 ==0&&flag==1)//ÕýÏòÖ¸Áî
   {
   cw=1;
   Delay(6666);
   LED2_OFF;
   a_a=1;
   dt_send(a_a,6);
   }
   else if(*(pRecStr+2)==0x07&&flag1 ==0&&flag==1)//·´ÏòÖ¸Áî
   {
   cw=0;
   Delay(6666);
   LED2_ON;
   a_a=2;
   dt_send(a_a,7);
   }
   else if(*(pRecStr+2)==0x08&&flag1 ==0&&flag==1)
   {
   flag=0;
   TIM_Cmd(BASIC_TIM, DISABLE);
   printf(cStr,"µ±Ç°µç»úÒÑÍ£Ö¹ÔËÐÐ£¬µ±Ç°Î»ÖÃ%dÃ×\n",s);
   a_a=1;
   dt_send(a_a,8);

   }
   else
   {
   sprintf(cStr,"Ö¸ÁîÊä³öÓÐÎó \n ");
   ESP8266_SendString ( ENABLE, cStr,0 , Single_ID_0 );
   }
}

//×´Ì¬Ö¸ÁîÏÂ·¢¹¦ÄÜËµÃ÷

else if(*(pRecStr+1)==0x0B)//×´Ì¬Ö¸Áî
{
if(*(pRecStr+2)==0x01)//ÖÇÄÜÈË¹¤Ä£Ê½
{
   if(flag1==0)//ÈË¹¤
   {
   a_a=2;
   dt_send1(a_a,1);
   }
   if(flag1==1)    //ÖÇÄÜ
   {
   a_a=3;
   dt_send1(a_a,1);
   }
}
else if(*(pRecStr+2)==0x02)
{
   switch(j)
   {
   case 0 :  //µ±Ç°ËÙ¶È
   a_a=25;
   dt_send1(a_a,2);
   break;
   case 1 :  //µ±Ç°ËÙ¶È
   a_a=20;
   dt_send1(a_a,2);
   break;
   case 2 :  //µ±Ç°ËÙ¶È
   a_a=15;
   dt_send1(a_a,2);
   break;
   case 3 :  //µ±Ç°ËÙ¶È
   a_a=10;
   dt_send1(a_a,2);
   break;

   default:
   a_a=5;
   dt_send1(a_a,2);
   break;

   }

}

else if(*(pRecStr+2)==0x03)//Éè±¸ÊÇ·ñÕýÔÚÔËÐÐ
{
   if(flag==1)          //ÔËÐÐ×´Ì¬
   {
   a_a=0;
   dt_send1(a_a,3);
   }
   else                //Í£Ö¹×´Ì¬
   {
   a_a=1;
   dt_send1(a_a,3);
   }
}

else if(*(pRecStr+2)==0x04)//µ±Ç°Î»ÖÃ
{
   if(flag==1)
   {
   a_a=weizi(circle)/100;
   dt_send1(a_a,4);
   }
   else
   {
   a_a=weizi(circle);
   dt_send1(a_a,4);
   }
}
else if(*(pRecStr+2)==0x05)//Õý·´×ª          ´ýÐ´³ÌÐò
{
   if(cw==1)             //Õý´«
   {
   a_a=1;
   dt_send1(a_a,5);
   }
   else //·´×ª
   {
   a_a=2;
   dt_send1(a_a,5);
   }

}
else if(*(pRecStr+2)==0x06)//µç³ØµçÁ¿²éÑ¯
{
   ADC_ConvertedValueLocal =(float) ADC_ConvertedValue/4096*3.3;


ESP8266_SendString ( ENABLE, cStr,0 , Single_ID_0 );
}
else if(*(pRecStr+2)==0x07)//´«¸ÐÆ÷Êý¾Ý
{
   a_a=0;
   dt_send1(a_a,7);
}
else
{
   sprintf(cStr,"Ö¸ÁîÓÐÎó");
//a_a=2;
//dt_send(a_a,8);
ESP8266_SendString ( ENABLE, cStr, 0, Single_ID_0 );
}
}

else
{
sprintf(cStr,"Ö¸ÁîÓÐÎó");
a_a=2;
dt_send(a_a,8);
ESP8266_SendString ( ENABLE, cStr, 0, Single_ID_0 );
//Delay_ms ( 10000 );


}

//Delay_ms ( 100 );


ESP8266_SendString ( ENABLE, cStr, 0, Single_ID_0 );

//sprintf(cStr,"µ±Ç°ËÙ¶È");
// ESP8266_SendString ( ENABLE, cStr, 0, Single_ID_0 );       //·¢ËÍÊý¾Ý

  Delay_ms ( 100 );


  if ( ucTcpClosedFlag )                                           //¼ì²âÊÇ·ñÊ§È¥Á¬½Ó
  {
ESP8266_ExitUnvarnishSend ();                                  //ÍË³öÍ¸´«Ä£Ê½

do ucStatus = ESP8266_Get_LinkStatus ();                      //»ñÈ¡Á¬½Ó×´Ì¬
while ( ! ucStatus );

if ( ucStatus == 4 )                                           //È·ÈÏÊ§È¥Á¬½ÓºóÖØÁ¬
{
printf ( "\r\nÕýÔÚÖØÁ¬ÈÈµãºÍ·þÎñÆ÷ ......\r\n" );

while ( ! ESP8266_JoinAP ( macUser_ESP8266_ApSsid, macUser_ESP8266_ApPwd ) );

while ( ! ESP8266_Link_Server ( enumTCP, macUser_ESP8266_TcpServer_IP, macUser_ESP8266_TcpServer_Port, Single_ID_0 ) );

printf ( "\r\nÖØÁ¬ÈÈµãºÍ·þÎñÆ÷³É¹¦\r\n" );

}

markchenli · 发表于 2019-6-13 16:23:21

昆交交发表于 2019-6-13 16:08

非谢家之宝树 · 发表于 2019-6-13 18:56:39

markchenli 发表于 2019-6-13 16:23

老哥，编辑时表情左边是代码输入栏，贴里面比较整齐哦

xing1954 · 发表于 2019-6-14 07:34:55

谢谢分享........

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