#include <Arduino.h>
//#include <WiFi.h>
#include <AsyncTCP.h>
#include "SPIFFS.h"
#include <Wire.h>
#include <ESPAsyncWebSrv.h>
#include <Arduino_JSON.h>
#include <Ticker.h>
#include <WiFiAP.h>
//#include <HardwareSerial.h>
#include <SoftwareSerial.h>
SoftwareSerial rs485(6, 7); // 485通信使用的软件串口对象
//const char *ssid = "CMCC4444";
//const char *password = "3333321";
const char *ssid = "ESP32";
const char *password = "12345678";
Ticker tickerSetFlag;
// Create AsyncWebServer object on port 80
AsyncWebServer server(80);
// Create a WebSocket object
AsyncWebSocket ws("/ws");
//设置初始值及变量
String message = "";
float roll = 0;
float jiaodu = 0;
String dianji = "0";
String sliderValue3 = "1";
String sliderValue4 = "0";
int timeto = 0;
volatile bool task1Flag = true;
volatile bool task2Flag = false;
volatile bool task3Flag = false;
volatile bool upflag = false;
volatile bool downflag = false;
static bool hasExecuted = false;
//Json Variable to Hold Slider Values
JSONVar sliderValues;
//Get Slider Values 获取滑块值 要传递的值
String getSliderValues() {
sliderValues["sliderValue1"] = String(roll);
sliderValues["sliderValue2"] = String(timeto);
sliderValues["sliderValue3"] = String(sliderValue3);
sliderValues["sliderValue4"] = String(sliderValue4);
String jsonString = JSON.stringify(sliderValues);
return jsonString;
}
//Initialize SPIFFS 初始化 SPIFFS
void initFS() {
if (!SPIFFS.begin()) {
Serial.println("An error has occurred while mounting SPIFFS");
} else {
Serial.println("SPIFFS mounted successfully");
}
}
// Initialize ap
void initWifiAp() {
if (!WiFi.softAP(ssid, password)) {
log_e("Soft AP creation failed.");
while (1)
;
}
IPAddress myIP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(myIP);
}
// Initialize WiFi
void initWiFi() {
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.print("Connecting to WiFi ..");
while (WiFi.status() != WL_CONNECTED) {
Serial.print('.');
delay(1000);
}
Serial.println(WiFi.localIP());
}
//向客户端发消息的函数
void notifyClients(String sliderValues) {
ws.textAll(sliderValues);
}
//初始化ws
void initWebSocket() {
ws.onEvent(onEvent);
server.addHandler(&ws);
}
//ws 有连接时的信息
void onEvent(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());
break;
case WS_EVT_DATA:
handleWebSocketMessage(arg, data, len);
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
}
}
//这段代码是一个处理WebSocket消息的函数
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len) {
AwsFrameInfo *info = (AwsFrameInfo *)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) {
data[len] = 0;
message = (char *)data;
Serial.println(message);
/*
if (message.indexOf("1s") >= 0)
{
roll = message.substring(2);
notifyClients(getSliderValues());
}
if (message.indexOf("2s") >= 0)
{
dianji = message.substring(2);
notifyClients(getSliderValues());
}
*/
//手动选择
if (message.indexOf("3s") >= 0) {
sliderValue3 = message.substring(2);
int num = sliderValue3.toInt();
if (num == 1) {
task2Flag = false;
}
if (num == 0) {
task2Flag = true;
}
Serial.println(sliderValue3);
notifyClients(getSliderValues());
}
//
if (message.indexOf("4s") >= 0) {
if (timeto == 0) {
sliderValue4 = message.substring(2);
Serial.println(sliderValue4);
timeto = sliderValue4.toInt();
notifyClients(getSliderValues());
if (timeto > 0) {
post485(200);
delay(50);
post485(200);
}
if (timeto < 0) {
post485(-200);
delay(50);
post485(-200);
}
} else {
sliderValue4 = "0";
Serial.println(sliderValue4);
notifyClients(getSliderValues());
}
}
if (strcmp((char *)data, "getValues") == 0) {
notifyClients(getSliderValues());
}
}
}
unsigned int calculateCRC(byte *data, unsigned int length) {
unsigned int crc = 0xFFFF;
for (unsigned int i = 0; i < length; i++) {
crc ^= data[i];
for (unsigned int j = 0; j < 8; j++) {
if ((crc & 0x0001) != 0) {
crc >>= 1;
crc ^= 0xA001;
} else {
crc >>= 1;
}
}
}
return crc;
}
void setFlag() {
//task1Flag = true;
if (task2Flag) {
timeto = 0;
} else {
if (timeto > 0) {
timeto--;
}
if (timeto < 0) {
timeto++;
}
if (timeto == 0) {
timeto = 0;
}
}
//Serial.println(timeto);
//task2Flag = true;
// Serial.println("发送数据到ws");
notifyClients(getSliderValues());
}
void post485(int pwm) {
char a[] = { 0x01, 0x06, 0x00, 0x00, 0x00, 0x01, 0x48, 0x0A };
rs485.write(a, 8);
//发送启动电机
delay(50);
byte response[8];
response[0] = 0x01;
response[1] = 0x06;
response[2] = 0x00;
response[3] = 0x06;
response[4] = (pwm >> 8) & 0xFF;
response[5] = pwm & 0xFF;
// 计算CRC校验
unsigned int crc = calculateCRC(response, 6);
response[6] = crc & 0xFF; // CRC低字节
response[7] = (crc >> 8) & 0xFF; // CRC高字节
// 发送回复数据
rs485.write(response, sizeof(response));
//Serial.println(pwm);
}
void up() {
upflag = true;
stopRun();
}
void down() {
downflag = true;
stopRun();
}
void stopRun() {
char a[] = { 0x01, 0x06, 0x00, 0x00, 0x00, 0x00, 0x89, 0xCA };
rs485.write(a, 8);
//digitalWrite(5, HIGH);
// digitalWrite(5, LOW); // 点亮LE
}
void setup() {
Serial.begin(115200);
rs485.begin(9600);
Serial.print("初始化倾角传感器");
//初始化 倾角传感器
char e[] = { 0x50, 0x06, 0x00, 0x01, 0x00, 0x00, 0xd5, 0x8b };
rs485.write(e, 8);
pinMode(3, INPUT);
pinMode(4, INPUT);
pinMode(5, OUTPUT);
attachInterrupt(digitalPinToInterrupt(3), up, RISING);
attachInterrupt(digitalPinToInterrupt(4), down, RISING);
// initWiFi();
initWifiAp();
initFS();
tickerSetFlag.attach(1, setFlag);
initWebSocket();
// Web Server Root URL
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
request->send(SPIFFS, "/index.html", "text/html");
});
server.serveStatic("/", SPIFFS, "/");
// Start server
server.begin();
}
void loop() {
/*
if (!hasExecuted) {
post485(-3000);
Serial.println("开始缩回");
//缩回，直到顶到限位开关，停止；并反方向慢速继续行走4秒，
while (1) {
if (upflag || downflag) {
delay(100);
stopRun();
upflag = false;
downflag = false;
Serial.println("已到限位");
break; // 当 i 等于 5 时跳出循环
}
}
post485(1500);
delay(4000);
Serial.println("已到中间");
stopRun();
delay(150);
stopRun();
// rs485.write(a, 8);
hasExecuted = true;
}
*/
delay(50);
// put your main code here, to run repeatedly:
char a[] = { 0x50, 0x03, 0x00, 0x3d, 0x00, 0x01, 0x18, 0x47 };
rs485.write(a, 8);
receive485();
//roll = roll-0.05; //调试用
delay(250);
Serial.print("roll:");
Serial.println(roll);
if (task2Flag) {
// Serial.println("自动调节");
if (roll > 3 || roll < -3) {
// Serial.print("超出偏差，需要自动调试:");
//int output = pidCompute(roll, 0, 50.0, 5.0, 1.0);
int output = roll * 350;
Serial.print("pid output:");
Serial.println(output);
if (output < 0) {
if (!upflag) {
post485(output);
//delay(250);
downflag = false;
} else {
Serial.println("position limit-up");
delay(150);
}
}
if (output > 0) {
if (!downflag) {
post485(output);
// delay(250);
upflag = false;
} else {
Serial.println("position limit-down");
delay(150);
}
}
}
} else {
// Serial.println("手动调节");
if (timeto == 0) {
stopRun();
delay(300);
}
}
ws.cleanupClients();
}
//接收数据并处理
void receive485() {
static byte response[8]; // 存储接收到的数据
static int length = 0; // 接收到的数据长度
while (rs485.available()) {
byte data = rs485.read();
// Serial.println(data);
if (length == 0 && data != 0x50) {
continue; // 如果未收到以0x50开头的数据，则继续等待
}
response[length] = data;
length++;
if (length >= 5) {
if (response[0] == 0x50 && response[1] == 0x03 && response[2] == 0x02) {
// if (response[0] == 0x50) {
int combinedValue = (response[3] << 8) | response[4]; // 合并高8位和低8位为一个整数
float result = static_cast<float>(combinedValue) / 32768.0 * 180.0; // 计算结果
if (result > 180) {
roll = result - 360;
// Serial.print("目前角度：");
// Serial.println(roll);
} else {
roll = result;
// Serial.print("目前角度：");
// Serial.println(roll);
}
jiaodu = result - 180;
}
// 重置数据缓冲区和长度
length = 0;
}
}
}
int pidCompute(double input, double setpoint, double kp, double ki, double kd) {
static double lastError = 0;
static double integral = 0;
double error = setpoint - input;
double pTerm = kp * error;
integral += error;
double iTerm = ki * integral;
double dTerm = kd * (error - lastError);
lastError = error;
double output = pTerm + iTerm + dTerm;
// 确定输出的符号并取整
int intOutput = (output >= 0) ? (int)round(output) : (int)round(output);
return intOutput;
}
