espbt_car

可能需要看一些esp的pwm通道配置的文档

#include "Arduino.h"
 
//蓝牙
#include "BluetoothSerial.h"
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
 
 
const int Left_a = 27;  
const int Left_b = 14;
const int Right_a = 12;   
const int Right_b = 13;
 
 
const int freq = 5000; // 设置PWM的频率
const int La_Channel = 0; // 设置PWM的通道
const int Lb_Channel = 1;
const int Ra_Channel = 2;
const int Rb_Channel = 3;
const int resolution = 8; // 设置PWM 占空比的分辨率 最大占空比为 2^8 = 256
//车
void PWM_init( );     //引脚初始化
void forward( );          //前进
void back( );             //后退
void turnLeftOrigin( );   //原地左
void turnRightOrigin( );  //原地右
void turnRightforword( ); //右前
void turnLeftforword( );  //左前
void turnLeftback( );     //左后
void turnRightback( );    //右后
void _stop();             //停车
//蓝牙
static String receive;
void reve();
void bule_init();
 
void setup(){
  //pwm初始化
  PWM_init();
  //蓝牙初始化
  bule_init();
}
 
void loop(){
    reve();
  }
 
void PWM_init(){// PWM初始化,绑定PWM通道到GPIO上
  //Left_a,La_Channel
  ledcSetup(La_Channel, freq, resolution);
  ledcAttachPin(Left_a, La_Channel);
  //Left_b,Lb_Channel
  ledcSetup(Lb_Channel, freq, resolution);
  ledcAttachPin(Left_b, Lb_Channel);
  //Right_a,Ra_Channel
  ledcSetup(Ra_Channel, freq, resolution);
  ledcAttachPin(Right_a, Ra_Channel);
  //Right_b,Rb_Channel
  ledcSetup(Rb_Channel, freq, resolution);
  ledcAttachPin(Right_b, Rb_Channel);
} 
 
void reve()
{
  
    if (Serial.available()) {               //用于调试
        SerialBT.write(Serial.read());
    }
    if (SerialBT.available()){
        receive = "";
        receive = SerialBT.readString();
        Serial.print("接收数据为：");        //用于调试
        Serial.println(receive[0]);           //用于调试
        
    }
       if(receive[0]=='7')     {forward( )         ;delay(500);_stop();}//前进
  else if(receive[0]=='6')     {back( )            ;delay(500);_stop();}//后退
  else if(receive[0]=='1')     {_stop()            ;delay(500);_stop();}//停车
  else if(receive[0]=='3')     {turnLeftforword( ) ;delay(500);_stop();}//左前
  else if(receive[0]=='2')     {turnRightforword( );delay(500);_stop();}//右前
  else if(receive[0]=='5')     {turnLeftback( )    ;delay(500);_stop();}//左后
  else if(receive[0]=='4')     {turnRightback( )   ;delay(500);_stop();}//右后
  else if(receive[0]=='8')     {turnLeftOrigin( )  ;delay(250);_stop();}//原地左
  else if(receive[0]=='9')     {turnRightOrigin( ) ;delay(250);_stop();}//原地右
}
void forward( )
{
  ledcWrite(La_Channel, 180);
  ledcWrite(Lb_Channel, 0);        //左轮前进
  ledcWrite(Ra_Channel, 180);      
  ledcWrite(Rb_Channel, 0);        //右轮前进
}
void back( )
{
  ledcWrite(La_Channel,0);      
  ledcWrite(Lb_Channel,180);        //左轮后退
  ledcWrite(Ra_Channel,0);      
  ledcWrite(Rb_Channel,180);        //右轮后退
}
void turnLeftOrigin( )
{
  ledcWrite(La_Channel,0);      
  ledcWrite(Lb_Channel,120);        //左轮后退
  ledcWrite(Ra_Channel,120);      
  ledcWrite(Rb_Channel,0);          //右轮前进
}
 
void turnRightOrigin( )
{
  ledcWrite(La_Channel,120);      
  ledcWrite(Lb_Channel,0);        //左轮前进
  ledcWrite(Ra_Channel,0);      
  ledcWrite(Rb_Channel,120);      //右轮后退
}
 
void turnRightforword( )
{
  ledcWrite(La_Channel,200);      
  ledcWrite(Lb_Channel,0);        //左轮快前进
  ledcWrite(Ra_Channel,120);      
  ledcWrite(Rb_Channel,0);        //右轮慢前进
}
 
void turnLeftforword( )
{
  ledcWrite(La_Channel,120);      
  ledcWrite(Lb_Channel,0);       //左轮慢前进
  ledcWrite(Ra_Channel,200);      
  ledcWrite(Rb_Channel,0);       //右轮快前进
}
 
void turnRightback( )
{
  ledcWrite(La_Channel,0);      
  ledcWrite(Lb_Channel,200);        //左轮快后退
  ledcWrite(Ra_Channel,0);      
  ledcWrite(Rb_Channel,120);        //右轮慢后退
}
 
void turnLeftback( )
{
  ledcWrite(La_Channel,0);      
  ledcWrite(Lb_Channel,120);        //左轮慢后退
  ledcWrite(Ra_Channel,0);      
  ledcWrite(Rb_Channel,200);        //右轮快后退
}
 
void _stop()
{
  ledcWrite(La_Channel,0);      
  ledcWrite(Lb_Channel,0);         //左轮静止不动
  ledcWrite(Ra_Channel,0);      
  ledcWrite(Rb_Channel,0);         //右轮静止不动
}
void bule_init() {
  Serial.begin(115200);
  SerialBT.begin("ESP32test"); //蓝牙设备名
  Serial.println("The device started, now you can pair it with bluetooth!");
}