micropython-esp32-红外防坠落小车-双路直流电机驱动7A160W-红外TCRT5000-flutter-mqtt控制

短学期要我们做一个项目，我看网上红外防坠落小车还是有点资料的，所以就选了，想着也许比较简单，而且实验室也有学长流传下来的小车，电机、电池、轮子、esp32都连好了，其实只要给板子写一些逻辑就行了。学长很贴心，把它们造小车的技术文档都发给我了，但是是用arduino写的，而我们是要用micropython写，对于他的那个电机驱动模块的频率什么的我都看不懂，我尝试了312500Hz，100000Hz，1000Hz好像都能动，而且速度也一样，不知道频率代表了什么，我同学说，如果esp32是40M，而我这个电机模块是20M的话，我的duty就只能填0,512,1023，也就是20M/40M=1/2，整个1 的数字信号被分成了两部分，我的duty可以写相对于1023的0（0）、 一半（512）、全部（1023）.而如果电机填了2M，那么整个1被分成了40M/2M=20份，每一份是1024/20=51.2,也就是我的duty可以填0, 51.2, 51.2×2，51.2×3 … 51.2×20，也就是速度被分成了20档。
但是我没管那么多，为了简单，我直接把duty设置为1023，就是全速。
小车是用flutter写的控制小车的app控制的，功能只有前后左右和刹车，还有往前开或者往后开的时候，如果发现前面是悬崖，就直接刹车。
至于硬件方面，我好像没做什么，因为小车是现成的，我只是连了两个红外传感器，VCC连3V3，GND连GND，D0连G26。另外一个VCC的杜邦线把皮扒了，露出了里面的铜丝，和之前的VCC的线连起来，一起连了3V3，也可以直接连5V的。GND连GND，D0连G25.

import machine

from machine import PWM ,Pin
import utime
import time


from umqtt.simple import MQTTClient

import ubinascii

import network



import dht
from machine import Timer
from machine import UART


# right wheel
p1 =Pin(27 ,Pin.OUT)
p2 =Pin(14 ,Pin.OUT)

# left wheel
p3 =Pin(21 ,Pin.OUT)
p4 =Pin(33 ,Pin.OUT)
v_left =Pin(16)
v_right =Pin(17)
v_right_pwm =PWM(Pin(17) ,freq=312500 ,duty=512  )  # pwm 速度 right
v_left_pwm =PWM(Pin(16) ,freq=312500,duty=512  )  # pwm 速度 left

infra_red_receive =Pin(5,Pin.IN)
infra_red_receive_pwm =PWM(infra_red_receive)

      

def Forward_speed_regulation(which,speed):#正转调速

  if which=='left':
    p3.value(1)
    p4.value(0)
    v_left_pwm.duty(speed)


  else:
    p1.value(1)
    p2.value(0)  
    v_right_pwm.duty(speed)
 
def Back_speed_regulation(which,speed):
  if which=='left':
    p3.value(0)
    p4.value(1)
   
    
    v_left_pwm.duty(speed)
  else:
    p1.value(0)
    p2.value(1)
   
   
    v_right_pwm.duty(speed)

  
def turn_left():
  Back_speed_regulation('left',1023)
  Forward_speed_regulation('right',1023)
def turn_right():
  Forward_speed_regulation('left',1023)
  Back_speed_regulation('right',1023)
  
def back():
  Back_speed_regulation('left',1023)
  Back_speed_regulation('right',1023)
def forward():
  Forward_speed_regulation('left',1023)
  Forward_speed_regulation('right',1023)
 
def full_speed_forward_tyre(which):
    if which=='left':
        p3.value(1)
        p4.value(0)
        v_left.on()
    else:
        p1.value(1)
        p2.value(0)
        v_right.on()

def full_speed_back_tyre(which):
    if which=='left':
        p3.value(0)
        p4.value(1)
        v_left.on()
    else:
        p1.value(0)
        p2.value(1)
        v_right.on()

def full_speed_forward():
    full_speed_forward_tyre('left')
    full_speed_forward_tyre('right')
    
def full_speed_back():
    full_speed_back_tyre('left')
    full_speed_back_tyre('right')
   
def full_speed_left():
    full_speed_back_tyre('left')
    full_speed_forward_tyre('right')

def full_speed_right():
    full_speed_forward_tyre('left')
    full_speed_back_tyre('right')

def brake():
    p1.off()
    p2.off()
    p3.off()
    p4.off()



SERVER = '你的服务器'  # MQTT服务器
CLIENT_ID = ubinascii.hexlify(machine.unique_id())  # 获取ESP32的ID
PHONE_TOPIC = b'你的接收的topic'  # TOPIC的ID
username = '你的账号'  # 账号，随便写
password = '你的密码'  # 密码，随便写
PUBLISH_TOPIC =b'你的发出去的topic'


def send_msg(msg):
  
  client.publish(PUBLISH_TOPIC ,msg)
def set_client():
  global client,client_infra_red
  client = MQTTClient(CLIENT_ID, SERVER, 0, username, password, 60)
  client.set_callback(mqtt_callback)
  client.connect()
  client.subscribe(PHONE_TOPIC)
  
 
state=b'0'
car_state=b'brake'
def mqtt_callback(topic, msg):

   
    global state,car_state
 
    if msg==b'0' or msg==b'1' or msg==b'2' or msg==b'3':
      state=msg
    
    if msg==b'2' or msg==b'3':
      if car_state==b'forward':
        brake()
        print('save')
    if msg==b'1' or msg==b'3':
      if car_state==b'back':
        brake()
        print('save back')
    #state是红外线传过来的状态，有以下表示
    #0 forward can , back can ，可以前进也可以后退
    #1 forward can , back not
    #2 forward not , back can
    #3 forward not , back not
   
    if msg==b'brake':
        print('brake')
        send_msg('brake')
        brake()
        car_state=b'brake'
    elif msg==b'left':
        print('turn left')

        send_msg('turn left')
        
        full_speed_left()
    elif msg==b'right':
        print('turn right')
        send_msg('turn right')
        
        full_speed_right()
    elif msg==b'back':
       #0 forward can , back can
       #1 forward can , back not
       #2 forward not , back can

       #3 forward not , back not
      
        if state==b'1' or state==b'3':
            send_msg('Cliff there, you want me to die?')
            print('Cliff there, you want me to die?')
            brake()
            car_state=b'brake'
        else : 
            print('back')
            send_msg('back')
            back()
            car_state=b'back'
            
       
    elif msg==b'forward':
        if state==b'3' or state==b'2':
            send_msg('Cliff over there, you want me to die?')
            print('Cliff over there, you want me to die?')
            brake()
            car_state=b'brake'
        else:  # 红外没发现悬崖，才能前进
            print('forward')
            send_msg('forward')
            forward()
            car_state=b'forward'
          
    


def check():

    global time_ok,ok
    print('check')

    while True:
        # 查看是否有数据传入
        # 有的话就执行 mqtt_callback
        #client_infra_red.check_msg()
        client.check_msg()
       
        utime.sleep_ms(100 )
        
        


def connect_to_wifi():
    wifi = network.WLAN(network.STA_IF)  # 创建一个网络接口
    if not wifi.isconnected():

        wifi.active(True  )  # 激活网络接口
        wifi.disconnect(  )  # 中断之前连接的wifi
        wifi.connect('你的网络名字' ,'你的网络密码')  # 输入账号密码连接网络
    while(wifi.ifconfig()[0 ]=='0.0.0.0'):
        time.sleep(1)
    print(wifi.ifconfig())

def test():
    full_speed_back()
    utime.sleep(1)

    brake()


    utime.sleep(1)
    full_speed_forward()
    utime.sleep(1)
    brake()


#infra_red_test()

def init_net():
  print('connecting to the car')
  connect_to_wifi()
  set_client()

  print('connecting completed')
  send_msg('are you my master?')
  check()
def test_velocity_move():
  forward()
  utime.sleep(1)
  brake()
  utime.sleep(1)
  back()
  utime.sleep(1)
  brake()
  
  utime.sleep(1)
  
  turn_left()
  utime.sleep(1)
  
  turn_right()
  time.sleep(1)
  
  brake()
#test_velocity_move()

init_net()

红外线的main，因为小车上的esp32已经插满了，所以用单独一块板作为红外线的

import machine

from machine import PWM ,Pin
import utime
import time


from umqtt.simple import MQTTClient

import ubinascii

import network

import ubinascii

import dht
from machine import Timer


infra_red_receive = Pin(26, Pin.IN)
infra_red_receive2=Pin(25,Pin.IN)




SERVER = '你的服务器'  # MQTT服务器
CLIENT_ID = ubinascii.hexlify(machine.unique_id())  # 获取ESP32的ID

SUBSCRIBE_TOPIC = b'你的订阅topic'  # TOPIC的ID
username = '你的账号'  # 账号，随便写
password = '你的密码'  # 密码，随便写
PUBLISH_TOPIC = b'你的发送主题'
PHONE_TOPIC=b'' #手机主题，相当于红外线代替手机发了一个信息

def send_msg(msg):
    client.publish(PUBLISH_TOPIC, msg)


def set_client():
    global client
    client = MQTTClient(CLIENT_ID, SERVER, 0, username, password, 60)
    
    client.connect()
    
    
    



def connect_to_wifi():
    wifi = network.WLAN(network.STA_IF)  # 创建一个网络接口
    if not wifi.isconnected():
        wifi.active(True)  # 激活网络接口
        wifi.disconnect()  # 中断之前连接的wifi
        wifi.connect('你的网络账号', '你的网络密码')  # 输入账号密码连接网络
    while (wifi.ifconfig()[0] == '0.0.0.0'):
        time.sleep(1)
    print(wifi.ifconfig())






# infra_red_test()
from machine import UART,Pin
import utime

    
def init():
  print('connecting to the infra_red')
  connect_to_wifi()
  set_client()

  print('connecting completed')
  client.publish('要发送到的主题','infra_red connected')
#check()
def send_to_net_infra_red_info():

  while True:
    if infra_red_receive.value()==0 and infra_red_receive2.value()==0:
      
      send_msg('0')
      print('forward and back all can')
    elif infra_red_receive.value()==0 and infra_red_receive2.value()==1:
      send_msg('1')
      print('forward can , back not')
    
    elif infra_red_receive.value()==1 and infra_red_receive2.value()==0:
      send_msg('2')
      print('forward not , back can')
      #print('okBack')
    elif infra_red_receive.value()==1 and infra_red_receive2.value()==1:
      send_msg('3')
      print('forward not, back not')
    utime.sleep_ms(300)


      
   
init()
send_to_net_infra_red_info()
#infra_red_test()