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ESP32（MicroPython） 两轮差速五自由度机械臂小车_micropython pca9685驱动报错

作者：Monodyee | 2024-05-18 12:32:09

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micropython pca9685驱动报错

这次的项目在软件上没多少调整，但本人希望分享一下硬件上的经验。

小车使用两轮差速底盘，驱动轮在小车中间，前后都要万向轮。这种形式可以实现0转弯半径，但受万向轮及用于加高的铜柱的规格限制，两个万向轮难以调到相同高度。考虑铜柱规格，本人万向轮调到比后面的万向轮略高，这样在向前加速时也更稳定。底盘的底板和盖板均使用4mm亚克力板，强度足够。由于重量较轻，在机械臂未指向正前方时可能出现一边车轮抓地效果不好的情况，建议先调整机械臂再行进。

 

底盘采用闭环控制，由于对实时性要求高，不适合用同一块主控运行网页，因此使用另一块主控提供网页，并通过串口转发指令，此外还开启热点以便在户外连接。由于要给两块主控和两个编码器供电，对12v电池降压有较大压降，AMS1117不能满足需要，就改用性能更高的LM7805降压模块。由于专门的编码器电机驱动尚无标准化设计，性价比较低，本人使用杜邦线连接编码器电机的接口，电机驱动使用经典的L298N。由于搭载机械臂增大了负载，底盘的PID参数调到P=20、I=2，实测相应速度和稳定性良好。

 机械臂使用PCA9685进行驱动，舵机为MG996R，由于希望达到6v电压以充分发挥舵机性能，本人尝试了6v电池和使用LM7806对7.4v电池降压的方案，均不能正常运行。之后使用LM7805对7.4v电池降压输出到主控，并由主控输出5v电压到PCA9685，也不能正常运行。最后改用充电宝给主控供电并由主控输出5v电压到PCA9685，可以正常运行。出现这种情况可能是因为PCA9685对电压稳定性要求较高。由于MG996R舵机的线不够长，有3个舵机使用了舵机延长线。为了方便操作，控制机械臂的主控也连接到底盘上的主控发出的热点。本人测试过把这两部分程序合并，但不能正常加载网页，就分两块主控。

 相应程序

控制电机的ESP32

  1. from machine import *
  2. import time
  3. from motos import *
  4. import _thread
  5. '''
  6. 底盘参数计算（最终结果保留3位有效数字）
  7. (speed为编码器脉冲计数)
  8. 轮直径：0.065
  9. 轮周长：0.2041
  10. 每圈脉冲数：110
  11. 底盘周长：0.6908
  12. 底盘直径/每rad长：0.22
  13. 每次脉冲长度：0.001855
  14. 线速度：speed*10*0.001855=speed*0.0186
  15. 角速度：(speed1-speed2)*10*0.001855/0.22=(speed1-speed2)*0.0843
  16. 考虑丢步情况，大约只有63%的脉冲能被统计，因此公式改为：
  17. 线速度=speed/0.63*0.0186=speed*0.0295
  18. 角速度=(speed1-speed2)/0.63*0.0843=(speed1-speed2)*0.134
  19. 每旋转1度（一边轮静止，另一边旋转）所需脉冲数=0.22*2*3.14/360/0.00186*0.63=1.30
  20. 每行驶1米所需脉冲数：1/0.001855*0.63=340
  21. '''
  22. # 编码器初始化
  23. pin17 = Pin(17, Pin.IN)
  24. pin5 = Pin(5, Pin.IN)   
  25. encoder1 = encoder1(pin5, pin17, 0)   # 参数(编码器A相引脚，编码器B相引脚，定时器序号)
  26. pin19 = Pin(19, Pin.IN) 
  27. pin18 = Pin(18, Pin.IN) 
  28. encoder2 = encoder2(pin18, pin19, 2)
  29.  
  30. # 电机初始化
  31. motor1=PWM(Pin(15),freq=1000,duty=0)
  32. motor2=PWM(Pin(2),freq=1000,duty=0)
  33. motor3=PWM(Pin(4),freq=1000,duty=0)
  34. motor4=PWM(Pin(16),freq=1000,duty=0)
  35.  
  36. duty1=0
  37. duty2=0
  38. linear_velocity=0
  39. angular_velocity=0
  40. target1=0
  41. target2=0
  42. offset1=0
  43. offset2=0
  44. '''
  45. distance=0
  46. angle=0
  47. target_distance=0
  48. target_angle=0
  49. flag=0
  50. '''
  51.  
  52. def set_target(duty1,duty2):
  53.     global linear_velocity
  54.     global angular_velocity
  55.     global target1
  56.     global target2
  57.     global target_distance
  58.     global target_angle
  59.     global flag
  60.     while True:
  61.         try:
  62.             target=int(input("input"))
  63.             ''' #控制底盘旋转一定角度并前进一定距离，实测不能正常运行，已弃用
  64.             if target//1000>600: #前3位组成的数大于600时控制行驶距离和旋转角度
  65.                 target_distance=target%1000 #后三位为距离*100
  66.                 target_angle=target//1000-800 #前三位为旋转角度+800，角度为正时右转
  67.                 target_angle=round(target_angle*1.3)
  68.                 target_distance=round(target_distance*0.34)
  69.                 print(target_angle,target_distance)
  70.                 flag=1
  71.                 target=0
  72.             elif target>0: #前3位组成的数小于600时控制线速度和角速度
  73.             '''
  74.             linear_velocity=target%1000-400 #前三位为角速度*100+400，角速度为正时右转，后三位为线速度*100+400
  75.             angular_velocity=target//1000-400 #换算时数字放大1000倍，除法运算后结果不用缩小
  76.             target_speed=linear_velocity/2.95 #计算每周期目标脉冲数
  77.             target_offset=angular_velocity/26.8 #计算每周期目标脉冲数差并换算为每边车轮速度与平均速度的差
  78.             target1=round(target_speed+target_offset) #左轮目标每周期脉冲数
  79.             target2=round(target_speed-target_offset) #右轮目标每周期脉冲数
  80.             target=0
  81.         except:
  82.             pass
  83. _thread.start_new_thread(set_target, (duty1, duty2))
  84.  
  85. while True:
  86.     speed1 = encoder1.read() #编码器读数
  87.     speed2 = encoder2.read()
  88.     Offset1=offset1 #记录上一次偏差
  89.     Offset2=offset2
  90.     offset1=target1-speed1 
  91.     offset2=target2-speed2
  92.     adujstment1=offset1*20-Offset1*18 #PID控制：P=20，I=2
  93.     adujstment2=offset2*20-Offset2*18
  94.     duty1+=adujstment1
  95.     duty2+=adujstment2
  96.     ''' #控制底盘旋转一定角度并前进一定距离，实测不能正常运行，已弃用
  97.     if flag==1: #指定角度转向
  98.         print(flag,angle)
  99.         if 0<target_angle-angle<10 or 0>target_angle-angle>-10:
  100.             target1=0
  101.             target2=0
  102.             flag=2
  103.             angle=0
  104.             target_angle=0
  105.         if target_angle>0: #右转
  106.             target1=20
  107.             target2=0
  108.             angle+=speed1
  109.         if target_angle<0: #左转
  110.             target1=0
  111.             target2=20
  112.             angle+=speed2
  113.     if flag==2: #指定距离直行
  114.         print(flag,distance)
  115.         if target_distance-distance>400:
  116.             target1=100
  117.             target2=100
  118.         elif target_distance-distance>100:
  119.             target1=25
  120.             target2=25
  121.         elif target_distance-distance>40:
  122.             target1=10
  123.             target2=10
  124.         elif target_distance-distance<15:
  125.             target1=0
  126.             target2=0
  127.             flag=0
  128.             distance=0
  129.             target_distance=0
  130.         distance+=speed1
  131.         '''
  132.     if target1<0: #由于实测发现电机反向时不能正常测速，这部分改为开环控制
  133.         duty1=10*target1
  134.     if target2<0:
  135.         duty2=10*target2 
  136.     if duty1<-1023:
  137.         duty1=-1023
  138.     if duty1>1023:
  139.         duty1=1023
  140.     if duty2<-1023:
  141.         duty2=-1023
  142.     if duty2>1023:
  143.         duty2=1023
  144.     if duty1>0:
  145.        motor1.duty(duty1)
  146.        motor2.duty(0)
  147.     if duty1<0:
  148.        motor1.duty(0) 
  149.        motor2.duty(-duty1)
  150.     if duty2>0:
  151.        motor3.duty(duty2)
  152.        motor4.duty(0)
  153.     if duty2<0:
  154.        motor3.duty(0) 
  155.        motor4.duty(-duty2)   
  156.     time.sleep(0.1)
  157.

发出热点的ESP32C3

  1. #导入Pin模块
  2. from machine import Pin
  3. import time
  4. from machine import PWM
  5. import network
  6. import socket
  7.  
  8. #定义LED控制对象
  9. led1=Pin(6,Pin.OUT,Pin.PULL_DOWN)
  10.  
  11. duty=0
  12. speed=0
  13. turn=0
  14. angular=400
  15. linear=400
  16.  
  17. #WIFI连接
  18. def wifi_connect():
  19.     ap = network.WLAN(network.AP_IF)  # 指定用ap模式
  20.     ap.active(True)                   # 启用wifi前需要先激活接口
  21.     ap.config(essid="ESP32_Motor_Control")      # 设置热点名称
  22.     ap.config(authmode=0)  # 设置认证模式
  23.     return True
  24.  
  25. #网页数据
  26. def web_page():
  27.     global a1
  28.     global a2
  29.     global a3
  30.     global a4
  31.   
  32.     html = """<html>
  33. <head>
  34.   <meta name="viewport" content="width=device-width, initial-scale=1">
  35.   
  36.   <style>
  37.     .button{display: inline-block; background-color: #8080f0; border: none; 
  38.     border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}
  39.     a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}
  40.     a:active {text-decoration:none;} 
  41.     html {
  42.      font-family: Arial;
  43.      display: inline-block;
  44.      margin: 0px auto;
  45.      text-align: center;
  46.     }
  47.     h2 { font-size: 1.5rem; }
  48.     p { font-size: 1.5rem; }
  49.     .units { font-size: 1rem; }
  50.     .dht-labels{
  51.       font-size: 1rem;
  52.       vertical-align:middle;
  53.       padding-bottom: 7px;
  54.     }
  55.   </style>
  56. </head>
  57. <body>
  58.   <h2>ESP32 Motor Control</h2> <p><a href="/?d1">linear: <strong>""" + str(speed) + """</strong></a></p>
  59.         <p><a href="/?w10"><button class="button">-3.00</button></a>
  60.         <a href="/?w11"><button class="button">-2.75</button></a>
  61.         <a href="/?w12"><button class="button">-2.50</button></a>
  62.         <a href="/?w13"><button class="button">-2.25</button></a>
  63.         <a href="/?w14"><button class="button">-2.00</button></a>
  64.         <a href="/?w15"><button class="button">-1.75</button></a>
  65.         <a href="/?w16"><button class="button">-1.50</button></a>
  66.         <a href="/?w17"><button class="button">-1.25</button></a>
  67.         <a href="/?w18"><button class="button">-1.00</button></a>
  68.         <a href="/?w19"><button class="button">-0.75</button></a>
  69.         <a href="/?w1a"><button class="button">-0.50</button></a>
  70.         <a href="/?w1b"><button class="button">-0.25</button></a>
  71.         <a href="/?w1c"><button class="button">0.00</button></a>
  72.         <a href="/?w1d"><button class="button">0.25</button></a>
  73.         <a href="/?w1e"><button class="button">0.50</button></a>
  74.         <a href="/?w1f"><button class="button">0.75</button></a>
  75.         <a href="/?w1g"><button class="button">1.00</button></a>
  76.         <a href="/?w1h"><button class="button">1.25</button></a>
  77.         <a href="/?w1i"><button class="button">1.50</button></a>
  78.         <a href="/?w1j"><button class="button">1.75</button></a>
  79.         <a href="/?w1k"><button class="button">2.00</button></a>
  80.         <a href="/?w1l"><button class="button">2.25</button></a>
  81.         <a href="/?w1m"><button class="button">2.50</button></a>
  82.         <a href="/?w1n"><button class="button">2.75</button></a>
  83.         <a href="/?w1o"><button class="button">3.00</button></a></p>
  84.         <p><a href="/?d2">angular: <strong>""" + str(turn) + """</strong></a></p>
  85.         <p><a href="/?w20"><button class="button">-3.00</button></a>
  86.         <a href="/?w21"><button class="button">-2.75</button></a>
  87.         <a href="/?w22"><button class="button">-2.50</button></a>
  88.         <a href="/?w23"><button class="button">-2.25</button></a>
  89.         <a href="/?w24"><button class="button">-2.00</button></a>
  90.         <a href="/?w25"><button class="button">-1.75</button></a>
  91.         <a href="/?w26"><button class="button">-1.50</button></a>
  92.         <a href="/?w27"><button class="button">-1.25</button></a>
  93.         <a href="/?w28"><button class="button">-1.00</button></a>
  94.         <a href="/?w29"><button class="button">-0.75</button></a>
  95.         <a href="/?w2a"><button class="button">-0.50</button></a>
  96.         <a href="/?w2b"><button class="button">-0.25</button></a>
  97.         <a href="/?w2c"><button class="button">0.00</button></a>
  98.         <a href="/?w2d"><button class="button">0.25</button></a>
  99.         <a href="/?w2e"><button class="button">0.50</button></a>
  100.         <a href="/?w2f"><button class="button">0.75</button></a>
  101.         <a href="/?w2g"><button class="button">1.00</button></a>
  102.         <a href="/?w2h"><button class="button">1.25</button></a>
  103.         <a href="/?w2i"><button class="button">1.50</button></a>
  104.         <a href="/?w2j"><button class="button">1.75</button></a>
  105.         <a href="/?w2k"><button class="button">2.00</button></a>
  106.         <a href="/?w2l"><button class="button">2.25</button></a>
  107.         <a href="/?w2m"><button class="button">2.50</button></a>
  108.         <a href="/?w2n"><button class="button">2.75</button></a>
  109.         <a href="/?w2o"><button class="button">3.00</button></a></p>
  110. </body>
  111. </html>"""
  112.     return html
  113.  
  114. #程序入口
  115. if __name__=="__main__":
  116.     wifi_connect()
  117.     #SOCK_STREAM表示的是TCP协议，SOCK_DGRAM表示的是UDP协议
  118.     my_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM)  #创建socket连接
  119.     # 将socket对象绑定ip地址和端口号
  120.     my_socket.bind(('', 80))
  121.     # 相当于电话的开机 括号里的参数表示可以同时接收5个请求
  122.     my_socket.listen(5)
  123.     while True:
  124.       try:    
  125.         # 进入监听状态，等待别人链接过来，有两个返回值，
  126.         #一个是对方的socket对象，一个是对方的ip以及端口
  127.         client, addr = my_socket.accept()
  128.         # recv表示接收，括号里是最大接收字节
  129.         request = client.recv(1024)
  130.         request = str(request)
  131.         w10 = request.find('/?w10')
  132.         w11 = request.find('/?w11')
  133.         w12 = request.find('/?w12')
  134.         w13 = request.find('/?w13')
  135.         w14 = request.find('/?w14')
  136.         w15 = request.find('/?w15')
  137.         w16 = request.find('/?w16')
  138.         w17 = request.find('/?w17')
  139.         w18 = request.find('/?w18')
  140.         w19 = request.find('/?w19')
  141.         w1a = request.find('/?w1a')
  142.         w1b = request.find('/?w1b')
  143.         w1c = request.find('/?w1c')
  144.         w1d = request.find('/?w1d')
  145.         w1e = request.find('/?w1e')
  146.         w1f = request.find('/?w1f')
  147.         w1g = request.find('/?w1g')
  148.         w1h = request.find('/?w1h')
  149.         w1i = request.find('/?w1i')
  150.         w1j = request.find('/?w1j')
  151.         w1k = request.find('/?w1k')
  152.         w1l = request.find('/?w1l')
  153.         w1m = request.find('/?w1m')
  154.         w1n = request.find('/?w1n')
  155.         w1o = request.find('/?w1o')
  156.         w20 = request.find('/?w20')
  157.         w21 = request.find('/?w21')
  158.         w22 = request.find('/?w22')
  159.         w23 = request.find('/?w23')
  160.         w24 = request.find('/?w24')
  161.         w25 = request.find('/?w25')
  162.         w26 = request.find('/?w26')
  163.         w27 = request.find('/?w27')
  164.         w28 = request.find('/?w28')
  165.         w29 = request.find('/?w29')
  166.         w2a = request.find('/?w2a')
  167.         w2b = request.find('/?w2b')
  168.         w2c = request.find('/?w2c')
  169.         w2d = request.find('/?w2d')
  170.         w2e = request.find('/?w2e')
  171.         w2f = request.find('/?w2f')
  172.         w2g = request.find('/?w2g')
  173.         w2h = request.find('/?w2h')
  174.         w2i = request.find('/?w2i')
  175.         w2j = request.find('/?w2j')
  176.         w2k = request.find('/?w2k')
  177.         w2l = request.find('/?w2l')
  178.         w2m = request.find('/?w2m')
  179.         w2n = request.find('/?w2n')
  180.         w2o = request.find('/?w2o')
  181.         d1 = request.find('/?d1')
  182.         d2 = request.find('/?d2')
  183.         if d1 == 6:
  184.             speed=0.00
  185.             linear=400
  186.             print(str(angular)+str(linear))
  187.         if d2 == 6:
  188.             turn=0.00
  189.             angular=400
  190.             print(str(angular)+str(linear))    
  191.         if w10 == 6:
  192.             speed=-3.00
  193.             linear=100
  194.             print(str(angular)+str(linear))
  195.         if w11 == 6:
  196.             speed=-2.75
  197.             linear=125
  198.             print(str(angular)+str(linear))   
  199.         if w12 == 6:
  200.             speed=-2.50
  201.             linear=150
  202.             print(str(angular)+str(linear))
  203.         if w13 == 6:
  204.             speed=-2.25
  205.             linear=175
  206.             print(str(angular)+str(linear))
  207.         if w14 == 6:
  208.             speed=-2.00
  209.             linear=200
  210.             print(str(angular)+str(linear))
  211.         if w15 == 6:
  212.             speed=-1.75
  213.             linear=225
  214.             print(str(angular)+str(linear))   
  215.         if w16 == 6:
  216.             speed=-1.50
  217.             linear=250
  218.             print(str(angular)+str(linear))
  219.         if w17 == 6:
  220.             speed=-1.25
  221.             linear=275
  222.             print(str(angular)+str(linear))
  223.         if w18 == 6:
  224.             speed=-1.00
  225.             linear=300
  226.             print(str(angular)+str(linear))
  227.         if w19 == 6:
  228.             speed=-0.75
  229.             linear=325
  230.             print(str(angular)+str(linear))   
  231.         if w1a == 6:
  232.             speed=-0.50
  233.             linear=350
  234.             print(str(angular)+str(linear))
  235.         if w1b == 6:
  236.             speed=-0.25
  237.             linear=375
  238.             print(str(angular)+str(linear))
  239.         if w1c == 6:
  240.             speed=0.00
  241.             linear=400
  242.             print(str(angular)+str(linear))
  243.         if w1d == 6:
  244.             speed=0.25
  245.             linear=425
  246.             print(str(angular)+str(linear))   
  247.         if w1e == 6:
  248.             speed=0.50
  249.             linear=450
  250.             print(str(angular)+str(linear))
  251.         if w1f == 6:
  252.             speed=0.75
  253.             linear=475
  254.             print(str(angular)+str(linear))
  255.         if w1g == 6:
  256.             speed=1.00
  257.             linear=500
  258.             print(str(angular)+str(linear))
  259.         if w1h == 6:
  260.             speed=1.25
  261.             linear=525
  262.             print(str(angular)+str(linear))   
  263.         if w1i == 6:
  264.             speed=1.50
  265.             linear=550
  266.             print(str(angular)+str(linear))
  267.         if w1j == 6:
  268.             speed=1.75
  269.             linear=575
  270.             print(str(angular)+str(linear))
  271.         if w1k == 6:
  272.             speed=2.00
  273.             linear=600
  274.             print(str(angular)+str(linear))
  275.         if w1l == 6:
  276.             speed=2.25
  277.             linear=625
  278.             print(str(angular)+str(linear))   
  279.         if w1m == 6:
  280.             speed=2.50
  281.             linear=650
  282.             print(str(angular)+str(linear))
  283.         if w1n == 6:
  284.             speed=2.75
  285.             linear=675
  286.             print(str(angular)+str(linear))
  287.         if w1o == 6:
  288.             speed=3.00
  289.             linear=700
  290.             print(str(angular)+str(linear))
  291.         if w20 == 6:
  292.             turn=-3.00
  293.             angular=100
  294.             print(str(angular)+str(linear))
  295.         if w21 == 6:
  296.             turn=-2.75
  297.             angular=125
  298.             print(str(angular)+str(linear))   
  299.         if w22 == 6:
  300.             turn=-2.50
  301.             angular=150
  302.             print(str(angular)+str(linear))
  303.         if w23 == 6:
  304.             turn=-2.25
  305.             angular=175
  306.             print(str(angular)+str(linear))
  307.         if w24 == 6:
  308.             turn=-2.00
  309.             angular=200
  310.             print(str(angular)+str(linear))
  311.         if w25 == 6:
  312.             turn=-1.75
  313.             angular=225
  314.             print(str(angular)+str(linear))   
  315.         if w26 == 6:
  316.             turn=-1.50
  317.             angular=250
  318.             print(str(angular)+str(linear))
  319.         if w27 == 6:
  320.             turn=-1.25
  321.             angular=275
  322.             print(str(angular)+str(linear))
  323.         if w28 == 6:
  324.             turn=-1.00
  325.             angular=300
  326.             print(str(angular)+str(linear))
  327.         if w29 == 6:
  328.             turn=-0.75
  329.             angular=325
  330.             print(str(angular)+str(linear))   
  331.         if w2a == 6:
  332.             turn=-0.50
  333.             angular=350
  334.             print(str(angular)+str(linear))
  335.         if w2b == 6:
  336.             turn=-0.25
  337.             angular=375
  338.             print(str(angular)+str(linear))
  339.         if w2c == 6:
  340.             turn=0.00
  341.             angular=400
  342.             print(str(angular)+str(linear))
  343.         if w2d == 6:
  344.             turn=0.25
  345.             angular=425
  346.             print(str(angular)+str(linear))   
  347.         if w2e == 6:
  348.             turn=0.50
  349.             angular=450
  350.             print(str(angular)+str(linear))
  351.         if w2f == 6:
  352.             turn=0.75
  353.             angular=475
  354.             print(str(angular)+str(linear))
  355.         if w2g == 6:
  356.             turn=1.00
  357.             angular=500
  358.             print(str(angular)+str(linear))
  359.         if w2h == 6:
  360.             turn=1.25
  361.             angular=525
  362.             print(str(angular)+str(linear))   
  363.         if w2i == 6:
  364.             turn=1.50
  365.             angular=550
  366.             print(str(angular)+str(linear))
  367.         if w2j == 6:
  368.             turn=1.75
  369.             angular=575
  370.             print(str(angular)+str(linear))
  371.         if w2k == 6:
  372.             turn=2.00
  373.             angular=600
  374.             print(str(angular)+str(linear))
  375.         if w2l == 6:
  376.             turn=2.25
  377.             angular=625
  378.             print(str(angular)+str(linear))   
  379.         if w2m == 6:
  380.             turn=2.50
  381.             angular=650
  382.             print(str(angular)+str(linear))
  383.         if w2n == 6:
  384.             turn=2.75
  385.             angular=675
  386.             print(str(angular)+str(linear))
  387.         if w2o == 6:
  388.             turn=3.00
  389.             angular=700
  390.             print(str(angular)+str(linear))    
  391.         response = web_page()
  392.         client.send('HTTP/1.1 200 OK\n')
  393.         client.send('Content-Type: text/html\n')
  394.         client.send('Connection: close\n\n')
  395.         client.sendall(response)
  396.         client.close()
  397.       except:
  398.           pass
  399.

控制机械臂的ESP32C3

  1. #导入Pin模块
  2. from machine import Pin
  3. import time
  4. from machine import SoftI2C
  5. from servo import Servos
  6. import network
  7. import socket
  8.  
  9. #定义LED控制对象
  10. led1=Pin(4,Pin.OUT,Pin.PULL_DOWN)
  11. i2c=SoftI2C(sda=Pin(9),scl=Pin(8),freq=10000)
  12. servos=Servos(i2c,address=0x40)
  13.  
  14. #连接的WIFI账号和密码
  15. ssid = "ESP32_Motor_Control"
  16. password=None
  17. #舵机默认角度
  18. servos.position(0,90)
  19. servos.position(1,90)
  20. servos.position(2,90)
  21. servos.position(3,90)
  22. servos.position(4,90)
  23.  
  24. #WIFI连接
  25. def wifi_connect():
  26.     wlan=network.WLAN(network.STA_IF)  #STA模式
  27.     wlan.active(True)  #激活
  28.     
  29.     if not wlan.isconnected():
  30.         print("conneting to network...")
  31.         wlan.connect(ssid,password)  #输入 WIFI 账号密码
  32.         
  33.         while not wlan.isconnected():
  34.             led1.value(1)
  35.             time.sleep_ms(300)
  36.             led1.value(0)
  37.             time.sleep_ms(300)
  38.         led1.value(0)
  39.         return False
  40.     else:
  41.         led1.value(0)
  42.         print("network information:", wlan.ifconfig())
  43.         return True
  44.  
  45. a0=90
  46. a1=90
  47. a2=90
  48. a3=90
  49. a4=90
  50. #网页数据
  51. def web_page():
  52.     global a0
  53.     global a1
  54.     global a2
  55.     global a3
  56.     global a4
  57.   
  58.     html = """<html>
  59. <head>
  60.   <meta name="viewport" content="width=device-width, initial-scale=1">
  61.   
  62.   <style>
  63.     .button{display: inline-block; background-color: #971080; border: none; 
  64.     border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}
  65.     a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}
  66.     a:active {text-decoration:none;} 
  67.     html {
  68.      font-family: Arial;
  69.      display: inline-block;
  70.      margin: 0px auto;
  71.      text-align: center;
  72.     }
  73.     h2 { font-size: 1.5rem; }
  74.     p { font-size: 1.5rem; }
  75.     .units { font-size: 1rem; }
  76.     .dht-labels{
  77.       font-size: 1rem;
  78.       vertical-align:middle;
  79.       padding-bottom: 7px;
  80.     }
  81.   </style>
  82. </head>
  83. <body>
  84.   <h2>ESP32 Servo Control</h2>
  85.         <p><a href="/?d0">Servo0: <strong>""" + str(a0) + """</strong></a></p>
  86.         <p><a href="/?b00"><button class="button">0</button></a>
  87.         <a href="/?b01"><button class="button">10</button></a>
  88.         <a href="/?b02"><button class="button">20</button></a>
  89.         <a href="/?b03"><button class="button">30</button></a>
  90.         <a href="/?b04"><button class="button">40</button></a>
  91.         <a href="/?b05"><button class="button">50</button></a>
  92.         <a href="/?b06"><button class="button">60</button></a>
  93.         <a href="/?b07"><button class="button">70</button></a>
  94.         <a href="/?b08"><button class="button">80</button></a>
  95.         <a href="/?b09"><button class="button">90</button></a>
  96.         <a href="/?b0a"><button class="button">100</button></a>
  97.         <a href="/?b0b"><button class="button">110</button></a>
  98.         <a href="/?b0c"><button class="button">120</button></a>
  99.         <a href="/?b0d"><button class="button">130</button></a>
  100.         <a href="/?b0e"><button class="button">140</button></a>
  101.         <a href="/?b0f"><button class="button">150</button></a>
  102.         <a href="/?b0g"><button class="button">160</button></a>
  103.         <a href="/?b0h"><button class="button">170</button></a>
  104.         <a href="/?b0i"><button class="button">180</button></a></p>
  105.         <p><a href="/?d1">Servo1: <strong>""" + str(a1) + """</strong></a></p>
  106.         <p><a href="/?b10"><button class="button">0</button></a>
  107.         <a href="/?b11"><button class="button">10</button></a>
  108.         <a href="/?b12"><button class="button">20</button></a>
  109.         <a href="/?b13"><button class="button">30</button></a>
  110.         <a href="/?b14"><button class="button">40</button></a>
  111.         <a href="/?b15"><button class="button">50</button></a>
  112.         <a href="/?b16"><button class="button">60</button></a>
  113.         <a href="/?b17"><button class="button">70</button></a>
  114.         <a href="/?b18"><button class="button">80</button></a>
  115.         <a href="/?b19"><button class="button">90</button></a>
  116.         <a href="/?b1a"><button class="button">100</button></a>
  117.         <a href="/?b1b"><button class="button">110</button></a>
  118.         <a href="/?b1c"><button class="button">120</button></a>
  119.         <a href="/?b1d"><button class="button">130</button></a>
  120.         <a href="/?b1e"><button class="button">140</button></a>
  121.         <a href="/?b1f"><button class="button">150</button></a>
  122.         <a href="/?b1g"><button class="button">160</button></a>
  123.         <a href="/?b1h"><button class="button">170</button></a>
  124.         <a href="/?b1i"><button class="button">180</button></a></p>
  125.         <p><a href="/?d2">Servo2: <strong>""" + str(a2) + """</strong></a></p>
  126.         <p><a href="/?b10"><button class="button">0</button></a>
  127.         <a href="/?b21"><button class="button">10</button></a>
  128.         <a href="/?b22"><button class="button">20</button></a>
  129.         <a href="/?b23"><button class="button">30</button></a>
  130.         <a href="/?b24"><button class="button">40</button></a>
  131.         <a href="/?b25"><button class="button">50</button></a>
  132.         <a href="/?b26"><button class="button">60</button></a>
  133.         <a href="/?b27"><button class="button">70</button></a>
  134.         <a href="/?b28"><button class="button">80</button></a>
  135.         <a href="/?b29"><button class="button">90</button></a>
  136.         <a href="/?b2a"><button class="button">100</button></a>
  137.         <a href="/?b2b"><button class="button">110</button></a>
  138.         <a href="/?b2c"><button class="button">120</button></a>
  139.         <a href="/?b2d"><button class="button">130</button></a>
  140.         <a href="/?b2e"><button class="button">140</button></a>
  141.         <a href="/?b2f"><button class="button">150</button></a>
  142.         <a href="/?b2g"><button class="button">160</button></a>
  143.         <a href="/?b2h"><button class="button">170</button></a>
  144.         <a href="/?b2i"><button class="button">180</button></a></p>
  145.         <p><a href="/?d3">Servo3: <strong>""" + str(a3) + """</strong></a></p>
  146.         <p><a href="/?b30"><button class="button">0</button></a>
  147.         <a href="/?b31"><button class="button">10</button></a>
  148.         <a href="/?b32"><button class="button">20</button></a>
  149.         <a href="/?b33"><button class="button">30</button></a>
  150.         <a href="/?b34"><button class="button">40</button></a>
  151.         <a href="/?b35"><button class="button">50</button></a>
  152.         <a href="/?b36"><button class="button">60</button></a>
  153.         <a href="/?b37"><button class="button">70</button></a>
  154.         <a href="/?b38"><button class="button">80</button></a>
  155.         <a href="/?b39"><button class="button">90</button></a>
  156.         <a href="/?b3a"><button class="button">100</button></a>
  157.         <a href="/?b3b"><button class="button">110</button></a>
  158.         <a href="/?b3c"><button class="button">120</button></a>
  159.         <a href="/?b3d"><button class="button">130</button></a>
  160.         <a href="/?b3e"><button class="button">140</button></a>
  161.         <a href="/?b3f"><button class="button">150</button></a>
  162.         <a href="/?b3g"><button class="button">160</button></a>
  163.         <a href="/?b3h"><button class="button">170</button></a>
  164.         <a href="/?b3i"><button class="button">180</button></a></p>
  165.         <p><a href="/?d4">Servo4: <strong>""" + str(a4) + """</strong></a></p>
  166.         <p><a href="/?b30"><button class="button">0</button></a>
  167.         <a href="/?b41"><button class="button">10</button></a>
  168.         <a href="/?b42"><button class="button">20</button></a>
  169.         <a href="/?b43"><button class="button">30</button></a>
  170.         <a href="/?b44"><button class="button">40</button></a>
  171.         <a href="/?b45"><button class="button">50</button></a>
  172.         <a href="/?b46"><button class="button">60</button></a>
  173.         <a href="/?b47"><button class="button">70</button></a>
  174.         <a href="/?b48"><button class="button">80</button></a>
  175.         <a href="/?b49"><button class="button">90</button></a>
  176.         <a href="/?b4a"><button class="button">100</button></a>
  177.         <a href="/?b4b"><button class="button">110</button></a>
  178.         <a href="/?b4c"><button class="button">120</button></a>
  179.         <a href="/?b4d"><button class="button">130</button></a>
  180.         <a href="/?b4e"><button class="button">140</button></a>
  181.         <a href="/?b4f"><button class="button">150</button></a>
  182.         <a href="/?b4g"><button class="button">160</button></a>
  183.         <a href="/?b4h"><button class="button">170</button></a>
  184.         <a href="/?b4i"><button class="button">180</button></a></p>
  185. </body>
  186. </html>"""
  187.     return html
  188.  
  189. #程序入口
  190. if __name__=="__main__":
  191.     wifi_connect()
  192.     #SOCK_STREAM表示的是TCP协议，SOCK_DGRAM表示的是UDP协议
  193.     my_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM)  #创建socket连接
  194.     # 将socket对象绑定ip地址和端口号
  195.     my_socket.bind(('', 80))
  196.     # 相当于电话的开机 括号里的参数表示可以同时接收5个请求
  197.     my_socket.listen(5)
  198.     while True:
  199.       try:    
  200.         # 进入监听状态，等待别人链接过来，有两个返回值，
  201.         #一个是对方的socket对象，一个是对方的ip以及端口
  202.         client, addr = my_socket.accept()
  203.         print('Got a connection from %s' % str(addr))
  204.         # recv表示接收，括号里是最大接收字节
  205.         request = client.recv(1024)
  206.         request = str(request)
  207.         print('Content = %s' % request)
  208.         b00 = request.find('/?b00')
  209.         b01 = request.find('/?b01')
  210.         b02 = request.find('/?b02')
  211.         b03 = request.find('/?b03')
  212.         b04 = request.find('/?b04')
  213.         b05 = request.find('/?b05')
  214.         b06 = request.find('/?b06')
  215.         b07 = request.find('/?b07')
  216.         b08 = request.find('/?b08')
  217.         b09 = request.find('/?b09')
  218.         b0a = request.find('/?b0a')
  219.         b0b = request.find('/?b0b')
  220.         b0c = request.find('/?b0c')
  221.         b0d = request.find('/?b0d')
  222.         b0e = request.find('/?b0e')
  223.         b0f = request.find('/?b0f')
  224.         b0g = request.find('/?b0g')
  225.         b0h = request.find('/?b0h')
  226.         b0i = request.find('/?b0i')
  227.         b10 = request.find('/?b10')
  228.         b11 = request.find('/?b11')
  229.         b12 = request.find('/?b12')
  230.         b13 = request.find('/?b13')
  231.         b14 = request.find('/?b14')
  232.         b15 = request.find('/?b15')
  233.         b16 = request.find('/?b16')
  234.         b17 = request.find('/?b17')
  235.         b18 = request.find('/?b18')
  236.         b19 = request.find('/?b19')
  237.         b1a = request.find('/?b1a')
  238.         b1b = request.find('/?b1b')
  239.         b1c = request.find('/?b1c')
  240.         b1d = request.find('/?b1d')
  241.         b1e = request.find('/?b1e')
  242.         b1f = request.find('/?b1f')
  243.         b1g = request.find('/?b1g')
  244.         b1h = request.find('/?b1h')
  245.         b1i = request.find('/?b1i')
  246.         b20 = request.find('/?b10')
  247.         b21 = request.find('/?b21')
  248.         b22 = request.find('/?b22')
  249.         b23 = request.find('/?b23')
  250.         b24 = request.find('/?b24')
  251.         b25 = request.find('/?b25')
  252.         b26 = request.find('/?b26')
  253.         b27 = request.find('/?b27')
  254.         b28 = request.find('/?b28')
  255.         b29 = request.find('/?b29')
  256.         b2a = request.find('/?b2a')
  257.         b2b = request.find('/?b2b')
  258.         b2c = request.find('/?b2c')
  259.         b2d = request.find('/?b2d')
  260.         b2e = request.find('/?b2e')
  261.         b2f = request.find('/?b2f')
  262.         b2g = request.find('/?b2g')
  263.         b2h = request.find('/?b2h')
  264.         b2i = request.find('/?b2i')
  265.         b30 = request.find('/?b30')
  266.         b31 = request.find('/?b31')
  267.         b32 = request.find('/?b32')
  268.         b33 = request.find('/?b33')
  269.         b34 = request.find('/?b34')
  270.         b35 = request.find('/?b35')
  271.         b36 = request.find('/?b36')
  272.         b37 = request.find('/?b37')
  273.         b38 = request.find('/?b38')
  274.         b39 = request.find('/?b39')
  275.         b3a = request.find('/?b3a')
  276.         b3b = request.find('/?b3b')
  277.         b3c = request.find('/?b3c')
  278.         b3d = request.find('/?b3d')
  279.         b3e = request.find('/?b3e')
  280.         b3f = request.find('/?b3f')
  281.         b3g = request.find('/?b3g')
  282.         b3h = request.find('/?b3h')
  283.         b3i = request.find('/?b3i')
  284.         b40 = request.find('/?b40')
  285.         b41 = request.find('/?b41')
  286.         b42 = request.find('/?b42')
  287.         b43 = request.find('/?b43')
  288.         b44 = request.find('/?b44')
  289.         b45 = request.find('/?b45')
  290.         b46 = request.find('/?b46')
  291.         b47 = request.find('/?b47')
  292.         b48 = request.find('/?b48')
  293.         b49 = request.find('/?b49')
  294.         b4a = request.find('/?b4a')
  295.         b4b = request.find('/?b4b')
  296.         b4c = request.find('/?b4c')
  297.         b4d = request.find('/?b4d')
  298.         b4e = request.find('/?b4e')
  299.         b4f = request.find('/?b4f')
  300.         b4g = request.find('/?b4g')
  301.         b4h = request.find('/?b4h')
  302.         b4i = request.find('/?b4i')
  303.         if b00 == 6:
  304.             servos.position(0,0)
  305.             a0=0
  306.         if b11 == 6:
  307.             servos.position(0,10)
  308.             a0=10
  309.         if b02 == 6:
  310.             servos.position(0,20)
  311.             a0=20
  312.         if b03 == 6:
  313.             servos.position(0,30)
  314.             a0=30
  315.         if b04 == 6:
  316.             servos.position(0,40)
  317.             a0=40
  318.         if b05 == 6:
  319.             servos.position(0,50)
  320.             a0=50
  321.         if b06 == 6:
  322.             servos.position(0,60)
  323.             a0=60
  324.         if b07 == 6:
  325.             servos.position(0,70)
  326.             a0=70
  327.         if b08 == 6:
  328.             servos.position(0,80)
  329.             a0=80
  330.         if b09 == 6:
  331.             servos.position(0,90)
  332.             a0=90
  333.         if b0a == 6:
  334.             servos.position(0,100)
  335.             a0=100
  336.         if b0b == 6:
  337.             servos.position(0,110)
  338.             a0=110
  339.         if b0c == 6:
  340.             servos.position(0,120)
  341.             a0=120
  342.         if b0d == 6:
  343.             servos.position(0,130)
  344.             a0=130
  345.         if b0e == 6:
  346.             servos.position(0,140)
  347.             a0=140
  348.         if b0f == 6:
  349.             servos.position(0,150)
  350.             a0=150
  351.         if b0g == 6:
  352.             servos.position(0,160)
  353.             a0=160
  354.         if b0h == 6:
  355.             servos.position(0,170)
  356.             a0=170
  357.         if b0i == 6:
  358.             servos.position(0,180)
  359.             a0=180
  360.         if b10 == 6:
  361.             servos.position(1,0)
  362.             a1=0
  363.         if b11 == 6:
  364.             servos.position(1,10)
  365.             a1=10
  366.         if b12 == 6:
  367.             servos.position(1,20)
  368.             a1=20
  369.         if b13 == 6:
  370.             servos.position(1,30)
  371.             a1=30
  372.         if b14 == 6:
  373.             servos.position(1,40)
  374.             a1=40
  375.         if b15 == 6:
  376.             servos.position(1,50)
  377.             a1=50
  378.         if b16 == 6:
  379.             servos.position(1,60)
  380.             a1=60
  381.         if b17 == 6:
  382.             servos.position(1,70)
  383.             a1=70
  384.         if b18 == 6:
  385.             servos.position(1,80)
  386.             a1=80
  387.         if b19 == 6:
  388.             servos.position(1,90)
  389.             a1=90
  390.         if b1a == 6:
  391.             servos.position(1,100)
  392.             a1=100
  393.         if b1b == 6:
  394.             servos.position(1,110)
  395.             a1=110
  396.         if b1c == 6:
  397.             servos.position(1,120)
  398.             a1=120
  399.         if b1d == 6:
  400.             servos.position(1,130)
  401.             a1=130
  402.         if b1e == 6:
  403.             servos.position(1,140)
  404.             a1=140
  405.         if b1f == 6:
  406.             servos.position(1,150)
  407.             a1=150
  408.         if b1g == 6:
  409.             servos.position(1,160)
  410.             a1=160
  411.         if b1h == 6:
  412.             servos.position(1,170)
  413.             a1=170
  414.         if b1i == 6:
  415.             servos.position(1,180)
  416.             a1=180
  417.         if b20 == 6:
  418.             servos.position(2,0)
  419.             a2=0
  420.         if b21 == 6:
  421.             servos.position(2,10)
  422.             a2=10
  423.         if b22 == 6:
  424.             servos.position(2,20)
  425.             a2=20
  426.         if b23 == 6:
  427.             servos.position(2,30)
  428.             a2=30
  429.         if b24 == 6:
  430.             servos.position(2,40)
  431.             a2=40
  432.         if b25 == 6:
  433.             servos.position(2,50)
  434.             a2=50
  435.         if b26 == 6:
  436.             servos.position(2,60)
  437.             a2=60
  438.         if b27 == 6:
  439.             servos.position(2,70)
  440.             a2=70
  441.         if b28 == 6:
  442.             servos.position(2,80)
  443.             a2=80
  444.         if b29 == 6:
  445.             servos.position(2,90)
  446.             a2=90
  447.         if b2a == 6:
  448.             servos.position(2,100)
  449.             a2=100
  450.         if b2b == 6:
  451.             servos.position(2,110)
  452.             a2=110
  453.         if b2c == 6:
  454.             servos.position(2,120)
  455.             a2=120
  456.         if b2d == 6:
  457.             servos.position(2,130)
  458.             a2=130
  459.         if b2e == 6:
  460.             servos.position(2,140)
  461.             a2=140
  462.         if b2f == 6:
  463.             servos.position(2,150)
  464.             a2=150
  465.         if b2g == 6:
  466.             servos.position(2,160)
  467.             a2=160
  468.         if b2h == 6:
  469.             servos.position(2,170)
  470.             a2=170
  471.         if b2i == 6:
  472.             servos.position(2,180)
  473.             a2=180
  474.         if b30 == 6:
  475.             servos.position(3,0)
  476.             a3=0
  477.         if b31 == 6:
  478.             servos.position(3,10)
  479.             a3=10
  480.         if b32 == 6:
  481.             servos.position(3,20)
  482.             a3=20
  483.         if b33 == 6:
  484.             servos.position(3,30)
  485.             a3=30
  486.         if b34 == 6:
  487.             servos.position(3,40)
  488.             a3=40
  489.         if b35 == 6:
  490.             servos.position(3,50)
  491.             a3=50
  492.         if b36 == 6:
  493.             servos.position(3,60)
  494.             a3=60
  495.         if b37 == 6:
  496.             servos.position(3,70)
  497.             a3=70
  498.         if b38 == 6:
  499.             servos.position(3,80)
  500.             a3=80
  501.         if b39 == 6:
  502.             servos.position(3,90)
  503.             a3=90
  504.         if b3a == 6:
  505.             servos.position(3,100)
  506.             a3=100
  507.         if b3b == 6:
  508.             servos.position(3,110)
  509.             a3=110
  510.         if b3c == 6:
  511.             servos.position(3,120)
  512.             a3=120
  513.         if b3d == 6:
  514.             servos.position(3,130)
  515.             a3=130
  516.         if b3e == 6:
  517.             servos.position(3,140)
  518.             a3=140
  519.         if b3f == 6:
  520.             servos.position(3,150)
  521.             a3=150
  522.         if b3g == 6:
  523.             servos.position(3,160)
  524.             a3=160
  525.         if b3h == 6:
  526.             servos.position(3,170)
  527.             a3=170
  528.         if b3i == 6:
  529.             servos.position(3,180)
  530.             a3=180
  531.         if b40 == 6:
  532.             servos.position(4,0)
  533.             a4=0
  534.         if b41 == 6:
  535.             servos.position(4,10)
  536.             a4=10
  537.         if b42 == 6:
  538.             servos.position(4,20)
  539.             a4=20
  540.         if b43 == 6:
  541.             servos.position(4,30)
  542.             a4=30
  543.         if b44 == 6:
  544.             servos.position(4,40)
  545.             a4=40
  546.         if b45 == 6:
  547.             servos.position(4,50)
  548.             a4=50
  549.         if b46 == 6:
  550.             servos.position(4,60)
  551.             a4=60
  552.         if b47 == 6:
  553.             servos.position(4,70)
  554.             a4=70
  555.         if b48 == 6:
  556.             servos.position(4,80)
  557.             a4=80
  558.         if b49 == 6:
  559.             servos.position(4,90)
  560.             a4=90
  561.         if b4a == 6:
  562.             servos.position(4,100)
  563.             a4=100
  564.         if b4b == 6:
  565.             servos.position(4,110)
  566.             a4=110
  567.         if b4c == 6:
  568.             servos.position(4,120)
  569.             a4=120
  570.         if b4d == 6:
  571.             servos.position(4,130)
  572.             a4=130
  573.         if b4e == 6:
  574.             servos.position(4,140)
  575.             a4=140
  576.         if b4f == 6:
  577.             servos.position(4,150)
  578.             a4=150
  579.         if b4g == 6:
  580.             servos.position(4,160)
  581.             a4=160
  582.         if b4h == 6:
  583.             servos.position(4,170)
  584.             a4=170
  585.         if b4i == 6:
  586.             servos.position(4,180)
  587.             a4=180    
  588.         response = web_page()
  589.         client.send('HTTP/1.1 200 OK\n')
  590.         client.send('Content-Type: text/html\n')
  591.         client.send('Connection: close\n\n')
  592.         client.sendall(response)
  593.         client.close()
  594.       except:
  595.           pass
  596.

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