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学习笔记：基于ESP32-CAM控制wifi监控避障小车_esp32cam小车

作者：小惠珠哦 | 2024-07-29 00:36:51

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esp32cam小车

文章：

一、器材清单

  1. 主控ESP32-CAM（带摄像头）
  2. USB 转 TTL（CH340）串口烧入器
  3. HC-SR04超声波测距模块
  4. HC-SR04超声波测距支架（结合舵机云台固定）
  5. SG90舵机 （360度）
  6. L298n电机驱动模块
  7. 四轮小车套件（包含小车底板和四轮电机和电源开关按键）
  8. 胶枪 胶棒3根
  9. 18650电池*2
  10. 18650电池充电器

 二、闭门造车

对小车零件进行组装，成品如下：

 线路连接:

 三、头秃码字

1、Arduino的基本语法；

  1. void Myservo(int angle)
  2. {
  3.   for (int i = 0; i < 5; i++) {
  4.     int pulsewidth = (angle * 11) + 500;        //将角度转化为500-2480的脉宽值
  5.     digitalWrite(ServoPin, HIGH);               //将舵机接口电平至高
  6.     delayMicroseconds(pulsewidth);              //延时脉宽值的微秒数
  7.     digitalWrite(ServoPin, LOW);                //将舵机接口电平至低
  8.     delayMicroseconds(20000 - pulsewidth);      //延时脉宽值的微秒数
  9.   }
  10.   delay(10);
  11. }

（1）采用IO口TRIG触发测距，给至少10us的高电平信号;

（2）模块自动发送8个40khz的方波，自动检测是否有信号返回；

（3）有信号返回，通过IO口ECHO输出一个高电平，高电平持续的时间   就是超声波从发射到返回的时间。

（4）测试距离=（高电平时间*声速（340M/S））/2;  

（5）pulseIn() ：用于读取引脚脉冲的时间长度，脉冲可以是HIGH或LOW。   如果是HIGH，函数将先等引脚变为高电平，然后开始计时，一直到变为低   电平为止。返回脉冲持续的时间长短, 单位为ms。如果超时还没有读到的话,   将返回0。声音在干燥、摄氏 20度的空气中的传播速度大约为343米/秒，合34,300厘米/秒。 或者，我们作一下单位换算，34,300除以1,000,000厘米/微秒。即为：0.0343厘米/微秒 再换一个角度，1/（0.0343 厘米/微秒）即：29.15 微秒/厘米。 这就意味着，每291.5微秒表示10CM的距离。1厘米就是29.15微秒。 但是发送后到接收到回波，声音走过的是2倍的距离呀。所以实际距离就是1厘米，对应58.3微秒。 实际上整个测距过程是测的发出声波到收到回波的时间，你的程序里的dis距离实际上是时间us。 所以换成距离的cm，要除以58。当然除以58.3可能更精确

2、云平台控制闪光灯 

  1. // 新建组件对象
  2. BlinkerButton Button1("btn-abc");
  3.  
  4. // 按下按键即会执行该函数
  5. void button1_callback(const String & state) {
  6.     BLINKER_LOG("get button state: ", state);
  7.     digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
  8. }
  9.  
  10. void setup() {
  11.     // 初始化串口
  12.     Serial.begin(115200);   
  13.     // 初始化有LED的IO
  14.     pinMode(LED_BUILTIN, OUTPUT);
  15.     digitalWrite(LED_BUILTIN, HIGH);
  16.     // 初始化blinker
  17.     Blinker.begin(auth, ssid, pswd);
  18.     Button1.attach(button1_callback);
  19. }

3、控制舵机转动

  1. // 新建组件对象
  2. BlinkerSlider Slider0("huakuai-kai0");   //位置0-3 滑块 数据键名  舵机范围0-180
  3.  
  4. //滑块任务函数
  5. void slider0_callback(int32_t value) //滑块0
  6. {
  7.     int servo=value;
  8.     Myservo(servo);//转动角度}
  9. }
  10.  
  11. void setup() {
  12.     // 初始化串口
  13.     Serial.begin(115200);   
  14.     // 初始化blinker
  15.     Blinker.begin(auth, ssid, pswd);
  16.     Slider0.attach(slider0_callback);//关联滑动开关
  17. }

4、ESP32-CAM控制电机

  1. BlinkerButton Button1("GoForward");
  2. BlinkerButton Button2("GoBack");
  3. BlinkerButton Button3("Left");
  4. BlinkerButton Button4("Right");
  5. BlinkerButton Button5("Stop");
  6.  
  7. void button1_callback(const String & state)                 //定义前进按钮
  8. {
  9.   BLINKER_LOG("get button state: ", state);
  10.   if (state == "press" || state == "tap") {                 //判断按键是否被按下
  11.     Go_Forward();    
  12.   }
  13.   else if (state == "pressup") {                            //判断按键是否松开
  14.     Stop_Car( );
  15.   }
  16. }
  17. Button1.attach(button1_callback);
  18.

4、代码总结：

  1. #ifndef ESP_CAM_SERVER_H
  2. #define ESP_CAM_SERVER_H
  3. //#include "esp_camera.h"
  4. #include <WiFi.h>
  5. #include "esp_timer.h"
  6. #include "img_converters.h"
  7. #include "Arduino.h"
  8. #include "fb_gfx.h"
  9. #include "soc/soc.h" //disable brownout problems
  10. #include "soc/rtc_cntl_reg.h"  //disable brownout problems
  11. #include "esp_http_server.h"
  12.  
  13.  
  14. #define PART_BOUNDARY "123456789000000000000987654321"
  15.  
  16. // This project was tested with the AI Thinker Model, M5STACK PSRAM Model and M5STACK WITHOUT PSRAM
  17. #define CAMERA_MODEL_AI_THINKER
  18. //#define CAMERA_MODEL_M5STACK_PSRAM
  19. //#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM
  20.  
  21. // Not tested with this model
  22. //#define CAMERA_MODEL_WROVER_KIT
  23.  
  24. #if defined(CAMERA_MODEL_WROVER_KIT)
  25.   #define PWDN_GPIO_NUM    -1
  26.   #define RESET_GPIO_NUM   -1
  27.   #define XCLK_GPIO_NUM    21
  28.   #define SIOD_GPIO_NUM    26
  29.   #define SIOC_GPIO_NUM    27
  30.   
  31.   #define Y9_GPIO_NUM      35
  32.   #define Y8_GPIO_NUM      34
  33.   #define Y7_GPIO_NUM      39
  34.   #define Y6_GPIO_NUM      36
  35.   #define Y5_GPIO_NUM      19
  36.   #define Y4_GPIO_NUM      18
  37.   #define Y3_GPIO_NUM       5
  38.   #define Y2_GPIO_NUM       4
  39.   #define VSYNC_GPIO_NUM   25
  40.   #define HREF_GPIO_NUM    23
  41.   #define PCLK_GPIO_NUM    22
  42.  
  43. #elif defined(CAMERA_MODEL_M5STACK_PSRAM)
  44.   #define PWDN_GPIO_NUM     -1
  45.   #define RESET_GPIO_NUM    15
  46.   #define XCLK_GPIO_NUM     27
  47.   #define SIOD_GPIO_NUM     25
  48.   #define SIOC_GPIO_NUM     23
  49.   
  50.   #define Y9_GPIO_NUM       19
  51.   #define Y8_GPIO_NUM       36
  52.   #define Y7_GPIO_NUM       18
  53.   #define Y6_GPIO_NUM       39
  54.   #define Y5_GPIO_NUM        5
  55.   #define Y4_GPIO_NUM       34
  56.   #define Y3_GPIO_NUM       35
  57.   #define Y2_GPIO_NUM       32
  58.   #define VSYNC_GPIO_NUM    22
  59.   #define HREF_GPIO_NUM     26
  60.   #define PCLK_GPIO_NUM     21
  61.  
  62. #elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM)
  63.   #define PWDN_GPIO_NUM     -1
  64.   #define RESET_GPIO_NUM    15
  65.   #define XCLK_GPIO_NUM     27
  66.   #define SIOD_GPIO_NUM     25
  67.   #define SIOC_GPIO_NUM     23
  68.   
  69.   #define Y9_GPIO_NUM       19
  70.   #define Y8_GPIO_NUM       36
  71.   #define Y7_GPIO_NUM       18
  72.   #define Y6_GPIO_NUM       39
  73.   #define Y5_GPIO_NUM        5
  74.   #define Y4_GPIO_NUM       34
  75.   #define Y3_GPIO_NUM       35
  76.   #define Y2_GPIO_NUM       17
  77.   #define VSYNC_GPIO_NUM    22
  78.   #define HREF_GPIO_NUM     26
  79.   #define PCLK_GPIO_NUM     21
  80.  
  81. #elif defined(CAMERA_MODEL_AI_THINKER)
  82.   #define PWDN_GPIO_NUM     32
  83.   #define RESET_GPIO_NUM    -1
  84.   #define XCLK_GPIO_NUM      0
  85.   #define SIOD_GPIO_NUM     26
  86.   #define SIOC_GPIO_NUM     27
  87.   
  88.   #define Y9_GPIO_NUM       35
  89.   #define Y8_GPIO_NUM       34
  90.   #define Y7_GPIO_NUM       39
  91.   #define Y6_GPIO_NUM       36
  92.   #define Y5_GPIO_NUM       21
  93.   #define Y4_GPIO_NUM       19
  94.   #define Y3_GPIO_NUM       18
  95.   #define Y2_GPIO_NUM        5
  96.   #define VSYNC_GPIO_NUM    25
  97.   #define HREF_GPIO_NUM     23
  98.   #define PCLK_GPIO_NUM     22
  99. #else
  100.   #error "Camera model not selected"
  101. #endif
  102.  
  103. static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
  104. static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
  105. static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
  106.  
  107. httpd_handle_t stream_httpd = NULL;
  108.  
  109. static esp_err_t stream_handler(httpd_req_t *req){
  110.     camera_fb_t * fb = NULL;
  111.     esp_err_t res = ESP_OK;
  112.     size_t _jpg_buf_len = 0;
  113.     uint8_t * _jpg_buf = NULL;
  114.     char * part_buf[64];
  115.  
  116.     res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
  117.     if(res != ESP_OK){
  118.         return res;
  119.           
  120.     }
  121.  
  122.  
  123.     while(true){
  124.         fb = esp_camera_fb_get();
  125.         if (!fb) {
  126.             Serial.println("Camera capture failed");
  127.             res = ESP_FAIL;
  128.         } else {
  129.             if(fb->width > 400){
  130.                 if(fb->format != PIXFORMAT_JPEG){
  131.                 bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
  132.                 esp_camera_fb_return(fb);
  133.                 fb = NULL;
  134.                 if(!jpeg_converted){
  135.                     Serial.println("JPEG compression failed");
  136.                     res = ESP_FAIL;
  137.                 }
  138.                 } else {
  139.                     _jpg_buf_len = fb->len;
  140.                     _jpg_buf = fb->buf;
  141.                 }
  142.             }
  143.             else {
  144.                 if (fb->format != PIXFORMAT_JPEG){
  145.                     esp_camera_fb_return(fb);
  146.                     fb = NULL;
  147.                 } else {
  148.                     _jpg_buf = fb->buf;
  149.                     _jpg_buf_len = fb->len;
  150.                 }
  151.             }
  152.         }
  153.         if(res == ESP_OK){
  154.             size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
  155.             res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
  156.         }
  157.         if(res == ESP_OK){
  158.             res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
  159.         }
  160.         if(res == ESP_OK){
  161.             res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
  162.         }
  163.         if(fb){
  164.             esp_camera_fb_return(fb);
  165.             fb = NULL;
  166.             _jpg_buf = NULL;
  167.         } else if(_jpg_buf){
  168.             free(_jpg_buf);
  169.             _jpg_buf = NULL;
  170.         }
  171.         if(res != ESP_OK){
  172.             break;
  173.         }
  174.         //Serial.printf("MJPG: %uB\n",(uint32_t)(_jpg_buf_len));
  175.     }
  176.     return res;
  177. }
  178.  
  179. void startCameraServer(){
  180.     httpd_config_t config = HTTPD_DEFAULT_CONFIG();
  181.     config.server_port = 80;
  182.  
  183.     httpd_uri_t index_uri = {
  184.         .uri       = "/",
  185.         .method    = HTTP_GET,
  186.         .handler   = stream_handler,
  187.         .user_ctx  = NULL
  188.     };
  189.     
  190.     //Serial.printf("Starting web server on port: '%d'\n", config.server_port);
  191.     if (httpd_start(&stream_httpd, &config) == ESP_OK) {
  192.         httpd_register_uri_handler(stream_httpd, &index_uri);
  193.     }
  194. }
  195.  
  196. void setupCamera()
  197. {
  198.     WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
  199.  
  200.     // Serial.begin(115200);
  201.     // Serial.setDebugOutput(false);
  202.     
  203.     camera_config_t config;
  204.     config.ledc_channel = LEDC_CHANNEL_0;
  205.     config.ledc_timer = LEDC_TIMER_0;
  206.     config.pin_d0 = Y2_GPIO_NUM;
  207.     config.pin_d1 = Y3_GPIO_NUM;
  208.     config.pin_d2 = Y4_GPIO_NUM;
  209.     config.pin_d3 = Y5_GPIO_NUM;
  210.     config.pin_d4 = Y6_GPIO_NUM;
  211.     config.pin_d5 = Y7_GPIO_NUM;
  212.     config.pin_d6 = Y8_GPIO_NUM;
  213.     config.pin_d7 = Y9_GPIO_NUM;
  214.     config.pin_xclk = XCLK_GPIO_NUM;
  215.     config.pin_pclk = PCLK_GPIO_NUM;
  216.     config.pin_vsync = VSYNC_GPIO_NUM;
  217.     config.pin_href = HREF_GPIO_NUM;
  218.     config.pin_sscb_sda = SIOD_GPIO_NUM;
  219.     config.pin_sscb_scl = SIOC_GPIO_NUM;
  220.     config.pin_pwdn = PWDN_GPIO_NUM;
  221.     config.pin_reset = RESET_GPIO_NUM;
  222.     config.xclk_freq_hz = 20000000;
  223.     config.pixel_format = PIXFORMAT_JPEG; 
  224.     
  225.     if(psramFound()){
  226.         config.frame_size = FRAMESIZE_QVGA;
  227.         config.jpeg_quality = 10;
  228.         config.fb_count = 2;
  229.     } else {
  230.         config.frame_size = FRAMESIZE_QVGA;
  231.         config.jpeg_quality = 10;
  232.         config.fb_count = 2;
  233.     }
  234.     
  235.     // Camera init
  236.     esp_err_t err = esp_camera_init(&config);
  237.     if (err != ESP_OK) {
  238.         Serial.printf("Camera init failed with error 0x%x", err);
  239.         return;
  240.     }
  241.     // Wi-Fi connection
  242.     // WiFi.begin(ssid, password);
  243.     // while (WiFi.status() != WL_CONNECTED) {
  244.     //     delay(500);
  245.     //     Serial.print(".");
  246.     // }
  247.     // Serial.println("");
  248.     // Serial.println("WiFi connected");
  249.     
  250.     // Serial.print("Camera Stream Ready! Go to: http://");
  251.     // Serial.println(WiFi.localIP());
  252.     
  253.     // Start streaming web server
  254.     startCameraServer();
  255. }
  256.  
  257. #endif

学习笔记，仅供参考，按照制作，不会成功！！！

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