esp8266+arduino IDE+阿里云IOT+萤石云=远程视频遥控车（三）_esp8266遥控车代码

本文介绍遥控器的制作

已经在阿里云上创建了该设备(Mycontroller)

根据阿里云这里的信息编写遥控器上的代码。

由于我只有一片esp32,因此遥控器用esp8266制作。

遥控器由一片esp8266,五个轻触按键开关和5V电源组成。

遥控器代码：

#include <ESP8266WiFi.h>
#include <PubSubClient.h>
#include <ArduinoJson.h> 
//#include "aliyun_mqtt.h"
 
#define K1 4
#define K2 12
#define K3 13
#define K4 14
#define K5 5
//#define K6 3 //D9
#define WIFI_SSID        "$$$$$$$$$"
#define WIFI_PASSWD      "$$$$$$$"
 
#define PRODUCT_KEY     "a1cU******"
#define DEVICE_NAME     "Mycontroller"
#define DEVICE_SECRET   "************************"
 
#define REGION_ID         "cn-shanghai"
String Identifier =  "my_command";
 
 
/* 线上环境域名和端口号，不需要改 */
#define MQTT_SERVER       PRODUCT_KEY ".iot-as-mqtt." REGION_ID ".aliyuncs.com"
#define MQTT_PORT         1883
#define MQTT_USRNAME      DEVICE_NAME "&" PRODUCT_KEY
 
#define CLIENT_ID        "esp8266|securemode=3,timestamp=1582210768491,signmethod=hmacsha1|"
// 用算法工具进行加密生成MQTT_PASSWD// 
#define MQTT_PASSWD  "￥￥￥￥￥￥￥￥￥￥￥￥￥￥￥￥￥￥￥"     
 
#define ALINK_BODY_FORMAT         "{\"id\":\"123\",\"version\":\"1.0\",\"method\":\"thing.event.property.post\",\"params\":%s}"
#define ALINK_TOPIC_PROP_POST     "/sys/" PRODUCT_KEY "/" DEVICE_NAME "/thing/event/property/post"
 
unsigned long lastMs = 0;
WiFiClient espClient;
PubSubClient  client(espClient);
 
void callback(char *topic, byte *payload, unsigned int length)
{
    Serial.print("Message arrived [");
    Serial.print(topic);
    Serial.print("] ");
    payload[length] = '\0';
    Serial.println((char *)payload);
 
}
 
void wifiInit()
{
    WiFi.mode(WIFI_STA);
    WiFi.begin(WIFI_SSID, WIFI_PASSWD);
    while (WiFi.status() != WL_CONNECTED)
    {
        delay(1000);
        Serial.println("WiFi not Connect");
    }
 
    Serial.println("Connected to AP");
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());    
    Serial.print("espClient [");
 
    client.setServer(MQTT_SERVER, MQTT_PORT);   /* 连接WiFi之后，连接MQTT服务器 */
    client.setCallback(callback);
}
 
void mqttCheckConnect()
{
    while (!client.connected())
    {
        Serial.println("Connecting to MQTT Server ...");
        if (client.connect(CLIENT_ID, MQTT_USRNAME, MQTT_PASSWD))
        {
            Serial.println("MQTT Connected!");
        }
        else
        {
            Serial.print("MQTT Connect err:");
            Serial.println(client.state());
            delay(5000);
        }
    }
}
 
 
void mqttIntervalPost_1()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",1);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);
    //"/sys/" PRODUCT_KEY "/" DEVICE_NAME "/thing/event/property/post"
   // client.publish(pubTopic,("{\"id\":"CLIENT_ID+",\"params\":{\""+Identifier+"\":0},\"method\":\"thing.event.property.post\"}").c_str());
    //Serial.print("publish:0 失败;1成功");
    //Serial.println(d);
}
 
void mqttIntervalPost_2()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",2);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);   
}
 
void mqttIntervalPost_3()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",3);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);  
}
 
void mqttIntervalPost_4()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",4);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);  
}
 
void mqttIntervalPost_0()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",0);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);  
}
 
void mqttIntervalPost_5()
{
    char param[32];
    char jsonBuf[128];
 
    sprintf(param, "{\"my_command\":%d}",5);
    sprintf(jsonBuf, ALINK_BODY_FORMAT, param);
    Serial.println(jsonBuf);
    boolean d = client.publish(ALINK_TOPIC_PROP_POST, jsonBuf);  
}
void setup() 
{
    pinMode(K1,  INPUT_PULLUP);
    pinMode(K2,  INPUT_PULLUP);
    pinMode(K3,  INPUT_PULLUP);
    pinMode(K4,  INPUT_PULLUP);
    pinMode(K5,  INPUT_PULLUP);
    //pinMode(K6,  INPUT);
    /* initialize serial for debugging */
    Serial.begin(115200);
    Serial.println("Demo Start");
 
    wifiInit();
}
 
unsigned long starttime;
unsigned long stoptime;
unsigned long looptime;
 
int k5_flag=0;
// the loop function runs over and over again forever
void loop()
{   
 int k1=digitalRead(K1);
 int k2=digitalRead(K2);
 int k3=digitalRead(K3);
 int k4=digitalRead(K4);
 int k5=digitalRead(K5); 
 
  if (k1 == LOW)  //turn left
  {
    k5_flag=0;
    starttime = millis();
    delay(200);   
    if(k1 == LOW)
     {      
        mqttCheckConnect();     
        mqttIntervalPost_1();
     }
  } 
  
  if (k2 == LOW)  //turn right
  {
    k5_flag=0;
    starttime = millis();
    delay(200);   
     if(k2 == LOW){       
        mqttCheckConnect();     
        mqttIntervalPost_2();}
  }
   
  if (k3 == LOW) //"backward"
  {
     k5_flag=1;
     starttime = millis();
     delay(200);   
     if(k3 == LOW){       
        mqttCheckConnect();     
        mqttIntervalPost_3();}
  }
   
  if (k4 == LOW){     //"forward"
     k5_flag=0;
     starttime = millis();
     delay(200);   
     if(k4== LOW){       
        mqttCheckConnect();     
        mqttIntervalPost_4();}
  }
   
  if (k5 == LOW){  //stop car
      k5_flag=1;
      starttime = millis();
      delay(200);   
      if(k5 == LOW){       
        mqttCheckConnect();     
        mqttIntervalPost_0();}
  }
   
   stoptime = millis();
   looptime = stoptime - starttime;
   //Serial.println(looptime);
  
  if(looptime>2000 && k5_flag==0)//when stop command has sent,the command auto_drvie code(5) will not send.
  {      
        mqttCheckConnect();     
        mqttIntervalPost_5();
        starttime = millis();
        k5_flag=1;//don't repeat send same command code 5.
   }
    client.loop();
 }