闲来没事，把以前做的摄像头小车发出来。视频
。先说说线路esp32cam模块一个h桥直流电机驱动一个履带底盘一个 io用的12，13，14，15电源就不说了然后h桥驱动器用的最便宜的2块多。 还有小车这个就贵点了 io12，13一组电机14，15一组，就这么简单 然后代码以前用的官方的程序改的有点麻烦，后来用的arduino这个简单在原有代码上添加脉冲代码主要改变占空比来改变速度ledcSetup函数用了两个低速和一个高速通道记不太清楚了频率都设成500别的也可以，影响不大，然后建立一个socket服务器端口800和手机端通讯。可做路由器端口映射实现远程操作，arduino代码
#include "esp_camera.h" #include <WiFi.h> #include <Arduino.h> #define CAMERA_MODEL_AI_THINKER const char* ssid = "热点"; const char* password = "密码"; WiFiServer server(800)//端口号 #if defined(CAMERA_MODEL_WROVER_KIT) #define PWDN_GPIO_NUM -1 #define RESET_GPIO_NUM -1 #define XCLK_GPIO_NUM 21 #define SIOD_GPIO_NUM 26 #define SIOC_GPIO_NUM 27 #define Y9_GPIO_NUM 35 #define Y8_GPIO_NUM 34 #define Y7_GPIO_NUM 39 #define Y6_GPIO_NUM 36 #define Y5_GPIO_NUM 21 #define Y4_GPIO_NUM 19 #define Y3_GPIO_NUM 18 #define Y2_GPIO_NUM 5 #define VSYNC_GPIO_NUM 25 #define HREF_GPIO_NUM 23 #define PCLK_GPIO_NUM 22 #else #error "Camera model not selected" #endif float cm; void startCameraServer(); void setup() { Serial.begin(115200); Serial.setDebugOutput(true); Serial.println(); pinMode(4, OUTPUT); pinMode(2, INPUT); // pinMode(12, OUTPUT); pinMode(13, OUTPUT); pinMode(14, OUTPUT); pinMode(15, OUTPUT); // set the LED pin mode ledcSetup(9, 500, 8); // 设置通道 //ledcAttachPin(12, 9); // 将通道与对应的引脚连接 ledcSetup(8, 10, 8); // 设置通道 ledcSetup(10, 500, 8); // 设置通道 // ledcAttachPin(14, 10); // 将通道与对应的引脚连接 camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; config.pin_d0 = Y2_GPIO_NUM; config.pin_d1 = Y3_GPIO_NUM; config.pin_d2 = Y4_GPIO_NUM; config.pin_d3 = Y5_GPIO_NUM; config.pin_d4 = Y6_GPIO_NUM; config.pin_d5 = Y7_GPIO_NUM; config.pin_d6 = Y8_GPIO_NUM; config.pin_d7 = Y9_GPIO_NUM; config.pin_xclk = XCLK_GPIO_NUM; config.pin_pclk = PCLK_GPIO_NUM; config.pin_vsync = VSYNC_GPIO_NUM; config.pin_href = HREF_GPIO_NUM; config.pin_sscb_sda = SIOD_GPIO_NUM; config.pin_sscb_scl = SIOC_GPIO_NUM; config.pin_pwdn = PWDN_GPIO_NUM; config.pin_reset = RESET_GPIO_NUM; config.xclk_freq_hz = 20000000; config.pixel_format = PIXFORMAT_JPEG; //init with high specs to pre-allocate larger buffers if(psramFound()){ config.frame_size = FRAMESIZE_UXGA; config.jpeg_quality = 10; config.fb_count = 2; } else { config.frame_size = FRAMESIZE_SVGA; config.jpeg_quality = 12; config.fb_count = 1; } // camera init esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed with error 0x%x", err); return; } //drop down frame size for higher initial frame rate sensor_t * s = esp_camera_sensor_get(); s->set_framesize(s, FRAMESIZE_SVGA); WiFi.begin(ssid, password); while (WiFi.status() != WL_CONNECTED) { delay(100); Serial.print("."); } Serial.println(""); Serial.println("WiFi connected"); startCameraServer(); Serial.print("Camera Ready! Use 'http://"); Serial.print(WiFi.localIP()); Serial.println("' to connect"); server.begin(); } int v1=0,v=0; char m1='0', m='0'; void loop() { WiFiClient client = server.available(); // listen for incoming clients用于接收信息 if (client) { digitalWrite(2, LOW); client.print("Welcome back" ); // client.println();// if you get a client, Serial.println("New Client."); // print a message out the serial port while (client.connected()) { // loop while the client's connected if (client.available()) { // if there's bytes to read from the client, char c = client.read(); // read a byte, then读去一个字符 if (c == 'm') { // if the byte is a newline character查看是否是m c = client.read(); // read a byte, then if(c=='='){ m = client.read(); // 得到m的值用来控制方向 Serial.write(m); // print it out the serial monitor串口输出 } } else if (c == 'v') { // if the byte is a newline character查看v就是占空比用来控制速度 c=client.read(); // read a byte, then if(c=='='){ c = client.read(); if('0'<=c<='9'){v=0; v=10*v+c-'0';}//得到十位数 c = client.read(); if('0'<=c<='9') v=10*v+c-'0';//个位 c = client.read(); if('0'<=c<='9') v=10*v+c-'0'; c = client.read(); ledcWrite(9, v/2); ledcWrite(10, v); // read a byte, then用于获得拐弯时不同的速度，这里速度差一半 Serial.write(c); // print it out the serial monitor }} if(m1!=m||v1!=v) {m1=m;v1=v; switch(m-'0'){ // print it out the serial monitor case 0: //8号通道占空比为零，就是停止然后就是输出端口和通道的绑定 ledcAttachPin(12, 8); ledcAttachPin(14, 8); ledcAttachPin(13, 8); ledcAttachPin(15, 8); break; case 1: ledcAttachPin(12, 10); ledcAttachPin(14, 10); ledcAttachPin(13, 8); ledcAttachPin(15, 8); break; case 2: ledcAttachPin(13, 10); ledcAttachPin(15, 10); ledcAttachPin(12, 8); ledcAttachPin(14, 8); break; case 3: ledcAttachPin(13, 10); ledcAttachPin(14, 10); ledcAttachPin(12, 8); ledcAttachPin(15, 8); break; case 4: ledcAttachPin(12, 10); ledcAttachPin(15, 10); ledcAttachPin(13, 8); ledcAttachPin(14, 8); break; case 5: ledcAttachPin(12, 9); ledcAttachPin(14, 10); ledcAttachPin(13, 8); ledcAttachPin(15, 8); break; case 6: ledcAttachPin(12, 10); ledcAttachPin(14, 9); ledcAttachPin(13, 8); ledcAttachPin(15, 8); break; case 7: ledcAttachPin(13, 10); ledcAttachPin(15, 9); ledcAttachPin(12, 8); ledcAttachPin(14, 8); break; case 8: ledcAttachPin(13, 9); ledcAttachPin(15, 10); ledcAttachPin(12, 8); ledcAttachPin(14, 8); break; case 9:digitalWrite(4, HIGH); break; case 49:digitalWrite(4, LOW); break;//可以写成‘a'懒得改了 case 50: //这段是超声波测距 digitalWrite(4, LOW); //低高低电平发一个短时间脉冲去TrigPin delayMicroseconds(2); digitalWrite(4, HIGH); delayMicroseconds(10); digitalWrite(4, LOW); cm = pulseIn(2, HIGH) / 58.0; //将回波时间换算成cm cm = (int(cm * 100.0)) / 100.0; //保留两位小数 Serial.print(cm); Serial.print("cm"); Serial.println(); client.print(cm); client.print("cm");break; default:break; }}} } // close the connection: client.stop();//通讯中断时停止 ledcAttachPin(12, 8); ledcAttachPin(14, 8); ledcAttachPin(13, 8); ledcAttachPin(15, 8); digitalWrite(2, HIGH); Serial.println("Client Disconnected."); } // put your main code here, to run repeatedly: delay(10000); }无语了还要一点一点拷贝 下次再写安卓端
