两轮平衡小车心得(十三)网页控制小车

  1. 全部工程项很大,总共超过500行,借助通义灵码才完成;
  2. pid参数不是想象的那么容易调,但借助详细的实时参数表会好很多;
  3. 全部代码:
#include <PID_v1.h>
#include <MPU6050_tockn.h>
#include <Wire.h>
#include <Arduino_FreeRTOS.h>
#include <WiFiS3.h>
#include "arduino_secrets.h" 

char ssid[] = SECRET_SSID;        // your network SSID (name)
char pass[] = SECRET_PASS;        // your network password (use for WPA, or use as key for WEP)
int keyIndex = 0;                 // your network key index number (needed only for WEP)

int STBY = 8;        //使能端
int PWMA = 9;        //右电机PWM输出控制脚   
int AIN1 = 7;        //右电机正极  
int AIN2 = 6;        //右电机负极  
int PWMB = 10;       //左电机PWM输出控制脚
int BIN1 = 13;       //左电机正极 
int BIN2 = 12;       //左电机负极  
#define PinA_left 4  //中断 
#define PinA_right 2 //中断1
int count_right = 0, count_left = 0;
double leftSpeed = 0, rightSpeed = 0, speed = 0, angleX = 0;
double leftOutput = 0, rightOutput = 0;
double zeroAngle = 1;                                                          //小车初始平衡角度,需要微调
unsigned long now = 0, past = 0, interval = 40;                                   //interval为小车调整姿态的时长,1000为一秒,40毫秒最佳

// PID控制器对象
double angleKp = 5, angleKi = 0.01, angleKd = 0.2, angleInput = 0, angleOutput = 0; //需要调整的角度环参数Kp,Kd
double speedKp = 5, speedKi = 0.4, speedKd = 0.1, speedInput = 0, speedOutput = 0;  //需要调整的速度环参数Kp,Ki
double turnKp = 0.3, turnKi = 0.01, turnKd = 0.02, turnInput = 0, turnOutput = 0;   //需要调整的转向环参数Kp,Ki
double angleSetpoint = 0;                                                           // 角度设定值
double speedSetpoint = 0;                                                           // 速度设定值,正为向前,负为向后,绝对值不要超过3
double turnSetpoint = 0;                                                            // 转向设定值,正为左,负为右,调整幅度±1
PID anglePID(&angleInput, &angleOutput, &angleSetpoint, angleKp, angleKi, angleKd, DIRECT);
PID speedPID(&speedInput, &speedOutput, &speedSetpoint, speedKp, speedKi, speedKd, DIRECT);
PID turnPID(&turnInput, &turnOutput, &turnSetpoint, turnKp, turnKi, turnKd, DIRECT);

// MPU6050实例化
MPU6050 mpu6050(Wire);

// 任务句柄
TaskHandle_t TaskGetAngleXHandle = NULL;
TaskHandle_t TaskGetSpeedHandle = NULL;
TaskHandle_t TaskUpdateAndAdjustMotorsHandle = NULL;
TaskHandle_t TaskWebServerHandle = NULL;

// Web服务器实例
WiFiServer server(80);
bool webServerEnabled = true;  // 默认情况下不启用网页服务器任务

void setup() {
  pinMode(STBY, OUTPUT);
  pinMode(PWMA, OUTPUT);
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMB, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);
  pinMode(PinA_left, INPUT);  //测速码盘输入
  pinMode(PinA_right, INPUT);
  attachInterrupt(digitalPinToInterrupt(PinA_left), Code_left, CHANGE);
  attachInterrupt(digitalPinToInterrupt(PinA_right), Code_right, CHANGE);
  Serial.begin(9600);
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);

  // 初始化PID控制器
  anglePID.SetMode(AUTOMATIC);
  anglePID.SetSampleTime(interval);
  anglePID.SetOutputLimits(-254, 254);

  speedPID.SetMode(AUTOMATIC);
  speedPID.SetSampleTime(interval);
  speedPID.SetOutputLimits(-254, 254);

  turnPID.SetMode(AUTOMATIC);
  turnPID.SetSampleTime(interval);
  turnPID.SetOutputLimits(-254, 254);

  // 连接Wi-Fi
  WiFi.begin(ssid, pass);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("Connected to WiFi");
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  // 启动Web服务器
  server.begin();

  // 创建任务
  xTaskCreate(
    TaskGetAngleX,                // 任务函数
    "GetAngleX",                  // 任务名称
    128,                          // 任务堆栈大小
    NULL,                         // 传递给任务的参数
    4,                            // 任务优先级
    &TaskGetAngleXHandle          // 任务句柄
  );

  xTaskCreate(
    TaskGetSpeed,                 // 任务函数
    "GetSpeed",                   // 任务名称
    128,                          // 任务堆栈大小
    NULL,                         // 传递给任务的参数
    3,                            // 任务优先级
    &TaskGetSpeedHandle           // 任务句柄
  );

  xTaskCreate(
    TaskUpdateAndAdjustMotors,    // 任务函数
    "UpdateAndAdjustMotors",      // 任务名称
    128,                          // 任务堆栈大小
    NULL,                         // 传递给任务的参数
    2,                            // 任务优先级
    &TaskUpdateAndAdjustMotorsHandle // 任务句柄
  );

  xTaskCreate(
    TaskWebServer,                // 任务函数
    "WebServer",                  // 任务名称
    512,                          // 任务堆栈大小
    NULL,                         // 传递给任务的参数
    1,                            // 任务优先级
    &TaskWebServerHandle          // 任务句柄
  );

  // 启动调度器
  vTaskStartScheduler();
}

void loop() {
  // 主循环不需要做任何事情,FreeRTOS 会管理任务
}

void runset(int motor, int speed, int direction) {
  digitalWrite(STBY, 1);
  if (motor == 1 && direction == 1) {
    digitalWrite(AIN1, 1);
    digitalWrite(AIN2, 0);
    analogWrite(PWMA, speed);
  }
  if (motor == 2 && direction == 1) {
    digitalWrite(BIN1, 1);
    digitalWrite(BIN2, 0);
    analogWrite(PWMB, speed);
  }
  if (motor == 1 && direction == 0) {
    digitalWrite(AIN1, 0);
    digitalWrite(AIN2, 1);
    analogWrite(PWMA, speed);
  }
  if (motor == 2 && direction == 0) {
    digitalWrite(BIN1, 0);
    digitalWrite(BIN2, 1);
    analogWrite(PWMB, speed);
  }
}

void stop() {
  digitalWrite(STBY, LOW);
}

void Code_left() {
  count_left++;
} //左测速码盘计数

void Code_right() {
  count_right++;
} //右测速码盘计数

void TaskGetAngleX(void *pvParameters) {
  for (;;) {
    mpu6050.update();
    angleX = mpu6050.getAngleX() - zeroAngle;
    vTaskDelay(pdMS_TO_TICKS(interval));  // 延迟一段时间
  }
}

// 任务函数:获取速度
void TaskGetSpeed(void *pvParameters) {
  for (;;) {
    rightSpeed = (digitalRead(AIN1) == 1 && digitalRead(AIN2) == 0) ? count_right : -(count_right);
    leftSpeed = (digitalRead(BIN1) == 1 && digitalRead(BIN2) == 0) ? count_left : -(count_left);
    speed = (leftSpeed + rightSpeed) / 2;
    count_left = 0;
    count_right = 0;
    vTaskDelay(pdMS_TO_TICKS(interval));  // 延迟一段时间
  }
}

// 任务函数:更新和调整电机
void TaskUpdateAndAdjustMotors(void *pvParameters) {
  for (;;) {
    angleInput = angleX;
    speedInput = speed;
    turnInput = leftSpeed - rightSpeed;

    // 计算PID输出
    anglePID.Compute();
    speedPID.Compute();
    turnPID.Compute();

    // 计算电机输出
    if(abs(angleX)>10){
      leftOutput  = 0;
      rightOutput = 0;
    }
    leftOutput = angleOutput - speedOutput - turnOutput;
    leftOutput = constrain(leftOutput, -254, 254);
    rightOutput = angleOutput - speedOutput + turnOutput;
    rightOutput = constrain(rightOutput, -254, 254);

    // 调整电机动作
    // runset(2, abs((int)leftOutput), leftOutput > 0 ? 1 : 0);
    // runset(1, abs((int)rightOutput), rightOutput > 0 ? 1 : 0);
    vTaskDelay(pdMS_TO_TICKS(interval));  // 延迟一段时间
  }
}

void TaskWebServer(void *pvParameters) {
  while (1) {
    WiFiClient client = server.available();
    if (client) {
      Serial.println("New client");
      String request = "";
      while (client.connected()) {
        if (client.available()) {
          char c = client.read();
          request += c;
          if (c == '\n') {
            // 处理请求
            if (request.indexOf("/debug") != -1) {
              handleDebugPage(client);
            } else if (request.indexOf("/update") != -1) {
              handleControlPage(client, request);
            } else {
              handleControlPage(client, request);
            }
            break;
          }
        }
      }
      client.stop();
      Serial.println("Client disconnected");
    }
    vTaskDelay(pdMS_TO_TICKS(100));  // 延迟0.1秒
  }
}

void handleDebugPage(WiFiClient &client) {
  sendPage(client, "Debug", "Go to Car Control", "/control", getDebugPageContent());
}

void handleControlPage(WiFiClient &client, const String &request) {
  // 处理更新请求
  if (request.indexOf("speedSetpoint=") != -1) {
    int start = request.indexOf("speedSetpoint=") + 14;
    int end = request.indexOf(" HTTP/1.1");
    String speedStr = request.substring(start, end);
    float newSpeedSetpoint = speedStr.toFloat();
    if (newSpeedSetpoint >= -30 && newSpeedSetpoint <= 30) { // 调整范围
      speedSetpoint = newSpeedSetpoint;
      Serial.println("Updated speedSetpoint: " + String(speedSetpoint));
    } else {
      Serial.println("Invalid speedSetpoint value: " + speedStr);
    }
  }
  if (request.indexOf("angleSetpoint=") != -1) {
    int start = request.indexOf("angleSetpoint=") + 14;
    int end = request.indexOf(" HTTP/1.1");
    String angleStr = request.substring(start, end);
    float newAngleSetpoint = angleStr.toFloat();
    if (newAngleSetpoint >= -30 && newAngleSetpoint <= 30) { // 调整范围
      angleSetpoint = newAngleSetpoint;
      Serial.println("Updated angleSetpoint: " + String(angleSetpoint));
    } else {
      Serial.println("Invalid angleSetpoint value: " + angleStr);
    }
  }
  // 重新发送页面以显示更新后的值
  sendPage(client, "Car Control", "Go to Debug", "/debug", getControlPageContent());
}

void sendPage(WiFiClient &client, const String &title, const String &linkText, const String &linkHref, const String &content) {
  client.println("HTTP/1.1 200 OK");
  client.println("Content-type:text/html; charset=utf-8");  // 设置字符编码为UTF-8
  client.println();
  client.println("<html><head><title>" + title + "</title></head><body>");
  client.println("<h1>" + title + " Page</h1>");
  client.println(content);
  client.println("</body></html>");
}

String getControlPageContent() {
  return "<style>"
         "body { font-family: Arial, sans-serif; display: flex; justify-content: center; align-items: center; height: 100vh; background-color: #f0f0f0; }"
         ".container { text-align: center; }"
         ".button-container { display: flex; justify-content: center; align-items: center; flex-direction: column; }"
         ".button {"
         "  display: inline-block;"
         "  width: 100px;"
         "  height: 100px;"
         "  border-radius: 50%;"
         "  background-color: #4CAF50;"
         "  color: white;"
         "  text-align: center;"
         "  line-height: 100px;"
         "  font-size: 24px;"
         "  margin: 10px;"
         "  text-decoration: none;"
         "  transition: background-color 0.3s;"
         "}"
         ".button:hover { background-color: #45a049; }"
         ".button:active { background-color: #3e8e41; }"
         "</style>"
         "<div class='container'>"
         "<h1>Car Control Page</h1>"
         "<h2>Angle Setpoint: <span id='angleSetpoint'>" + String(angleSetpoint) + "</span></h2>"
         "<h2>Speed Setpoint: <span id='speedSetpoint'>" + String(speedSetpoint) + "</span></h2>"
         "<div class='button-container'>"
         "<a href='/update?speedSetpoint=" + String(speedSetpoint + 3) + "' class='button'>↑<br>上</a>"
         "<div style='display: flex;'>"
         "<a href='/update?angleSetpoint=" + String(angleSetpoint + 3) + "' class='button'>←<br>左</a>"
         "<a href='/update?speedSetpoint=" + String(speedSetpoint - 3) + "' class='button'>↓<br>下</a>"
         "<a href='/update?angleSetpoint=" + String(angleSetpoint - 3) + "' class='button'>→<br>右</a>"
         "</div>"
         "</div>"
         "<br><a href=\"/debug\">Go to Debug</a>"
         "</div>";
}

String getDebugPageContent() {
  return "<h1>Debug Page</h1>"
         "<p>This is the debug page.</p>"
         "<br><a href=\"/control\">Go to Car Control</a>";
}
  1. 小车运行后生成内网网页服务器,有两个页面,一个是手操小车运行,一个是内参debug;

然后开始玩吧!


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