论坛 › ESP32 › Esp32-c6与Esp32-c3自制ESP-NOW 遥控车

云天 发表于 2024-3-31 11:26:20

Esp32-c6与Esp32-c3自制ESP-NOW 遥控车

【项目背景】
一直我都想自制一辆遥控车，自己打板制作遥控器，自制车身框架。这段时间正在试用Esp32-c6，手上还有一块Esp32-c3，两者都支持ESP-NOW通信。使用佳立创画板，焊接元器件，打造自己的遥控车。

【佳立创画板】
1.摇杆VRx接esp32-c3的0引脚(A0)，VRy接esp32-c3的4引脚(A4),按键分别接esp32-c3的2、8、9、21引脚(编程引脚初始化时设置为上拉输入模式）


2.车身电路esp32-c6与电机驱动，esp32-c6的4、5、23、22引脚用来向电机驱动输入控制信号。


【组装】
1.遥控器



2.车






【编写程序】
使用Arduino IDE 编写。
1.esp32-c3遥控器程序


#include <esp_now.h>
#include <WiFi.h>
#include <esp_wifi.h> // only for esp_wifi_set_channel()

// Global copy of slave
esp_now_peer_info_t slave;
#define CHANNEL 1
#define PRINTSCANRESULTS 0
#define DELETEBEFOREPAIR 0

// Init ESP Now with fallback
void InitESPNow() {
WiFi.disconnect();
if (esp_now_init() == ESP_OK) {
    Serial.println("ESPNow Init Success");
}
else {
    Serial.println("ESPNow Init Failed");
    // Retry InitESPNow, add a counte and then restart?
    // InitESPNow();
    // or Simply Restart
    ESP.restart();
}
}

// Scan for slaves in AP mode
void ScanForSlave() {
int16_t scanResults = WiFi.scanNetworks(false, false, false, 300, CHANNEL); // Scan only on one channel
// reset on each scan
bool slaveFound = 0;
memset(&slave, 0, sizeof(slave));

Serial.println("");
if (scanResults == 0) {
    Serial.println("No WiFi devices in AP Mode found");
} else {
    Serial.print("Found "); Serial.print(scanResults); Serial.println(" devices ");
    for (int i = 0; i < scanResults; ++i) {
      // Print SSID and RSSI for each device found
      String SSID = WiFi.SSID(i);
      int32_t RSSI = WiFi.RSSI(i);
      String BSSIDstr = WiFi.BSSIDstr(i);

      if (PRINTSCANRESULTS) {
      Serial.print(i + 1);
      Serial.print(": ");
      Serial.print(SSID);
      Serial.print(" (");
      Serial.print(RSSI);
      Serial.print(")");
      Serial.println("");
      }
      delay(10);
      // Check if the current device starts with `Slave`
      if (SSID.indexOf("Slave") == 0) {
      // SSID of interest
      Serial.println("Found a Slave.");
      Serial.print(i + 1); Serial.print(": "); Serial.print(SSID); Serial.print(" ["); Serial.print(BSSIDstr); Serial.print("]"); Serial.print(" ("); Serial.print(RSSI); Serial.print(")"); Serial.println("");
      // Get BSSID => Mac Address of the Slave
      int mac;
      if ( 6 == sscanf(BSSIDstr.c_str(), "%x:%x:%x:%x:%x:%x",&mac, &mac, &mac, &mac, &mac, &mac ) ) {
          for (int ii = 0; ii < 6; ++ii ) {
            slave.peer_addr = (uint8_t) mac;
          }
      }

      slave.channel = CHANNEL; // pick a channel
      slave.encrypt = 0; // no encryption

      slaveFound = 1;
      // we are planning to have only one slave in this example;
      // Hence, break after we find one, to be a bit efficient
      break;
      }
    }
}

if (slaveFound) {
    Serial.println("Slave Found, processing..");
} else {
    Serial.println("Slave Not Found, trying again.");
}

// clean up ram
WiFi.scanDelete();
}

// Check if the slave is already paired with the master.
// If not, pair the slave with master
bool manageSlave() {
if (slave.channel == CHANNEL) {
    if (DELETEBEFOREPAIR) {
      deletePeer();
    }

    Serial.print("Slave Status: ");
    // check if the peer exists
    bool exists = esp_now_is_peer_exist(slave.peer_addr);
    if ( exists) {
      // Slave already paired.
      Serial.println("Already Paired");
      return true;
    } else {
      // Slave not paired, attempt pair
      esp_err_t addStatus = esp_now_add_peer(&slave);
      if (addStatus == ESP_OK) {
      // Pair success
      Serial.println("Pair success");
      return true;
      } else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT) {
      // How did we get so far!!
      Serial.println("ESPNOW Not Init");
      return false;
      } else if (addStatus == ESP_ERR_ESPNOW_ARG) {
      Serial.println("Invalid Argument");
      return false;
      } else if (addStatus == ESP_ERR_ESPNOW_FULL) {
      Serial.println("Peer list full");
      return false;
      } else if (addStatus == ESP_ERR_ESPNOW_NO_MEM) {
      Serial.println("Out of memory");
      return false;
      } else if (addStatus == ESP_ERR_ESPNOW_EXIST) {
      Serial.println("Peer Exists");
      return true;
      } else {
      Serial.println("Not sure what happened");
      return false;
      }
    }
} else {
    // No slave found to process
    Serial.println("No Slave found to process");
    return false;
}
}

void deletePeer() {
esp_err_t delStatus = esp_now_del_peer(slave.peer_addr);
Serial.print("Slave Delete Status: ");
if (delStatus == ESP_OK) {
    // Delete success
    Serial.println("Success");
} else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT) {
    // How did we get so far!!
    Serial.println("ESPNOW Not Init");
} else if (delStatus == ESP_ERR_ESPNOW_ARG) {
    Serial.println("Invalid Argument");
} else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND) {
    Serial.println("Peer not found.");
} else {
    Serial.println("Not sure what happened");
}
}

// 发送结构体类型
typedef struct struct_message {
char a;
int b;

} struct_message;
// 创建一个结构体变量
struct_message data;
// send data
void sendData() {

const uint8_t *peer_addr = slave.peer_addr;

esp_err_t result = esp_now_send(peer_addr,(uint8_t *) &data, sizeof(data));
Serial.print("Send Status: ");
if (result == ESP_OK) {
    Serial.println("Success");
} else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
    // How did we get so far!!
    Serial.println("ESPNOW not Init.");
} else if (result == ESP_ERR_ESPNOW_ARG) {
    Serial.println("Invalid Argument");
} else if (result == ESP_ERR_ESPNOW_INTERNAL) {
    Serial.println("Internal Error");
} else if (result == ESP_ERR_ESPNOW_NO_MEM) {
    Serial.println("ESP_ERR_ESPNOW_NO_MEM");
} else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
    Serial.println("Peer not found.");
} else {
    Serial.println("Not sure what happened");
}
}

// callback when data is sent from Master to Slave
void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
char macStr;
snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
         mac_addr, mac_addr, mac_addr, mac_addr, mac_addr, mac_addr);
Serial.print("Last Packet Sent to: "); Serial.println(macStr);
Serial.print("Last Packet Send Status: "); Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
}

void setup() {
Serial.begin(115200);
//Set device in STA mode to begin with
WiFi.mode(WIFI_STA);
esp_wifi_set_channel(CHANNEL, WIFI_SECOND_CHAN_NONE);
Serial.println("ESPNow/Basic/Master Example");
// This is the mac address of the Master in Station Mode
Serial.print("STA MAC: "); Serial.println(WiFi.macAddress());
Serial.print("STA CHANNEL "); Serial.println(WiFi.channel());
// Init ESPNow with a fallback logic
InitESPNow();
// Once ESPNow is successfully Init, we will register for Send CB to
// get the status of Trasnmitted packet
esp_now_register_send_cb(OnDataSent);
   pinMode(2,INPUT_PULLUP);//配置按键所在端口为上拉输入模式
   pinMode(8,INPUT_PULLUP);//配置按键所在端口为上拉输入模式
   pinMode(9,INPUT_PULLUP);//配置按键所在端口为上拉输入模式
   pinMode(21,INPUT_PULLUP);//配置按键所在端口为上拉输入模式
}
bool i=1;
int xValue;
int yValue;
int bs=0;
void loop() {
// In the loop we scan for slave
if (i) {
   ScanForSlave();
}
// If Slave is found, it would be populate in `slave` variable
// We will check if `slave` is defined and then we proceed further
if (slave.channel == CHANNEL) { // check if slave channel is defined
    // `slave` is defined
    // Add slave as peer if it has not been added already
    bool isPaired = manageSlave();
    if (isPaired) {
      i=0;
      // pair success or already paired
      // Send data to device
      if(!digitalRead(9))//如果按键按下，即GPIO9的端口状态为低电平
      {
      data.a='y';
      data.b=4000;
      sendData();
      delay(500);
      }
          if(!digitalRead(8))//如果按键按下，即GPIO9的端口状态为低电平
      {
      data.a='y';
      data.b=500;
      sendData();
      delay(500);
      }
      if(!digitalRead(2))//如果按键按下，即GPIO2的端口状态为低电平
      {
      data.a='x';
      data.b=4000;
      sendData();
      delay(500);
      }
       if(!digitalRead(21))//如果按键按下，即GPIO21的端口状态为低电平
      {
      data.a='x';
      data.b=500;
      sendData();
      delay(500);
      }
      xValue = analogRead(4);//获取摇杆的x值，连接在主板A4接口
      yValue = analogRead(0);//获取摇杆的y值，连接在主板A0接口
      Serial.println(xValue);
      Serial.println(yValue);
      delay(100);
      if(xValue>4000 || xValue<500)
      {
      bs=1;
      data.a='x';
      data.b=xValue;
      sendData();
      Serial.println('x');
      }
      else{
      if(yValue>4000 || yValue<500)
      {bs=1;
         data.a='y';
         data.b=yValue;
         sendData();
         Serial.println('y');
      }
      else{
          if(bs==1){
         bs=0;
         data.a='s';
         sendData();
          Serial.println('s');
          }
      }
      }
    } else {
      // slave pair failed
      Serial.println("Slave pair failed!");
    }
}
else {
    // No slave found to process
}

// wait for 3seconds to run the logic again

}

2.esp32-c6 车程序


#include <esp_now.h>
#include <WiFi.h>


#define CHANNEL 1
//设置PWM参数

// Init ESP Now with fallback
void InitESPNow() {
WiFi.disconnect();
if (esp_now_init() == ESP_OK) {
    Serial.println("ESPNow Init Success");
}
else {
    Serial.println("ESPNow Init Failed");
    // Retry InitESPNow, add a counte and then restart?
    // InitESPNow();
    // or Simply Restart
    ESP.restart();
}
}

// config AP SSID
void configDeviceAP() {
const char *SSID = "Slave_1";
bool result = WiFi.softAP(SSID, "Slave_1_Password", CHANNEL, 0);
if (!result) {
    Serial.println("AP Config failed.");
} else {
    Serial.println("AP Config Success. Broadcasting with AP: " + String(SSID));
    Serial.print("AP CHANNEL "); Serial.println(WiFi.channel());
}
}
    const int IA1=4;
    const int IA2=5;
    const int IB1=23;
    const int IB2=22;
void setup() {
Serial.begin(115200);

         pinMode(IA1, OUTPUT);
         pinMode(IA2, OUTPUT);
         pinMode(IB1, OUTPUT);
         pinMode(IB2, OUTPUT);

Serial.println("ESPNow/Basic/Slave Example");
//Set device in AP mode to begin with
WiFi.mode(WIFI_AP);
// configure device AP mode
configDeviceAP();
// This is the mac address of the Slave in AP Mode
Serial.print("AP MAC: "); Serial.println(WiFi.softAPmacAddress());
// Init ESPNow with a fallback logic
InitESPNow();
// Once ESPNow is successfully Init, we will register for recv CB to
// get recv packer info.
esp_now_register_recv_cb(OnDataRecv);
}
// 创建一个结构体接收数据
typedef struct struct_message {
    char a;
    int b;

} struct_message;

// 创建一个结构体变量
struct_message myData;

                        

// callback when data is recv from Master
void OnDataRecv(const esp_now_recv_info_t * info, const uint8_t *data, int data_len) {
memcpy(&myData, data, sizeof(myData));
char macStr;
snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
         info->src_addr, info->src_addr, info->src_addr, info->src_addr, info->src_addr, info->src_addr);
Serial.print("Last Packet Recv from: "); Serial.println(macStr);
Serial.print("Last Packet Recv Data a: "); Serial.println(myData.a);
Serial.print("Last Packet Recv Data b: "); Serial.println(myData.b);
if(myData.a=='x')
{   
    int v1=int(myData.b)-2400;
    if(v1>0)
      {
   
      MA2_Backward();
       MB1_Forward();
      
      }
      else{

      MA1_Forward();
      MB2_Backward();
      }
}
else{
    if(myData.a=='y')
    {
    int v1=int(myData.b)-2600;
    if(v1>0)
      {
      MA1_Forward();
      MB1_Forward();
      
      }
      else{
       MA2_Backward();
       MB2_Backward();
      }
    }
    else{
         if(myData.a=='s')
         {
            stop();
            
         }
    }
}
}
void MA1_Forward()
    {
         digitalWrite(IA1,HIGH);
         digitalWrite(IA2,LOW);
      }

    void MA2_Backward()
    {
      digitalWrite(IA2,HIGH);
         digitalWrite(IA1,LOW);
      }

    void MB1_Forward()
    {
         digitalWrite(IB2,HIGH);
         digitalWrite(IB1,LOW);
      }

    void MB2_Backward()
    {
      digitalWrite(IB1,HIGH);
         digitalWrite(IB2,LOW);
      }
    void stop()
    {
      digitalWrite(IA1,LOW);
      digitalWrite(IA2,LOW);
      digitalWrite(IB1,LOW);
      digitalWrite(IB2,LOW);
    }
void loop() {
// Chill
}

【演示视频】
https://www.bilibili.com/video/BV1ax421Q7Ma/?share_source=copy_web

hnyzcj 发表于 2024-3-31 12:07:28

哈哈哈哈，这个好玩

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