Motion Detect with Gyro sensor
#define SV_Motor_x_PIN 32 #define SV_Motor_y_PIN 26 #define SV_Motor_z_PIN 14 #include<math.h> #define Deg2rad 3.1415 /180 #include <MadgwickAHRS.h> //MPU9250 #include <Wire.h> const int MPU_addr=0x68; // I2C address of the MPU-6050 int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ,MgX,MgY,MgZ; //Actual unitization scale factor of acquired data float SF_Acc = 16384; //acceleration scale factor (digit/g) float SF_Gy = 131; //Gyro scale factor (digit/dps) float SF_Mg = 500; //magnetic scale factor(500☛0.6かも。。) float SF_Tmp = 333.87; //temperature scale factor float g2mpss = 9.80665; //conversion from G to m/s2 float deg2rad = 3.14159265/180; //from degree to radian Madgwick MadgwickFilter; //servo motor define duty min and max float duty_min = 25.6; // at 0 deg float duty_max = 122.9; // at 180 deg float duty_active = duty_max - duty_min; float duty_mid = (duty_min + duty_max)/2; // at 90 deg ///タイマー割込み 参考https://55life555.blog.fc2.com/blog-entry-3194.html volatile int timeCounter1; hw_timer_t *timer1 = NULL; portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; void IRAM_ATTR onTimer1(){ portENTER_CRITICAL_ISR(&timerMux); timeCounter1++; portEXIT_CRITICAL_ISR(&timerMux); } void setup() { //SVmotor pinMode(SV_Motor_x_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT pinMode(SV_Motor_y_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT pinMode(SV_Motor_z_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT ledcSetup(0, 50, 10); ledcSetup(1, 50, 10); ledcSetup(2, 50, 10); ledcAttachPin(SV_Motor_x_PIN,0); ledcAttachPin(SV_Motor_y_PIN,1); ledcAttachPin(SV_Motor_z_PIN,2); ////////////////////////////Highly needed module Serial.begin(115200); //////////////////////////// //MPU9250 set up Wire.begin(); Wire.beginTransmission(MPU_addr); Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.endTransmission(true); setupMPU9255(); //MadgwickFilter MadgwickFilter.begin(10);//filtering frequency 100Hz //タイマー割込み timer1 = timerBegin(0, 80, true); timerAttachInterrupt(timer1, &onTimer1, true); timerAlarmWrite(timer1, 100000, true); timerAlarmEnable(timer1); } //value after sensor value scaling float AcX_SF; float AcY_SF; float AcZ_SF; float GyX_SF; float GyY_SF; float GyZ_SF; //変数 struct strc{ float AXIS_X; float AXIS_Y; float AXIS_Z; }; float ROLL, PITCH, YAW; void setupMPU9255() { Wire.beginTransmission(0x68); Wire.write(0x6B); Wire.write(0x00); Wire.endTransmission(); Wire.beginTransmission(0x68); Wire.write(0x1A); Wire.write(0x05); Wire.endTransmission(); Wire.beginTransmission(0x68); Wire.write(0x37); Wire.write(0x02); Wire.endTransmission(); Wire.beginTransmission(0x0C); Wire.write(0x0A); Wire.write(0x16); Wire.endTransmission(); delay(500); } //MPU9250 setup void readCompass() { Wire.beginTransmission(0x0C); Wire.write(0x02); Wire.endTransmission(); Wire.requestFrom(0x0C, 1); uint8_t ST1 = Wire.read(); if (ST1 & 0x01) { Wire.beginTransmission(0x0C); Wire.write(0x03); Wire.endTransmission(); Wire.requestFrom(0x0C, 7); uint8_t i = 0; uint8_t buf[7]; while (Wire.available()) { buf[i++] = Wire.read(); } if (!(buf[6] & 0x08)) { MgX = ((int16_t)buf[1] << 8) | buf[0]; MgY = ((int16_t)buf[3] << 8) | buf[2]; MgZ = ((int16_t)buf[5] << 8) | buf[4]; } } } void loop() { unsigned long time;//「time」をunsigned longで変数宣言, declared "time"as variable time = millis();//プログラム実行からの経過時間(ms)をtimeに返す,Returns from program execution lapsed time (ms) to "time" if (timeCounter1 > 0) { portENTER_CRITICAL(&timerMux); timeCounter1--; portEXIT_CRITICAL(&timerMux); ////MPU9250関連//// //読み出し, read Wire.beginTransmission(MPU_addr); Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) Wire.endTransmission(false); Wire.requestFrom(MPU_addr,16,true); // request a total of 14 registers AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) readCompass(); //Acc/g->m/s^2,Gy/dps->rad/s MadgwickFilter.update(GyX/SF_Gy, GyY/SF_Gy, GyZ/SF_Gy, AcX/SF_Acc, AcY/SF_Acc, AcZ/SF_Acc, MgX/SF_Mg, MgY/SF_Mg, MgZ/SF_Mg); ROLL = MadgwickFilter.getRoll(); PITCH = MadgwickFilter.getPitch(); YAW = MadgwickFilter.getYaw(); //for serial plot Serial.print(ROLL); Serial.print(","); Serial.print(PITCH); Serial.print(","); Serial.print(YAW); Serial.print("\n"); //convert from angle of sensor for servo control ROLL = duty_mid + ROLL/180 * duty_active; ROLL = min(max(ROLL, duty_min), duty_max); PITCH = duty_mid + PITCH/180 * duty_active; PITCH = min(max(PITCH, duty_min), duty_max); YAW = duty_mid + YAW/180 * duty_active; YAW = min(max(YAW, duty_min), duty_max); ledcWrite(0, ROLL); ledcWrite(1, PITCH); ledcWrite(2, YAW); delay(10); }
DIY RC : Simple Structure Air Plane
#include "BluetoothSerial.h" #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig` to and enable it #endif #define Brushless_Motor_PIN 25 #define SV_Motor_PIN 32 int i = 0; BluetoothSerial SerialBT; void setup() { //Bluetooth Serial.begin(115200); SerialBT.begin("ESP32test"); //Bluetooth device name Serial.println("The device started, now you can pair it with bluetooth!"); //Brushlessmotor pinMode(Brushless_Motor_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT ledcSetup(0, 1000, 8); //PWM channel is 0, Frequency 1000Hz, 8 bit(Duty with 256 levels of resolution, the value is 0-255) ledcAttachPin(Brushless_Motor_PIN,0); //Assign channel 0 to Brushless_Motor_PIN //SVmotor pinMode(SV_Motor_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT ledcSetup(10, 50, 10); ledcAttachPin(SV_Motor_PIN,10); } uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; } void loop() { uint8_t recv_data[6]; if (SerialBT.available()) { SerialBT.readBytes(recv_data, 6); if (recv_data[0] != 'T') { Serial.print("Receive error!"); return; } if (recv_data[5] != calculate_checksum(recv_data)) { Serial.print("Decode error!"); return; } Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]); if((recv_data[2] < 50)&&(i < 200)){//Duty MAX About 0.5(≒124/255) ledcWrite(0, i++); if(recv_data[3] > 200){//turn left ledcWrite(10, 110); } if(recv_data[3] < 50){//turn left ledcWrite(10, 50); } if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position ledcWrite(10, 80); } } if((recv_data[2] > 200)&&(i >= 1)){ ledcWrite(0, i--); if(recv_data[3] > 200){//turn left ledcWrite(10, 110); } if(recv_data[3] < 50){//turn left ledcWrite(10, 50); } if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position ledcWrite(10, 80); } } else{ if(recv_data[3] > 200){//turn left ledcWrite(10, 110); } if(recv_data[3] < 50){//turn left ledcWrite(10, 50); } if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position ledcWrite(10, 80); } } Serial.printf("i:%d\n", i); } delay(20); }
controller side source code is same with below.
DIY Drone - ESP32 [Version 2] #4 (How to detect Drone angle) Source code
#include "BluetoothSerial.h" #include<math.h> #define Deg2rad 3.1415 /180 #include <MadgwickAHRS.h> //MPU9250関連 #include <Wire.h> const int MPU_addr=0x68; // I2C address of the MPU-6050 int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ,MgX,MgY,MgZ; //取得データの実単位化スケールファクター float SF_Acc = 16384; //加速度のスケールファクタ (digit/g) float SF_Gy = 131; //#ジャイロのスケールファクタ (digit/dps) float SF_Mg = 500; //磁気のスケールファクタ(500☛0.6かも。。) float SF_Tmp = 333.87; //温度のスケールファクタ float g2mpss = 9.80665; //Gをm/s2に変換 float deg2rad = 3.14159265/180; //ディグリーをラジアンに int i; #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig` to and enable it #endif BluetoothSerial SerialBT; Madgwick MadgwickFilter; ///タイマー割込み 参考https://55life555.blog.fc2.com/blog-entry-3194.html volatile int timeCounter1; hw_timer_t *timer1 = NULL; portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; void IRAM_ATTR onTimer1(){ portENTER_CRITICAL_ISR(&timerMux); timeCounter1++; portEXIT_CRITICAL_ISR(&timerMux); } void setup() { //Bluetooth Serial.begin(115200); SerialBT.begin("ESP32test"); //Bluetooth device name Serial.println("The device started, now you can pair it with bluetooth!"); //Brushlessmotor // pinMode(Brushless_Motor_PIN, OUTPUT);//Brushless_Motor_PIN as OUTPUT // ledcSetup(0, 1000, 8);//PWM channel is 0, Frequency 1000Hz, 8 bit(Duty with 256 levels of resolution, the value is 0-255) // ledcAttachPin(Brushless_Motor_PIN,0);//Assign channel 0 to Brushless_Motor_PIN //MPU9250 set up Wire.begin(); Wire.beginTransmission(MPU_addr); Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.endTransmission(true); setupMPU9255(); //MadgwickFilter MadgwickFilter.begin(10);//filtering frequency 100Hz //タイマー割込み timer1 = timerBegin(0, 80, true); timerAttachInterrupt(timer1, &onTimer1, true); timerAlarmWrite(timer1, 100000, true); timerAlarmEnable(timer1); } ///通信データの正しさの確認 uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; } //センサー値スケール化後数値 float AcX_SF; float AcY_SF; float AcZ_SF; float GyX_SF; float GyY_SF; float GyZ_SF; //変数 struct strc{ float AXIS_X; float AXIS_Y; float AXIS_Z; }; float ROLL, PITCH, YAW; void setupMPU9255() { Wire.beginTransmission(0x68); Wire.write(0x6B); Wire.write(0x00); Wire.endTransmission(); Wire.beginTransmission(0x68); Wire.write(0x1A); Wire.write(0x05); Wire.endTransmission(); Wire.beginTransmission(0x68); Wire.write(0x37); Wire.write(0x02); Wire.endTransmission(); Wire.beginTransmission(0x0C); Wire.write(0x0A); Wire.write(0x16); Wire.endTransmission(); delay(500); } //MPU9250セットアップ関連 void readCompass() { Wire.beginTransmission(0x0C); Wire.write(0x02); Wire.endTransmission(); Wire.requestFrom(0x0C, 1); uint8_t ST1 = Wire.read(); if (ST1 & 0x01) { Wire.beginTransmission(0x0C); Wire.write(0x03); Wire.endTransmission(); Wire.requestFrom(0x0C, 7); uint8_t i = 0; uint8_t buf[7]; while (Wire.available()) { buf[i++] = Wire.read(); } if (!(buf[6] & 0x08)) { MgX = ((int16_t)buf[1] << 8) | buf[0]; MgY = ((int16_t)buf[3] << 8) | buf[2]; MgZ = ((int16_t)buf[5] << 8) | buf[4]; } } } void loop() { unsigned long time;//「time」をunsigned longで変数宣言, declared "time"as variable time = millis();//プログラム実行からの経過時間(ms)をtimeに返す,Returns from program execution lapsed time (ms) to "time" if (timeCounter1 > 0) { portENTER_CRITICAL(&timerMux); timeCounter1--; portEXIT_CRITICAL(&timerMux); ////MPU9250関連//// //読み出し, read Wire.beginTransmission(MPU_addr); Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) Wire.endTransmission(false); Wire.requestFrom(MPU_addr,16,true); // request a total of 14 registers AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) readCompass(); //実単位化(Acc/g->m/s^2,Gy/dps->rad/s) MadgwickFilter.update(GyX/SF_Gy, GyY/SF_Gy, GyZ/SF_Gy, AcX/SF_Acc, AcY/SF_Acc, AcZ/SF_Acc, MgX/SF_Mg, MgY/SF_Mg, MgZ/SF_Mg); ROLL = MadgwickFilter.getRoll(); PITCH = MadgwickFilter.getPitch(); YAW = MadgwickFilter.getYaw(); //書き出し Serial.print(ROLL); Serial.print(","); Serial.print(PITCH); Serial.print(","); Serial.print(YAW); Serial.print("\n"); //Serial.print(AcZ/SF_Acc*g2mpss); delay(10); /////////////////////////////////////////// uint8_t recv_data[6]; if (SerialBT.available()) { SerialBT.readBytes(recv_data, 6); if (recv_data[0] != 'T') { Serial.print("Receive error!"); return; } if (recv_data[5] != calculate_checksum(recv_data)) { Serial.print("Decode error!"); return; } Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]); if((recv_data[2] < 50)&&(i < 200)){//Duty MAX About 0.5(≒124/255) ledcWrite(0, i++); } if((recv_data[2] > 200)&&(i >= 1)){ ledcWrite(0, i--); } Serial.printf("i:%d\n", i); } delay(20); } }
DIY Drone - ESP32 [Version 2] #3 (How to control Brushless Motor) Source code
Receiver side
#include "BluetoothSerial.h" #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig` to and enable it #endif #define Brushless_Motor_PIN 25 int i = 0; BluetoothSerial SerialBT; void setup() { //Bluetooth Serial.begin(115200); SerialBT.begin("ESP32test"); //Bluetooth device name Serial.println("The device started, now you can pair it with bluetooth!"); //Brushlessmotor pinMode(Brushless_Motor_PIN, OUTPUT);//Brushless_Motor_PIN as OUTPUT ledcSetup(0, 1000, 8);//PWM channel is 0, Frequency 1000Hz, 8 bit(Duty with 256 levels of resolution, the value is 0-255) ledcAttachPin(Brushless_Motor_PIN,0);//Assign channel 0 to Brushless_Motor_PIN } uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; } void loop() { uint8_t recv_data[6]; if (SerialBT.available()) { SerialBT.readBytes(recv_data, 6); if (recv_data[0] != 'T') { Serial.print("Receive error!"); return; } if (recv_data[5] != calculate_checksum(recv_data)) { Serial.print("Decode error!"); return; } Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]); if((recv_data[2] < 50)&&(i < 125)){//Duty MAX About 0.5(≒124/255) ledcWrite(0, i++); } if((recv_data[2] > 200)&&(i >= 1)){ ledcWrite(0, i--); } Serial.printf("i:%d\n", i); } delay(20); }
Controller side is ↓↓↓↓↓↓↓↓
desktopmake.hateblo.jp
DIY Drone - ESP32 [Version 2] #2 (How to connect ESP32 to ESP32 by Bluetooth) Source Code
Check MACadd
void setup(void) { Serial.begin(115200); Serial.println("-----------------"); uint8_t macBT[6]; esp_read_mac(macBT, ESP_MAC_BT); } void loop() { uint8_t macBT[6]; esp_read_mac(macBT, ESP_MAC_BT); Serial.printf("%02X:%02X:%02X:%02X:%02X:%02X\r\n", macBT[0], macBT[1], macBT[2], macBT[3], macBT[4], macBT[5]); delay(10000); }
Controller Side
#include "BluetoothSerial.h" #define Right_VRX_PIN 12 #define Right_VRY_PIN 13 #define Left_VRX_PIN 25 #define Left_VRY_PIN 26 int left_x_val; int left_y_val; int right_x_val; int right_y_val; BluetoothSerial SerialBT; String MACadd = "9C:9C:1F:D0:05:4E";//Write Drone side MAC address uint8_t address[6] = {0x9C, 0x9C, 0x1F, 0xD0, 0x05, 0x4E};//Write Drone side MAC address in HEX bool connected; void setup() { Serial.begin(115200); SerialBT.begin("ESP32test", true); Serial.println("The device started in master mode, make sure remote BT device is on!"); // connect(address) is fast (upto 10 secs max), connect(name) is slow (upto 30 secs max) as it needs // to resolve name to address first, but it allows to connect to different devices with the same name. // Set CoreDebugLevel to Info to view devices bluetooth address and device names connected = SerialBT.connect(address); if(connected) { Serial.println("Connected Succesfully!"); } else { while(!SerialBT.connected(10000)) { Serial.println("Failed to connect. Make sure remote device is available and in range, then restart app."); } } // disconnect() may take upto 10 secs max if (SerialBT.disconnect()) { Serial.println("Disconnected Succesfully!"); } // this would reconnect to the name(will use address, if resolved) or address used with connect(name/address). SerialBT.connect(); pinMode(Left_VRX_PIN, INPUT); pinMode(Left_VRY_PIN, INPUT); pinMode(Right_VRX_PIN, INPUT); pinMode(Right_VRX_PIN, INPUT); } uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; } void loop() { uint8_t send_data[6]; left_x_val = analogRead(Left_VRX_PIN) >> 4;//value 0-255 (">> 4" convert maximum value from 4095 to 255 ) left_y_val = analogRead(Left_VRY_PIN) >> 4;//value 0-255 right_x_val = analogRead(Right_VRX_PIN) >> 4;//value 0-255 right_y_val = analogRead(Right_VRY_PIN) >> 4;//value 0-255 send_data[0] = 'T'; send_data[1] = left_x_val; send_data[2] = left_y_val; send_data[3] = right_x_val; send_data[4] = right_y_val; send_data[5] = calculate_checksum(send_data); SerialBT.write(send_data, 6); delay(20); }
Receiver Side
#include "BluetoothSerial.h" #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig` to and enable it #endif BluetoothSerial SerialBT; void setup() { Serial.begin(115200); SerialBT.begin("ESP32test"); //Bluetooth device name Serial.println("The device started, now you can pair it with bluetooth!"); } uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; } void loop() { uint8_t recv_data[6]; if (SerialBT.available()) { SerialBT.readBytes(recv_data, 6); if (recv_data[0] != 'T') { Serial.print("Receive error!"); return; } if (recv_data[5] != calculate_checksum(recv_data)) { Serial.print("Decode error!"); return; } Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]); } delay(20); }
DIY Drone - ESP32 [Version 2] #1 (How to make Joystick Controller) Source Code
//ref. https://101010.fun/iot/esp32-joystick.html //ref. https://wak-tech.com/archives/742 #define Right_VRX_PIN 12 #define Right_VRY_PIN 13 #define Left_VRX_PIN 25 #define Left_VRY_PIN 26 int left_x_val; int left_y_val; int right_x_val; int right_y_val; void setup() { Serial.begin(115200); pinMode(Left_VRX_PIN, INPUT); pinMode(Left_VRY_PIN, INPUT); pinMode(Right_VRX_PIN, INPUT); pinMode(Right_VRX_PIN, INPUT); } void loop() { left_x_val = analogRead(Left_VRX_PIN) >> 4;//value 0-255 (">> 4" convert maximum value from 4095 to 255 ) left_y_val = analogRead(Left_VRY_PIN) >> 4;//value 0-255 right_x_val = analogRead(Right_VRX_PIN) >> 4;//value 0-255 right_y_val = analogRead(Right_VRY_PIN) >> 4;//value 0-255 Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", left_x_val, left_y_val, right_x_val, right_y_val); delay(100); }
DIY RC Bowling [ESP32 ] Source code
Bowl side source code
//参考https://rikoubou.hatenablog.com/entry/2017/10/06/181805 #include <WiFi.h> #include <WiFiUdp.h> #include "esp_system.h" const char ssid[] = "ESP32_wifi"; // SSID const char pass[] = "esp32pass"; // password const int localPort = 10000; // ポート番号(pythonのポート番号に合わせる) const IPAddress ip(192, 168, 4, 1); // IPアドレス(pythonのIPアドレスに合わせる) const IPAddress subnet(255, 255, 255, 0); // サブネットマスク WiFiUDP udp; //https://wak-tech.com/archives/742 const int dcmotor = 32; const int svmotor = 2; void setup() { //UDP通信関係 Serial.begin(115200); WiFi.softAP(ssid, pass); // SSIDとパスの設定 delay(100); // 追記：このdelayを入れないと失敗する場合がある WiFi.softAPConfig(ip, ip, subnet); // IPアドレス、ゲートウェイ、サブネットマスクの設定 Serial.print("AP IP address: "); IPAddress myIP = WiFi.softAPIP(); Serial.println(myIP); Serial.println("Starting UDP"); udp.begin(localPort); // UDP通信の開始(引数はポート番号) Serial.print("Local port: "); Serial.println(localPort); //LEDC関係 // 使用するタイマーのチャネルと周波数を設定 ledcSetup(0, 12800, 8); ledcSetup(10, 50, 10); // ledPinをチャネル0へ接続 ledcAttachPin(dcmotor, 0); ledcAttachPin(svmotor, 10); } void loop() { // 初期の状態を指定 static uint8_t dc = 0; static uint8_t sv = 73; if (udp.parsePacket()) { char val = udp.read(); val = int(val); if (val == 48){//停止 dc = 0; sv = 73; } else if (val == 49){//前 dc = 50; sv = 73; } else if (val == 50){//右 dc = 0; sv = 26; } else if (val == 51){//後 dc = 0; sv = 73; } else if (val == 52){//左 dc = 0; sv = 123; } else if (val == 53){//右前 dc = 30; sv = 26; } else if (val == 56){//左前 dc = 30; sv = 123; } ledcWrite(0, dc); ledcWrite(10,sv); } }
Controller(PC and Plyastation3) side source code
#参考https://rikoubou.hatenablog.com/entry/2017/10/06/181805 #参考https://greenhornprofessional.hatenablog.com/entry/2020/09/13/223155 from __future__ import print_function import socket import time from time import sleep from contextlib import closing import pygame from pygame.locals import * ###ジョイスティック側 # ジョイスティックの初期化 pygame.joystick.init() try: # ジョイスティックインスタンスの生成 joystick = pygame.joystick.Joystick(0) joystick.init() print('ジョイスティックの名前:', joystick.get_name()) print('ボタン数 :', joystick.get_numbuttons()) except pygame.error: print('ジョイスティックが接続されていません') # pygameの初期化 pygame.init() # 画面の生成 SCREEN_SIZE = (640, 480) # 画面サイズ (横/縦) STEP = 10 #キーボード/ハットスイッチの反応の良さ X_CENTER = int(SCREEN_SIZE[0]/2) Y_CENTER = int(SCREEN_SIZE[1]/2) screen = pygame.display.set_mode(SCREEN_SIZE) screen2 = pygame.display.set_mode(SCREEN_SIZE) screen.fill((0,0,0)) screen2.fill((0,0,0)) #通信部分 def main(): host = '192.168.4.1' # IPアドレス port = 10000 # ポート番号 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) #AFINETは、V4を使うという意味、DGRAMはUDP指定の意味 with closing(sock): while True: # イベントの取得 for e in pygame.event.get(): # 終了ボタン if e.type == QUIT: active = False # ジョイスティックのボタンの入力 if e.type == pygame.locals.JOYAXISMOTION: print(joystick.get_axis(0), -1*joystick.get_axis(1), joystick.get_axis(2), -1*joystick.get_axis(3)) command1 = -joystick.get_axis(1)+1 command1 = str(round(command1)) print(command1) print(type(command1)) command2 = joystick.get_axis(2)+1 command2 = str(round(command2)) print(command2) print(type(command2)) command = command1 + command2 if command == "21": #前 command = "1" elif command == "12": #右 command = "2" elif command == "01": #後 command = "3" elif command == "10": #左 command = "4" elif command == "22": #右前 command = "5" elif command == "02": #右後 command = "6" elif command == "00": #左後 command = "7" elif command == "20": #右前 command = "8" elif command == "11": #継続 command = "0" print(command) command = str(command).encode("UTF-8") print(command) sock.sendto(command,(host, port)) time.sleep(0.05) #sock.sendto(bytes(command, encoding='ascii'), (host, port)) return """ message = 'A'.encode('utf-8') # 送る文字列(ここでは「A」という文字列を送っている) print(message) sock.sendto(message, (host, port)) time.sleep(1) """ #return if __name__ == '__main__': main()
