ka und alte code wieder zurücl
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danielvici123
20
INF/beispiele/01.4_Battery_level/01.4_Battery_level.ino
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20
INF/beispiele/01.4_Battery_level/01.4_Battery_level.ino
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/**********************************************************************
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Product : Freenove 4WD Car for ESP32
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Description : Read battery voltage.
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Auther : www.freenove.com
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Modification: 2020/12/18
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**********************************************************************/
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#include "Freenove_4WD_Car_For_ESP32.h"
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void setup() {
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Serial.begin(115200); //Set the Serial Baud rate
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}
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void loop() {
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Serial.print("Battery ADC : ");
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Serial.println(Get_Battery_Voltage_ADC());//Gets the battery ADC value
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Serial.print("Battery Voltage : ");
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Serial.print(Get_Battery_Voltage()); //Get the battery voltage value
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Serial.println("V");
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delay(300);
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}
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221
INF/beispiele/01.4_Battery_level/Freenove_4WD_Car_For_ESP32.cpp
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INF/beispiele/01.4_Battery_level/Freenove_4WD_Car_For_ESP32.cpp
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#include <Arduino.h>
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#include "Freenove_4WD_Car_For_ESP32.h"
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/////////////////////Servo drive area///////////////////////////////////
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int servo_1_offset = 0; //Define the offset variable for servo 1
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int servo_2_offset = 0; //Define the offset variable for servo 2
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PCA9685 PCA9685_SERVO;//Instantiate a PCA9685 object
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//servo initialization
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void Servo_Setup(void)
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{
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Wire.begin(PCA9685_SERVO_SDA, PCA9685_SERVO_SCL);
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PCA9685_SERVO.setupSingleDevice(Wire, PCA9685_ADDRESS);
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PCA9685_SERVO.setToFrequency(SERVO_FREQUENCY);
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}
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//Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
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void Servo_1_Angle(float angle)
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{
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if (PCA9685_SERVO.getFrequency() != SERVO_FREQUENCY)
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Servo_Setup();
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angle = constrain(angle, 0, 180);
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angle = map(angle, 0, 180, 500, 2500);
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PCA9685_SERVO.setChannelServoPulseDuration(PCA9685_CHANNEL_0, int(angle) + servo_1_offset);
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}
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//Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
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void Servo_2_Angle(float angle)
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{
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if (PCA9685_SERVO.getFrequency() != SERVO_FREQUENCY)
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Servo_Setup();
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angle = constrain(angle, 0, 180);
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angle = map(angle, 0, 180, 500, 2500);
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PCA9685_SERVO.setChannelServoPulseDuration(PCA9685_CHANNEL_1, int(angle) + servo_2_offset);
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}
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//Set servo 1 offset
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void Set_Servo_1_Offset(int offset)
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{
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servo_1_offset = offset;
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}
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//Set servo 2 offset
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void Set_Servo_2_Offset(int offset)
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{
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servo_2_offset = offset;
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}
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//Servo sweep function
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//id = 1: angle_start: 0 - 180; angle_end: 0 - 180.
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//id = 2: angle_start: 90 - 150; angle_end: 90 - 150
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void Servo_Sweep(int servo_id, int angle_start, int angle_end)
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{
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if (servo_id == 1)
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{
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angle_start = constrain(angle_start, 0, 180);
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angle_end = constrain(angle_end, 0, 180);
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}
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else if (servo_id == 2)
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{
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angle_start = constrain(angle_start, 90, 150);
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angle_end = constrain(angle_end, 90, 150);
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}
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if (angle_start > angle_end)
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{
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for (int i = angle_start; i >= angle_end; i--)
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{
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if (servo_id == 1)
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Servo_1_Angle(i);
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else if (servo_id == 2)
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Servo_2_Angle(i);
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delay(10);
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}
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}
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if (angle_start < angle_end)
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{
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for (int i = angle_start; i <= angle_end; i++)
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{
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if (servo_id == 1)
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Servo_1_Angle(i);
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else if (servo_id == 2)
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Servo_2_Angle(i);
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delay(10);
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}
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}
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}
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/////////////////////Motor drive area///////////////////////////////////
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PCA9685 PCA9685_MOTOR;//Instantiate a PCA9685 object to control the motor
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//The initialization function for PCA9685
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void Motor_Setup(void)
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{
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Wire.begin(PCA9685_MOTOR_SDA, PCA9685_MOTOR_SCL);
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PCA9685_MOTOR.setupSingleDevice(Wire, PCA9685_ADDRESS);
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PCA9685_Close_Com_Address();
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PCA9685_MOTOR.setToFrequency(MOTOR_FREQUENCY);
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}
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//A function to control the car motor
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void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed)
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{
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if (PCA9685_MOTOR.getFrequency() != MOTOR_FREQUENCY)
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Motor_Setup();
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m1_speed = constrain(m1_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
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m2_speed = constrain(m2_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
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m3_speed = constrain(m3_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
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m4_speed = constrain(m4_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
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if (m1_speed >= 0)
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{
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M1_IN1, m1_speed);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M1_IN2, 0);
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}
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else
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{
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m1_speed = -m1_speed;
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M1_IN1, 0);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M1_IN2, m1_speed);
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}
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if (m2_speed >= 0)
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{
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M2_IN1, m2_speed);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M2_IN2, 0);
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}
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else
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{
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m2_speed = -m2_speed;
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M2_IN1, 0);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M2_IN2, m2_speed);
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}
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if (m3_speed >= 0)
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{
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M3_IN1, m3_speed);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M3_IN2, 0);
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}
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else
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{
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m3_speed = -m3_speed;
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M3_IN1, 0);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M3_IN2, m3_speed);
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}
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if (m4_speed >= 0)
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{
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M4_IN1, m4_speed);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M4_IN2, 0);
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}
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else
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{
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m4_speed = -m4_speed;
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M4_IN1, 0);
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PCA9685_MOTOR.setChannelPulseWidth(PIN_MOTOR_M4_IN2, m4_speed);
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}
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}
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void PCA9685_Close_Com_Address(void)
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{
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Wire.beginTransmission(PCA9685_ADDRESS);
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Wire.write(0x00);
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Wire.write(0x00);
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Wire.endTransmission();
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}
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//////////////////////Buzzer drive area///////////////////////////////////
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//Buzzer initialization
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void Buzzer_Setup(void)
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{
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pinMode(PIN_BUZZER, OUTPUT);
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ledcSetup(BUZZER_CHN, BUZZER_FREQUENCY, 10);
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ledcAttachPin(PIN_BUZZER, BUZZER_CHN);
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ledcWriteTone(BUZZER_CHN, 0);
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delay(10);
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}
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//Buzzer alarm function
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void Buzzer_Alert(int beat, int rebeat)
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{
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beat = constrain(beat, 1, 9);
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rebeat = constrain(rebeat, 1, 255);
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for (int j = 0; j < rebeat; j++)
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{
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for (int i = 0; i < beat; i++)
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{
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ledcWriteTone(BUZZER_CHN, BUZZER_FREQUENCY);
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delay(100);
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ledcWriteTone(BUZZER_CHN, 0);
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delay(100);
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}
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delay(500);
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}
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ledcWriteTone(BUZZER_CHN, 0);
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}
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////////////////////Battery drive area/////////////////////////////////////
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float batteryVoltage = 0; //Battery voltage variable
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float batteryCoefficient = 4; //Set the proportional coefficient
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//Gets the battery ADC value
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int Get_Battery_Voltage_ADC(void)
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{
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pinMode(PIN_BATTERY, INPUT);
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int batteryADC = 0;
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for (int i = 0; i < 5; i++)
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batteryADC += analogRead(PIN_BATTERY);
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return batteryADC / 5;
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}
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//Get the battery voltage value
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float Get_Battery_Voltage(void)
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{
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int batteryADC = Get_Battery_Voltage_ADC();
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batteryVoltage = (batteryADC / 4096.0 * 3.9 ) * batteryCoefficient;
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return batteryVoltage;
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}
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void Set_Battery_Coefficient(float coefficient)
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{
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batteryCoefficient = coefficient;
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}
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@@ -0,0 +1,74 @@
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#ifndef _FREENOVE_4WD_CAR_H
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#define _FREENOVE_4WD_CAR_H
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#include <Arduino.h>
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#include <PCA9685.h>
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void PCA9685_Close_Com_Address(void);//Close the PCA9685 public address
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/////////////////////Servo drive area///////////////////////////////////
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#define PCA9685_SERVO_SDA 13 //Define SDA pins
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#define PCA9685_SERVO_SCL 14 //Define SCL pins
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#ifndef PCA9685_ADDRESS
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#define PCA9685_ADDRESS 0x5F
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#endif
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#define SERVO_FREQUENCY 50 //Define the operating frequency of servo
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#define PCA9685_CHANNEL_0 0 //Define PCA9685 channel to control servo 1
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#define PCA9685_CHANNEL_1 1 //Define the PCA9685 channel to control servo 2
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#define SERVO_MIDDLE_POINT 1500 //Define the middle position of the servo
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extern int servo_1_offset; //Define the offset variable for servo 1
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extern int servo_2_offset; //Define the offset variable for servo 2
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extern PCA9685 PCA9685_SERVO; //Instantiate a PCA9685 object
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void Servo_Setup(void); //servo initialization
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void Servo_1_Angle(float angle); //Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
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void Servo_2_Angle(float angle); //Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
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void Set_Servo_1_Offset(int offset); //Set servo 1 offset
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void Set_Servo_2_Offset(int offset); //Set servo 2 offset
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//Servo sweep function; id = 1: angle_start: 0 - 180; angle_end: 0 - 180; id = 2: angle_start: 90 - 150; angle_end: 90 - 150
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void Servo_Sweep(int servo_id, int angle_start, int angle_end);
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/////////////////////Motor drive area///////////////////////////////////
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//Motor pin definition
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#define PCA9685_MOTOR_SDA 13 //Define the SDA pin number
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#define PCA9685_MOTOR_SCL 14 //Define the SCL pin number
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#ifndef PCA9685_ADDRESS
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#define PCA9685_ADDRESS 0x5F
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#endif
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#define MOTOR_FREQUENCY 1000 //PWM Frequency
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#define MOTOR_SPEED_MIN -4095 //Define a minimum speed limit for wheels
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#define MOTOR_SPEED_MAX 4095 //Define a maximum speed limit for wheels
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#define PIN_MOTOR_M1_IN1 15 //Define the positive pole of M1
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#define PIN_MOTOR_M1_IN2 14 //Define the negative pole of M1
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#define PIN_MOTOR_M2_IN1 9 //Define the positive pole of M2
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#define PIN_MOTOR_M2_IN2 8 //Define the negative pole of M2
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#define PIN_MOTOR_M3_IN1 12 //Define the positive pole of M3
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#define PIN_MOTOR_M3_IN2 13 //Define the negative pole of M3
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#define PIN_MOTOR_M4_IN1 10 //Define the positive pole of M4
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#define PIN_MOTOR_M4_IN2 11 //Define the negative pole of M4
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extern PCA9685 PCA9685_MOTOR; //Instantiate a PCA9685 object to control the motor
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void Motor_Setup(void); //The initialization function for PCA9685
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void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed);//A function to control the car motor
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//////////////////////Buzzer drive area///////////////////////////////////
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//Buzzer pin definition
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#define PIN_BUZZER 2 //Define the pins for the ESP32 control buzzer
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#define BUZZER_CHN 0 //Define the PWM channel for ESP32
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#define BUZZER_FREQUENCY 2000 //Define the resonant frequency of the buzzer
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void Buzzer_Setup(void); //Buzzer initialization
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void Buzzer_Alert(int beat, int rebeat);//Buzzer alarm function
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////////////////////Battery drive area/////////////////////////////////////
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#define PIN_BATTERY 32 //Set the battery detection voltage pin
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#define LOW_VOLTAGE_VALUE 2100 //Set the minimum battery voltage
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extern float batteryCoefficient; //Set the proportional coefficient
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int Get_Battery_Voltage_ADC(void); //Gets the battery ADC value
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float Get_Battery_Voltage(void); //Get the battery voltage value
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void Set_Battery_Coefficient(float coefficient);//Set the partial pressure coefficient
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#endif
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