arduino + esp8266 + websocket-client程序实例

本是古典何须时尚 2023-07-01 08:46 103阅读 0赞

/*
     * WebSocketClient.ino
     *
     *  Created on: 24.05.2015
     *
     */
    
    #include <Arduino.h>
    //步进电机库
    #include <AccelStepper.h>
    #include <MultiStepper.h>
    
    
    #include <ESP8266WiFi.h>
    #include <ESP8266WiFiMulti.h>
    
    #include <WebSocketsClient.h>
    
    #include <Hash.h>
    
    ESP8266WiFiMulti WiFiMulti;
    WebSocketsClient webSocket;
    
    #define USE_SERIAL Serial
    //
    //#define WIFINAME "WIFI账号"
    //#define WIFIPW "WIFI密码"
    // 电机步进方式定义
    #define FULLSTEP 4    //全步进参数
    #define HALFSTEP 8    //半步进参数
    
    // 定义步进电机引脚 
    #define motor1Pin1  14     // 一号28BYJ48连接的ULN2003电机驱动板引脚 in1
    #define motor1Pin2  13     // 一号28BYJ48连接的ULN2003电机驱动板引脚 in2
    #define motor1Pin3  12    // 一号28BYJ48连接的ULN2003电机驱动板引脚 in3
    #define motor1Pin4  2    // 一号28BYJ48连接的ULN2003电机驱动板引脚 in4
                                       
    #define motor2Pin1  4     // 二号28BYJ48连接的ULN2003电机驱动板引脚 in1
    #define motor2Pin2  5     // 二号28BYJ48连接的ULN2003电机驱动板引脚 in2
    #define motor2Pin3  16     // 二号28BYJ48连接的ULN2003电机驱动板引脚 in3
    #define motor2Pin4  15     // 二号28BYJ48连接的ULN2003电机驱动板引脚 in4
     
    // 定义两个步进电机对象
    // 1号电机设置为半步进运行，2号电机设置为全步进运行
    AccelStepper stepper1(FULLSTEP, motor1Pin1, motor1Pin3, motor1Pin2, motor1Pin4);
    AccelStepper stepper2(FULLSTEP, motor2Pin1, motor2Pin3, motor2Pin2, motor2Pin4);
    
    //几个全局变量
    char my_str00,my_str01,my_str03;
    int my_str02,my_str04;
    void webSocketEvent(WStype_t type, uint8_t * payload, size_t length) {
    	switch(type) {
    		case WStype_DISCONNECTED:
    			USE_SERIAL.printf("[WSc] Disconnected!\n");
    			break;
    		case WStype_CONNECTED: {
    			USE_SERIAL.printf("[WSc] Connected to url: %s\n", payload);
    
    			// send message to server when Connected
    			webSocket.sendTXT("Connected");
    		}
    			break;
    		case WStype_TEXT:
    			USE_SERIAL.printf("[WSc] get text: %s\n", payload);
    //      my_str[] = payload;
          my_str00 = payload[0];
          my_str01 = payload[1];
          my_str02 = (int)(payload[2] - '0');
          my_str03 = payload[3];
          my_str04 = (int)(payload[4] - '0'); 
    			// send message to server
    //			 webSocket.sendTXT("message here");
    			break;
    		case WStype_BIN:
    			USE_SERIAL.printf("[WSc] get binary length: %u\n", length);
    			hexdump(payload, length);
    
    			// send data to server
    			// webSocket.sendBIN(payload, length);
    			break;
            case WStype_PING:
                // pong will be send automatically
                USE_SERIAL.printf("[WSc] get ping\n");
                break;
            case WStype_PONG:
                // answer to a ping we send
                USE_SERIAL.printf("[WSc] get pong\n");
                break;
        }
    
    }
    
    
    
    void setup() {
    
      stepper1.setMaxSpeed(250.0);    // 1号电机最大速度500 
      stepper1.setAcceleration(25.0);  // 1号电机加速度50.0
     
      stepper2.setMaxSpeed(250.0);    // 2号电机最大速度500 
      stepper2.setAcceleration(25.0);  // 2号电机加速度50.0
      
    //	 USE_SERIAL.begin(921600);
    	USE_SERIAL.begin(115200);
    
    	//Serial.setDebugOutput(true);
    	USE_SERIAL.setDebugOutput(true);
    
    	USE_SERIAL.println();
    	USE_SERIAL.println();
    	USE_SERIAL.println();
    
    	for(uint8_t t = 4; t > 0; t--) {
    		USE_SERIAL.printf("[SETUP] BOOT WAIT %d...\n", t);
    		USE_SERIAL.flush();
    		delay(1000);
    	}
    
    	WiFiMulti.addAP("HX","hXXXXXXX");
    
    	//WiFi.disconnect();
    	while(WiFiMulti.run() != WL_CONNECTED) {
    		delay(500);
        Serial.print("."); 
    	}
      Serial.println("Connected!连接成功");
    	// server address, port and URL
    	webSocket.begin("192.168.0.100", 8282);
    
    	// event handler
    	webSocket.onEvent(webSocketEvent);
    
    	// use HTTP Basic Authorization this is optional remove if not needed
    //	webSocket.setAuthorization("user", "Password");
    
    	// try ever 5000 again if connection has failed
    	webSocket.setReconnectInterval(500);
      
      // start heartbeat (optional)
      // ping server every 15000 ms
      // expect pong from server within 3000 ms
      // consider connection disconnected if pong is not received 2 times
      webSocket.enableHeartbeat(15000, 3000, 2);
    
    }
    
    void loop() {
    	webSocket.loop();
      if (my_str00=='#'){
        USE_SERIAL.printf("启动____");
        if (my_str01=='C'){
          int c = 70*my_str02;
          // 1号垂直电机转动
          stepper1.moveTo(c);
        }
        if (my_str03=='R'){
          int r = 102*my_str04;
          // 2号水平电机转动
          stepper2.moveTo(r);
        }
      }
    // if (my_str02=='e'){
    //    USE_SERIAL.printf("启动电机");
        scanf("%d",&my_str03);
    //    int r = 70*my_str04;
    //    int c = 102*my_str02;
    //    USE_SERIAL.printf("两数相乘的结果： %d\n",c);
    //    if ( stepper1.currentPosition() == 0 && stepper2.currentPosition() == 0 ){
    //    // 1号电机转动半周
    //    stepper1.moveTo(r);              
    //    // 2号电机转动一周
    //    stepper2.moveTo(c);  
    //    
    //  } else if ( stepper1.currentPosition() == 768 && stepper2.currentPosition() == 1536 ){
    //    // 1号电机转动半周
    //    stepper1.moveTo(0);            
    //    // 2号电机转动一周
    //    stepper2.moveTo(0);  
    //  }         
    // }
      stepper1.run();   // 1号电机运行
      stepper2.run();   // 2号电机运行
    }