2020-11-05

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be based on Wemos D1 Avoiding obstacles WiFi Car and intelligent garbage can design

One 、 Experimental equipment

Master chip	Wemos D1
Other equipment	HC-SR04 ultrasonic 、L9110s The motor 、ESP82660WiFi modular 、 Buzzer
Equipment required	TCP

Two 、 Effect display
chart 1.

3、 ... and 、 Specific operation
1. At first, we still use Wemos D1 Come on Light up our first LED Light

void setup() {
   
   
  // put your setup code here, to run once:
  pinMode(2,OUTPUT);// Here we use 2 Pin No 
  //void setup() This is the core code that is executed only once 

}

void loop() {
   
   
  // put your main code here, to run repeatedly:

  digitalWrite(2,LOW);
  delay(1000);// Delay 1ms
  digitalWrite(2,HIGH);
  delay(2000);
}

chart 2.

2.HC-RS04 ultrasonic

Working voltage and current	5V 15mA
Sensing distance	2——400cm
4 One pin	GND( Grounding ） VCC（ Positive pole ）Trig( Trigger ）Eco( Accept ）
The two front circles are like eyes	One for transmitting signals 、 One is used to receive signals

chart 3.

function

#define Ecno D2
#define Trig D8    // Here we will trigger and receive two pin definition, convenient for later operation 

void initchaosbo()     // Initialize the ultrasound 
{
   
   
  pinMode(Ecno,INPUT);
  pinMode(Trig,OUTPUT);
}

long getTime()       // Get the distance to be measured 
{
   
   
  digitalWrite(Trig,HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig,LOW);
  return pulseIn(Ecno,HIGH);
}

void setup() {
   
   
  // put your setup code here, to run once:
  initchaosbo();
  Serial.begin(115200);  // Open the serial port 

}

void loop() {
   
   
  // put your main code here, to run repeatedly:
  long dis;
  dis=getTime()/58;
  Serial.print(dis);
  Serial.println("cm");
  delay(500);

}

Why divide with 58？
Make a note of , Other bloggers talk about ~~~·" The sound is drying 、 Celsius 20 The propagation velocity in the air is about 343 rice / second , close 34,300 centimeter / second .
perhaps , Let's do the unit conversion ,34,300 Divide 1,000,000 centimeter / Microsecond .
That is to say ：0.0343 centimeter / Microsecond
Another angle ,1/（0.0343 centimeter / Microsecond ）

namely ：29.15 Microsecond / centimeter .
That means , Every time 291.5 Microsecond representation 10CM Distance of .1 Centimeter is 29.15 Microsecond .
But after sending, when the echo is received , The sound goes by 2 Times the distance .
So the actual distance is 1 centimeter , Corresponding 58.3 Microsecond .
In fact, the whole ranging process is the time from sending out sound wave to receiving echo , The first one in your program distance It's actually time us.
So change it to distance cm, Divide by 58. Divide by, of course 58.3 Maybe more accurate ."

3.L9110s Principle of driving step motor

Driving principle ： All in all 6 One pin The middle two are the positive and negative poles of the power supply, and the other four are the signal lines
Four signal lines, we can use the hypothesis 0 It means no turning 1 For rotation

chart 4.

Specific operation

#define Zhuang1 D4
#define Zhuang2 D5
#define Dong1   D7
#define Dong2   D8
// Define four pins, the first two are used to control the car forward or backward, and the two control the steering of the car after 

// Initialize the steering gear 
void initL9110s()
{
   
   
  pinMode(Dong1,OUTPUT);                                                                       
  pinMode(Dong2, OUTPUT);
  pinMode(Zhuang1, OUTPUT);
  pinMode(Zhuang2, OUTPUT);
}

// back off 
void huo()
{
   
   
  digitalWrite(Dong1, HIGH);
  digitalWrite(Dong2, LOW);
}

// Forward 
void qian()
{
   
   
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, HIGH);
}
void zuo()
{
   
   
  digitalWrite(Zhuang1, HIGH);
  digitalWrite(Zhuang2, LOW);
}

// Back to normal 
void zheng()
{
   
   
  digitalWrite(Zhuang1, LOW);
  digitalWrite(Zhuang2, LOW);
}

// Turn left 
void zuo()
{
   
   
  digitalWrite(Zhuang1, HIGH);
  digitalWrite(Zhuang2, LOW);
}

// Turn right 
void you()
{
   
    
  digitalWrite(Zhuang1, LOW);
  digitalWrite(Zhuang2, HIGH);
}

// stop it 
void ting()
{
   
    
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, LOW);
}

notes ： In the process of operation, there may be errors in the control of the front and rear, and you can make corresponding code changes according to the operation of the car

4.ESP82660WiFi
Wemos D1 One of the great advantages of is the integration of ESP8266WiFi modular , And run WemosD1 The platform has its own ESP8266 The packaging library , Here we just need to know how to call the library function .

Specific operation

#include<ESP8266WiFi.h>   // Required header file 
char *ssid = "nova 5 Pro";   //WiFi Hot spot name   Here you can do it according to your own 
char *password = "yin1234567";  //WiFi password 
int port = 8888;     // Port number 
WiFiServer server(port);

// initialization wifi  The initialization code here is almost a template, which can be used directly 
void initwifista()
{
   
   
  WiFi.mode(WIFI_STA);// Set up STA Pattern 
  WiFi.begin(ssid, password); // Connect to the network 
  while (WiFi.status() != WL_CONNECTED)
  {
   
   
    Serial.print(".");
    delay(500);
  }
  Serial.println(WiFi.localIP());// Print address through serial port 
}

void  setup()
{
   
   

      initwifista();
      Serial.begin(115200);
      server.begin();
}
void  loop()
{
   
   

char cmd;
WiFiClient client = server.available(); // Service initialization 
  while (client.connected())
  {
   
   
    while (client.available() > 0)
    {
   
   
      cmd = client.read();
      if(cmd=='q'){
   
   
          Serial.println("xaio yin student");
          // To meet the requirements of your own input, you can change the function to be implemented 
          }
          else
          {
   
   
          }
       }
    }
  }

4.WiFi The use of the equipment needed by the car is almost finished （ Let's take a look at the overall code , Let the car run Hee hee is not a little bit of achievement duck ）

#include<ESP8266WiFi.h>
#define Dong1 D6
#define Dong2 D7
#define Zhuang1 D4
#define Zhuang2 D5

#define Ecno D2
#define Trig D8
char *ssid = "nova 5 Pro";
char *password = "yin1234567";
int port = 8888;
WiFiServer server(port);

void initchaosbo()
{
   
   
  pinMode(Ecno,INPUT);
  pinMode(Trig,OUTPUT);
}

long getTime()
{
   
   
  digitalWrite(Trig,HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig,LOW);
  return pulseIn(Ecno,HIGH);
}

void initwifista()
{
   
   
  WiFi.mode(WIFI_STA);// Set up STA Pattern 
  WiFi.begin(ssid, password); // Connect to the network 
  while (WiFi.status() != WL_CONNECTED)
  {
   
   
    Serial.print(".");
    delay(500);
  }
  Serial.println(WiFi.localIP());// Print address through serial port 
}


void initL9110s()
{
   
   
  pinMode(Dong1, OUTPUT);                                                                                 
  pinMode(Dong2, OUTPUT);
  pinMode(Zhuang1, OUTPUT);
  pinMode(Zhuang2, OUTPUT);
}

void huo()
{
   
   
  digitalWrite(Dong1, HIGH);
  digitalWrite(Dong2, LOW);
}

void qian()
{
   
   
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, HIGH);
}
void zuo()
{
   
   
  digitalWrite(Zhuang1, HIGH);
  digitalWrite(Zhuang2, LOW);
}

void zheng()
{
   
   
  digitalWrite(Zhuang1, LOW);
  digitalWrite(Zhuang2, LOW);
}


void you()
{
   
    
  digitalWrite(Zhuang1, LOW);
  digitalWrite(Zhuang2, HIGH);
}

void ting()
{
   
    
  digitalWrite(Dong1, LOW);
  digitalWrite(Dong2, LOW);
}


void setup() {
   
   
 
  initL9110s();
    initchaosbo();
  Serial.begin(115200);
  initwifista();
  server.begin();

}

void loop() {
   
   
  
  char cmd;
  long dis;
  dis=getTime()/58;
  WiFiClient client = server.available(); // Service initialization 
  while (client.connected())
  {
   
   
    while (client.available() > 0)
    {
   
   
      cmd = client.read();
      switch (cmd)
      {
   
   
        case 'q':
          qian();
          if(dis<=10)
          {
   
   
            ting();
          }
          break;
        case 'h':
          huo();
          break;
        case 'z':
          zuo();
          break;
        case 'y':
          you();
          break;
        case 's':
          ting();
          break;
        case 'd':
          zheng();
          break;
      }
    }
  }
}

5. By the way, I forgot to use TCP To control the car , In fact, the principle is very simple, we will use ComAssistant（ Of course, you can use other software ） This serial port software to get what we need IP Address . Note that in the use process, we also need to set the corresponding port number baud rate to the same as we set in the code . And then in TCP With what we've got ID Make a remote host connection In accordance with their own code to send the corresponding instructions on it .
chart 5.

3、 ... and 、 Smart trash can

I'm not going to talk about the chip used here WemosD1 Ultrasound and the front of WiFi The principle of the car as like as two peas is more than one steering gear SG90 The steering gear .

3.SG90 The steering gear

model	SG90 weight 13 g
Working voltage	4.8v~6v(3.3v It's fine too ）
Three lines correspond to ports	Red ： Positive pole Brown ：GND Orange ： The signal line

chart 6. Overall effect display

Specific operation

#include<Servo.h>    // The required header file 
#define Ecno D2
#define Trig D8
#define BEEP D5      // A buzzer is added here to control whether the buzzer rings or not according to the distance 
Servo myDuoJi;
#define DuoPin D5     // Define the steering gear 

 
 // Initialize buzzer 
void initfmq()    
{
   
   
  pinMode(BEEP,OUTPUT);
  digitalWrite(BEEP,HIGH); //  When running, we set it to high level to avoid the buzzer ringing as soon as the program is running 
}
void setup() {
   
   
  // put your setup code here, to run once:
  myDuoJi.attach(DuoPin);   //  Connect the steering gear 
  initchaosbo();
  Serial.begin(115200);
   myDuoJi.write(180);      // The degree of flipping 
    //initfmq();
  
}

// Initialize the ultrasound 
void initchaosbo()
{
   
   
  pinMode(Ecno,INPUT);
  pinMode(Trig,OUTPUT);
}

long getTime()
{
   
   
  digitalWrite(Trig,HIGH);
  delayMicroseconds(30);
  digitalWrite(Trig,LOW);
  return pulseIn(Ecno,HIGH);
 
}

void loop() {
   
   
  // put your main code here, to run repeatedly:

   long dis;
   dis=getTime()/58;
   Serial.println(dis);
   Serial. println("cm");
   
    if(dis<4)
    {
   
   
     // digitalWrite(BEEP,LOW);
     // delay(1000);
      myDuoJi.write(90);
      delay(2000);
      
    }
   else
    {
   
   
      //digitalWrite(BEEP,HIGH);
      myDuoJi.write(180);
    }
  }

That's all WiFi Car and smart trash all the code , If there is a mistake in my understanding, I hope you can point out , Learn from each other and make progress together （ Blunt duck ）.