WIFI遥控小车 —— 基于ESP8266

电路如上图

实物图如下

（电压表用来监视12V输入电压

效果：

WIFI 遥控基于ESP8266

注意：

连着ESP8266_01的时候可能无法从电脑向arduino上载程序，此时可以拔掉arduino上的TX 和RX（原理不明，但是管用

操控软件：

在网页上打开:

Remote control Arduino - RemoteXYOnline designer of graphical interface to control Arduino via smartphone or tablethttps://remotexy.com/en/editor/添加组件：

Config如下：

Module interface 如下：

最下面的view可以配置外观，组件名（viriable name)（记住，编程时要用）：

配置完后，点击Get source code:

就可以看到代码模板：

记得点击download library, 并以zip格式导入编译器：

网站提供的代码只是一个stump，这几部分对我们有用：

每次配置完UI后可能需要在arduino IDE里更改，其余部分基本不用动。

我的代码如下：

// RemoteXY select connection mode and include library 
#define REMOTEXY_MODE__ESP8266_HARDSERIAL_POINT

#include <RemoteXY.h>
#include <Servo.h>




// RemoteXY connection settings 
#define REMOTEXY_SERIAL Serial
#define REMOTEXY_SERIAL_SPEED 115200
#define REMOTEXY_WIFI_SSID "WiFi Test"
#define REMOTEXY_WIFI_PASSWORD "123456789"
#define REMOTEXY_SERVER_PORT 6377


Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

// RemoteXY configurate  
#pragma pack(push, 1)
uint8_t RemoteXY_CONF[] =
  { 255,3,0,22,0,97,0,13,16,0,
  5,49,49,15,36,36,2,26,31,4,
  48,12,7,11,51,65,26,67,4,36,
  7,20,5,2,26,11,67,4,77,7,
  20,5,2,26,11,129,0,35,4,22,
  3,17,76,101,102,116,77,111,116,111,
  114,80,111,119,101,114,32,32,32,32,
  32,32,32,32,32,32,32,32,32,32,
  32,32,32,32,32,32,32,32,82,105,
  103,104,116,77,111,116,111,114,80,111,
  119,101,114,0 };

  
// this structure defines all the variables and events of your control interface 
struct {

    // input variables
  int8_t joystick_1_x; // =-100..100 x-coordinate joystick position 
  int8_t joystick_1_y; // =-100..100 y-coordinate joystick position 
  int8_t slider_1; // =-100..100 slider position 

    // output variables
  char left_motor_val[11];  // string UTF8 end zero 
  char right_motor_val[11];  // string UTF8 end zero 

    // other variable
  uint8_t connect_flag;  // =1 if wire connected, else =0 

} RemoteXY;
#pragma pack(pop)

/
//           END RemoteXY include          //
/

//define MOTOR Controlling pins
#define robot_LEFT_motor1 4
#define robot_LEFT_motor2 5
#define LEFT_motor_speed 10

//define RIGHT Motor pins
#define robot_RIGHT_motor1 6
#define robot_RIGHT_motor2 7
#define RIGHT_motor_speed 11

//define two arrays with list of pins each other

uint8_t Right_Motor[3] = {robot_RIGHT_motor1,robot_RIGHT_motor2,RIGHT_motor_speed};
uint8_t LEFT_Motor [3]= {robot_LEFT_motor1,robot_LEFT_motor2,LEFT_motor_speed };

//Speed control of motors
void Wheel (uint8_t * motor,int v)// v=motor speed control=pointer to an array of pins
{
  if (v > 100) v=100;
  if (v <-100) v=100;
  if (v > 0)
  {
    digitalWrite (motor [0],HIGH);
    digitalWrite (motor [1],LOW);
    analogWrite (motor [2],v * 2.55);
    
  }
  else if(v<0)
  {
    digitalWrite (motor [0],LOW);
    digitalWrite (motor [1],HIGH);
    analogWrite (motor [2], (-v) * 2.55);
    
    
  }
else
{
   digitalWrite (motor [0],LOW);
    digitalWrite (motor [1],LOW);
    analogWrite (motor [2],0);
    
}
}

void setup() 
{
  RemoteXY_Init (); 
  //Serial.begin(9600);            // set data transmission rate to communicate with computer

//initialization pins
  pinMode (robot_LEFT_motor1,OUTPUT);
  pinMode (robot_LEFT_motor2,OUTPUT);
  pinMode (robot_RIGHT_motor1,OUTPUT);
  pinMode (robot_RIGHT_motor2,OUTPUT);

myservo.attach(9);  // attaches the servo on pin 9 to the servo object

  // TODO you setup code

}

void loop() 
{ 
  RemoteXY_Handler ();
  
  
  //manage the motor
  double right_motor = RemoteXY.joystick_1_y - RemoteXY.joystick_1_x;
  double left_motor = RemoteXY.joystick_1_y + RemoteXY.joystick_1_x;
  
  Wheel (Right_Motor, right_motor);
  Wheel (LEFT_Motor, left_motor );

  //servo nutural position is 90deg
  //tell servo to go to 90deg +/- slider value  
  myservo.write( RemoteXY.slider_1 +90);   


  //show number on phone screen
   dtostrf(left_motor/2, 0, 1, RemoteXY.left_motor_val);
   dtostrf(right_motor/2, 0, 1, RemoteXY.right_motor_val);

   
  //print joystick x y coord on the screen 
 /* Serial.print("joystic y: ") ;      // Prints the distance on the Serial Monitor
  Serial.println(RemoteXY.joystick_1_y);   
  Serial.println("");

  Serial.print("joystic x: ") ;      // Prints the distance on the Serial Monitor
  Serial.println(RemoteXY.joystick_1_x);   
  Serial.println("");
 
  //print slider value on the screen 
  Serial.print("slider: ") ;      // Prints the distance on the Serial Monitor
  Serial.println(RemoteXY.slider_1);   
  Serial.println("");*/
}

WIFI遥控小车 —— 基于ESP8266_01