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v1.0源代码
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-删减中断定时器，改为循环检测耗时，更准确的同时，让出定时器给pwm
-增加电机和舵机的逻辑代码
-增加串口命令[push,pull,sv,forward,backforward,stop]
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@applenana
applenana committed Apr 29, 2024
1 parent a1ed8cb commit ba0a001
Showing 1 changed file with 112 additions and 27 deletions.
139 changes: 112 additions & 27 deletions Arduino/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@
#include <PubSubClient.h>
#include <map>
#include <LittleFS.h>
#include <Servo.h>

#define LED_PIN 2//用于控制模块led灯
#define MSG_BUFFER_SIZE (4096)//mqtt服务器的配置

//-=-=-=-=-=-=-=-=↓用户配置↓-=-=-=-=-=-=-=-=-=-=
Expand All @@ -30,6 +30,9 @@ String bambu_load = "{\"print\":{\"command\":\"ams_change_filament\",\"curr_temp
String bambu_done = "{\"print\":{\"command\":\"ams_control\",\"param\":\"done\",\"sequence_id\":\"1\"},\"user_id\":\"1\"}"; // 完成
String bambu_clear = "{\"print\":{\"command\": \"clean_print_error\",\"sequence_id\":\"1\"},\"user_id\":\"1\"}";
String bambu_status = "{\"pushing\": {\"sequence_id\": \"0\", \"command\": \"pushall\"}}";
int servoPin = 2;//舵机引脚
int motorPin1 = 3;//电机一号引脚
int motorPin2 = 4;//电机二号引脚
//-=-=-=-=-=-↑系统配置↑-=-=-=-=-=-=-=-=-=

//-=-=-=-=-=-mqtt回调逻辑需要的变量-=-=-=-=-=-=
Expand All @@ -43,6 +46,10 @@ char msg[MSG_BUFFER_SIZE];
WiFiClientSecure espClient;
PubSubClient client(espClient);

unsigned long lastTime = millis();//mqtt定时任务

Servo servo;//初始化舵机

//连接wifi
void connectWF(String wn,String wk) {
WiFi.begin(wn, wk);
Expand Down Expand Up @@ -76,7 +83,6 @@ void writePData(JsonDocument Pdata){
}
}


//获取配置数据
JsonDocument getCData(){
File file = LittleFS.open("/config.json", "r");
Expand All @@ -91,6 +97,52 @@ void writeCData(JsonDocument Cdata){
file.close();
}

//定义电机驱动类和舵机控制类
class Machinery {
private:
int pin1;
int pin2;
public:
Machinery(int pin1, int pin2) {
this->pin1 = pin1;
this->pin2 = pin2;
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
}

void forward() {
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
}

void backforward() {
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
}

void stop() {
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
}
};
class ServoControl {
public:
ServoControl(){
}
void push() {
servo.write(180);
}
void pull() {
servo.write(0);
}
void writeAngle(int angle) {
servo.write(angle);
}
};
//定义电机舵机变量
ServoControl sv;
Machinery mc(motorPin1, motorPin2);

//连接mqtt
void connectMQTT() {
while (!client.connected()) {
Expand Down Expand Up @@ -174,20 +226,20 @@ void callback(char* topic, byte* payload, unsigned int length) {
}else if (Pdata["subStep"] == "2"){
if (printError == "318750723") {
Serial.println("拔出耗材");
//sv.push();
//mc.backforward();
sv.push();
mc.backforward();
Pdata["subStep"] = "3";
} else if (printError == "318734339") {
Serial.println("拔出耗材");
//sv.push();
//mc.backforward();
sv.push();
mc.backforward();
client.publish(bambu_topic_publish.c_str(), bambu_resume.c_str());
Pdata["subStep"] = "3";
}
}else if (Pdata["subStep"] == "3" && amsStatus == "0"){
Serial.println("退料完成，本次换色完成");
//sv.pull();
//mc.stop();
sv.pull();
mc.stop();
Pdata["step"] = "4";
Pdata["subStep"] = "1";
}
Expand All @@ -207,24 +259,24 @@ void callback(char* topic, byte* payload, unsigned int length) {
}
}else if (Pdata["subStep"] == "2" && printError == "318750726"){
Serial.println("送入耗材");
//sv.push();
//mc.forward();
sv.push();
mc.forward();
Pdata["subStep"] = "3";
}else if (Pdata["subStep"] == "3" && amsStatus == "262" && hwSwitchState == "1"){
Serial.println("停止送料");
//mc.stop();
mc.stop();
client.publish(bambu_topic_publish.c_str(),bambu_done.c_str());
Pdata["subStep"] = "4";
}else if (Pdata["subStep"] == "4"){
if (hwSwitchState == "0") {
Serial.println("检测到送料失败，重新送料!");
//mc.backforward();
mc.backforward();
delay(2000);
//mc.stop();
mc.stop();
Pdata["subStep"] = "1";
} else if (hwSwitchState == "1") {
Serial.println("送料成功，等待挤出换料");
//sv.pull();
sv.pull();
Pdata["subStep"] = "5"; // 更新 subStep
}
}else if (Pdata["subStep"] == "5"){
Expand All @@ -246,12 +298,12 @@ void callback(char* topic, byte* payload, unsigned int length) {
}else if (Pdata["subStep"] == "AGAIN"){
if (hwSwitchState == "0"){
Serial.println("尝试重新送料");
//sv.push();
//mc.forward();
sv.push();
mc.forward();
}else if (hwSwitchState == "1"){
Serial.println("送料成功!");
//mc.stop();
//sv.pull();
mc.stop();
sv.pull();
Pdata["subStep"] = "5";
}
}
Expand Down Expand Up @@ -288,6 +340,7 @@ void callback(char* topic, byte* payload, unsigned int length) {

//定时任务
void timerCallback() {
if (debug){Serial.println("定时任务执行！");}
client.publish(bambu_topic_publish.c_str(), bambu_status.c_str());
}

Expand Down Expand Up @@ -359,15 +412,15 @@ void setup() {
}
bambu_topic_subscribe = "device/" + String(bambu_device_serial) + "/report";
bambu_topic_publish = "device/" + String(bambu_device_serial) + "/request";
pinMode(LED_PIN, OUTPUT);

connectWF(wifiName,wifiKey);

servo.attach(servoPin,500,2500);

espClient.setInsecure();
client.setServer(bambu_mqtt_broker.c_str(), 8883);
client.setCallback(callback);


if (!LittleFS.exists("/data.json")) {
JsonDocument Pdata;
Pdata["lastFilament"] = "1";
Expand All @@ -385,17 +438,21 @@ void setup() {
Serial.println("成功读取配置文件!");
}

//布置定时任务，向拓竹索要当前情况
timer1_attachInterrupt(timerCallback); // 绑定定时器中断服务程序
timer1_enable(TIM_DIV256, TIM_EDGE, TIM_LOOP); // 设置定时器分频和模式
timer1_write(1500000); // 设置定时器触发周期，单位为微秒，这里设置为 1.5 秒
//[因为与pwm冲突已弃用]布置定时任务，向拓竹索要当前情况
//timer1_attachInterrupt(timerCallback); // 绑定定时器中断服务程序
//timer1_enable(TIM_DIV256, TIM_EDGE, TIM_LOOP); // 设置定时器分频和模式
//timer1_write(1000000); // 设置定时器触发周期，单位为微秒，这里设置为 1 秒
}

void loop() {
if (!client.connected()) {
connectMQTT();
}
client.loop();
if (millis()-lastTime > 2000){
lastTime = millis();
timerCallback();
}
if (Serial.available()>0){
String content = Serial.readString();
if (content=="delet config"){
Expand All @@ -415,8 +472,36 @@ void loop() {
{
debug = not debug;
Serial.println("debug change");
}


}else if (content == "push")
{
sv.push();
Serial.println("push COMPLETE");
}else if (content == "pull")
{
sv.pull();
Serial.println("pull COMPLETE");
}else if (content.indexOf("sv") != -1)
{
String numberString = "";
for (unsigned int i = 0; i < content.length(); i++) {
if (isdigit(content[i])) {
numberString += content[i];
}
}
int number = numberString.toInt();
sv.writeAngle(number);
Serial.println("["+numberString+"]COMPLETE");
}else if (content == "forward" or content == "fw")
{
mc.forward();
Serial.println("forwarding!");
}else if (content == "backforward" or content == "bfw")
{
mc.backforward();
Serial.println("backforwarding!");
}else if (content == "stop"){
mc.stop();
Serial.println("Stop!");
}
}
}

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