From ba0a001cdf481258238b68cd03bdf1876c614c00 Mon Sep 17 00:00:00 2001 From: applenana <83851967+applenana@users.noreply.github.com> Date: Tue, 30 Apr 2024 00:17:52 +0800 Subject: [PATCH] =?UTF-8?q?v1.0=E6=BA=90=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit -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] --- Arduino/src/main.cpp | 139 ++++++++++++++++++++++++++++++++++--------- 1 file changed, 112 insertions(+), 27 deletions(-) diff --git a/Arduino/src/main.cpp b/Arduino/src/main.cpp index 3234858..8be01fc 100644 --- a/Arduino/src/main.cpp +++ b/Arduino/src/main.cpp @@ -5,8 +5,8 @@ #include #include #include +#include -#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↓-=-=-=-=-=-=-=-=-=-= @@ -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-=-=-=-=-=-= @@ -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); @@ -76,7 +83,6 @@ void writePData(JsonDocument Pdata){ } } - //获取配置数据 JsonDocument getCData(){ File file = LittleFS.open("/config.json", "r"); @@ -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()) { @@ -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"; } @@ -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"){ @@ -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"; } } @@ -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()); } @@ -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"; @@ -385,10 +438,10 @@ 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() { @@ -396,6 +449,10 @@ void loop() { connectMQTT(); } client.loop(); + if (millis()-lastTime > 2000){ + lastTime = millis(); + timerCallback(); + } if (Serial.available()>0){ String content = Serial.readString(); if (content=="delet config"){ @@ -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!"); + } } }