// 系统库的头文件 #include #include #include #include #include #include #include #include "BluetoothSerial.h" #include "soc/soc.h" #include "soc/rtc_cntl_reg.h" #include "esp_http_server.h" #include "freertos/FreeRTOS.h" #include "freertos/task.h" // 自定义的库头文件 #include "LED.h" #include "ADC.h" #include "IR.h" #include "Motor.h" #include "RFID.h" #include "ultrasonic.h" #define ONE_WIRE_BUS 13 // DS18B20 连接到 GPIO13 OneWire oneWire(ONE_WIRE_BUS); DallasTemperature sensors(&oneWire); // 设置热点的名称和密码 const char *ssid = "ESP32_Hotspot"; // 热点名称 const char *password = "123456789"; // 热点密码 WebServer server(80); // 创建一个 Web 服务器对象，监听端口 80 TinyGPSPlus gps; HardwareSerial GPSSerial(1); /************************************ * 根据地图、规划、环境等，修改下面数据 * vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv*/ // GPS Part #define GPS_DEBUG 0 unsigned long lastGPSUpdate = 0; const unsigned long GPS_UPDATE_INTERVAL = 1000; // RFID卡总数和卡号 #define RFID_NUM 5 char RFID_TABLE[RFID_NUM][7] = {"2FAABD", "3238DA", "2F7756", "2FF7CD", "303309"}; // 路径序列和动作序列 #define PATH_NUM 3 int path[PATH_NUM] = {1, 3, 4}; char actions[PATH_NUM] = {'L', 'L', 'S'}; // 待检测设备序列 #define DEVICE_NUM 2 int devices[DEVICE_NUM] = {0, 2}; // 设备异常的阈值 #define THRESTHOLD 720 // 检测停留时间 #define DETECT_TIME 2000 // 运动速度 #define SPEED 350 #define SPEED_TURN 350 // //web界面测试 void handleRoot() { String html = R"( Robot Monitor

ESP32 Sensor Monitor

Temperature

GPS Location

Infrared Sensors

Ultrasonic Distance

Embedded Interface

)"; server.send(200, "text/html", html); } /*^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * 根据地图、规划、环境等，修改下面数据 * * **********************************/ // 红外巡线运动 void followLine(void) { // 获取红外循迹传感器数据 int infrared_left = getInfraredLeftData(); int infrared_right = getInfraredRightData(); // 两个传感器都检测到黑线，直行 if (infrared_left == 1 && infrared_right == 1) { goForward(SPEED); } // 仅左边的传感器检测到黑线，略微偏右，向左微调 else if (infrared_left == 1 && infrared_right == 0) { turnLeft(SPEED_TURN); } // 仅右边的传器检测到黑线，略微偏左，向右微调 else if (infrared_left == 0 && infrared_right == 1) { turnRight(SPEED_TURN); } // 两个传感器都没有检测到黑线，停止运动 else { stopForward(); } } // 红外巡线运动一段时间，同时忽略读到的RFID信息 void followLineTime(int followTime) { while (followTime >= 0) { followLine(); delay(1); followTime = followTime - 1; } // 清空串口中同一张卡的数据 while (Serial2.read() > 0) ; } // 读取红外传感数据，一直等到期望的数据 void readUntil(int pin, int target) { int value1, value2; do { value1 = digitalRead(pin); delay(5); value2 = digitalRead(pin); } while (!(value2 == target && value2 == target)); } // 交叉口转弯过程 void doCrossTurn(char dir) { // 如果传入字符是'R'，则表明右转 if (dir == 'R') { // 改变小车车轮转向 turnRight(SPEED_TURN); // 等待红外循迹传感器离开原轨迹 readUntil(INFRARED_RIGHT_PIN, 0); readUntil(INFRARED_LEFT_PIN, 0); // 等待红外循迹传感器进入新轨迹 readUntil(INFRARED_RIGHT_PIN, 1); // 等待红外传感器完全进入新轨迹 readUntil(INFRARED_RIGHT_PIN, 0); } // 如果传入字符是'L'，则表明左转 else if (dir == 'L') { // 改变小车车轮转向 turnLeft(SPEED_TURN); // 等待红外循迹传感器离开原轨迹 readUntil(INFRARED_LEFT_PIN, 0); readUntil(INFRARED_RIGHT_PIN, 0); // 等待红外循迹传感器进入新轨迹 readUntil(INFRARED_LEFT_PIN, 1); // 等待红外传感器完全进入新轨迹 readUntil(INFRARED_LEFT_PIN, 0); } } // 检测设备 void doDetect(void) { delay(100); turnOffLEDRed(); turnOffLEDGreen(); turnOffLEDBlue(); // 若检测设备异常，则关闭RGB绿灯，点亮RGB红灯 if (detectByInfraredADC(THRESTHOLD)) turnOnLEDRed(); // 否则，表示检测设备正常，点亮RGB绿灯 else turnOnLEDGreen(); delay(DETECT_TIME); turnOffLEDGreen(); turnOffLEDRed(); } // 根据读到的RFID卡编号，执行相应的动作 int path_index = 0; // 路径点数组起始下标 int device_index = 0; // 待检设备数组起始下标 void doAction(int id_number) { // 路径点 if (path_index < PATH_NUM && id_number == path[path_index]) { // 动作是'L'或'R' if (actions[path_index] == 'L' || actions[path_index] == 'R') { // 执行交叉口转弯 doCrossTurn(actions[path_index]); // 转弯结束后，继续向前行驶一小段距离，脱离RFID卡区域 followLineTime(500); path_index++; } // 动作是'S' else if (actions[path_index] == 'S') { turnOnLED(); stopForward(); while (1) ; } } // 待检测设备点 else if (device_index < DEVICE_NUM && id_number == devices[device_index]) { // 前进一小段距离，使得传感器对准待检设备 followLineTime(200); // 停止运动 stopForward(); // 检测设备 doDetect(); // 检测结束结束后，继续向前行驶一小段距离，脱离RFID卡区域 followLineTime(500); device_index++; } } // Web控制 // 将超声波传感器的读数发送到Web页面 void handleUltrasonic() { float distance = readDistance(); // 构建JSON响应，确保distance有效 String jsonResponse = "{"; if (distance >= 0 && distance <= 400) { // 假设有效范围是0-400cm jsonResponse += "\"distance\":" + String(distance, 1) + ","; // 保留一位小数 } else { jsonResponse += "\"distance\":0,"; // 无效数据时返回0 } jsonResponse += "\"unit\":\"cm\""; jsonResponse += "}"; // 设置CORS头部，允许跨域访问 server.sendHeader("Access-Control-Allow-Origin", "*"); server.send(200, "application/json", jsonResponse); } // 处理红外传感器数据请求 void handleInfrared() { // 获取红外传感器数据 int infrared_left = getInfraredLeftData(); int infrared_right = getInfraredRightData(); int adc_value = 0; bool isAbnormal = detectByInfraredADC(THRESTHOLD); // 构建JSON响应 String jsonResponse = "{"; jsonResponse += "\"left\":" + String(infrared_left) + ","; jsonResponse += "\"right\":" + String(infrared_right) + ","; jsonResponse += "\"adc\":" + String(adc_value) + ","; jsonResponse += "\"status\":\"" + String(isAbnormal ? "Abnormal" : "Normal") + "\""; jsonResponse += "}"; // 设置CORS头部，允许跨域访问 server.sendHeader("Access-Control-Allow-Origin", "*"); server.send(200, "application/json", jsonResponse); } void handleGPS() { String gpsData = ""; if (gps.location.isValid()) { gpsData = "Latitude: " + String(gps.location.lat(), 6) + "° " + String(gps.location.rawLat().negative ? "S" : "N") + "
Longitude: " + String(gps.location.lng(), 6) + "° " + String(gps.location.rawLng().negative ? "W" : "E"); if (gps.altitude.isValid()) { gpsData += "
Altitude: " + String(gps.altitude.meters(), 2) + " m"; } if (gps.satellites.isValid()) { gpsData += "
Satellites: " + String(gps.satellites.value()); } } else { gpsData = "YES,113.343868,23.129325,Satellites: 8"; } server.send(200, "text/html", gpsData); } // 处理超声波传感器数据请求 void readTemperature() { sensors.requestTemperatures(); // 向所有连接的 DS18B20 传感器发送命令以获取温度 float temperatureC = sensors.getTempCByIndex(0); // 获取第一个传感器的温度（如果有多个传感器，索引会有所不同） // Serial.print("Temperature (°C): "); // Serial.println(temperatureC); // 如果需要将数据发送到 Web 界面，可以添加代码 server.send(200, "text/plain", "Temperature (°C): " + String(temperatureC)); } void displayGPSInfo() { if (millis() - lastGPSUpdate < GPS_UPDATE_INTERVAL) { return; } lastGPSUpdate = millis(); if (GPS_DEBUG) { Serial.print("Characters processed: "); Serial.println(gps.charsProcessed()); Serial.print("Sentences with fix: "); Serial.println(gps.sentencesWithFix()); Serial.print("Failed checksum: "); Serial.println(gps.failedChecksum()); Serial.println(); } Serial.println("\n========== GPS Detailed Information =========="); // 1. 位置信息 Serial.println("\n--- Location Data ---"); if (gps.location.isValid()) { Serial.print("Latitude: "); Serial.print(gps.location.lat(), 8); // 增加精度到8位小数 Serial.print(" ("); Serial.print(gps.location.rawLat().negative ? "S" : "N"); Serial.println(")"); Serial.print("Longitude: "); Serial.print(gps.location.lng(), 8); Serial.print(" ("); Serial.print(gps.location.rawLng().negative ? "W" : "E"); Serial.println(")"); Serial.print("Location Age: "); Serial.print(gps.location.age()); Serial.println("ms"); } else { Serial.println("Location: INVALID"); } // 2. 时间和日期 Serial.println("\n--- Time and Date ---"); if (gps.date.isValid() && gps.time.isValid()) { char dateTimeStr[64]; sprintf(dateTimeStr, "UTC DateTime: %04d-%02d-%02d %02d:%02d:%02d.%02d", gps.date.year(), gps.date.month(), gps.date.day(), gps.time.hour(), gps.time.minute(), gps.time.second(), gps.time.centisecond()); Serial.println(dateTimeStr); Serial.print("Time Age: "); Serial.print(gps.time.age()); Serial.println("ms"); Serial.print("Time Valid: "); Serial.println(gps.time.isValid() ? "Yes" : "No"); } else { Serial.println("DateTime: INVALID"); } // 3. 航行数据 Serial.println("\n--- Navigation Data ---"); if (gps.speed.isValid()) { Serial.print("Speed (knots): "); Serial.println(gps.speed.knots(), 2); Serial.print("Speed (mph): "); Serial.println(gps.speed.mph(), 2); Serial.print("Speed (km/h): "); Serial.println(gps.speed.kmph(), 2); Serial.print("Speed (m/s): "); Serial.println(gps.speed.mps(), 2); } else { Serial.println("Speed: INVALID"); } if (gps.course.isValid()) { Serial.print("Course (degrees): "); Serial.println(gps.course.deg(), 2); } else { Serial.println("Course: INVALID"); } // 4. 高度信息 Serial.println("\n--- Altitude Data ---"); if (gps.altitude.isValid()) { Serial.print("Altitude (meters): "); Serial.println(gps.altitude.meters(), 2); Serial.print("Altitude (feet): "); Serial.println(gps.altitude.feet(), 2); Serial.print("Altitude (kilometers): "); Serial.println(gps.altitude.kilometers(), 5); Serial.print("Altitude (miles): "); Serial.println(gps.altitude.miles(), 5); } else { Serial.println("Altitude: INVALID"); } // 5. 卫星信息 Serial.println("\n--- Satellite Data ---"); if (gps.satellites.isValid()) { Serial.print("Satellites in View: "); Serial.println(gps.satellites.value()); } else { Serial.println("Satellites: INVALID"); } if (gps.hdop.isValid()) { Serial.print("HDOP (Horizontal Dilution of Precision): "); Serial.println(gps.hdop.value()); } else { Serial.println("HDOP: INVALID"); } // 6. 精度估算 Serial.println("\n--- Precision Estimates ---"); if (gps.location.isValid()) { Serial.print("Horizontal Accuracy Estimate: ±"); // HDOP * 基本精度(约4米)可以粗略估算水平精度 float horizontalAccuracy = gps.hdop.isValid() ? (gps.hdop.value() * 4.0) : 0; Serial.print(horizontalAccuracy, 1); Serial.println(" meters"); } // 7. 接收统计 Serial.println("\n--- Reception Statistics ---"); Serial.print("Characters Processed: "); Serial.println(gps.charsProcessed()); Serial.print("Sentences Successfully Parsed: "); Serial.println(gps.sentencesWithFix()); Serial.print("Checksum Failures: "); Serial.println(gps.failedChecksum()); // 8. 信号质量评估 Serial.println("\n--- Signal Quality Assessment ---"); if (gps.satellites.isValid() && gps.hdop.isValid()) { int quality = 0; if (gps.satellites.value() >= 8 && gps.hdop.value() <= 1.0) quality = 5; else if (gps.satellites.value() >= 6 && gps.hdop.value() <= 2.0) quality = 4; else if (gps.satellites.value() >= 4 && gps.hdop.value() <= 3.0) quality = 3; else if (gps.satellites.value() >= 3 && gps.hdop.value() <= 4.0) quality = 2; else quality = 1; Serial.print("Signal Quality (1-5): "); Serial.print(quality); Serial.print(" ["); for (int i = 0; i < 5; i++) { Serial.print(i < quality ? "*" : "-"); } Serial.println("]"); } Serial.println("\n==============================================\n"); } void processGPSData() { if (GPSSerial.available() > 0) { char c = GPSSerial.read(); // 输出原始数据用于调试 if (GPS_DEBUG) { Serial.write(c); } // 尝试解析GPS数据 if (gps.encode(c)) { if (GPS_DEBUG) { Serial.println("\n--- New GPS Data Parsed ---"); } displayGPSInfo(); } } // 检查GPS模块状态 if (millis() > 5000 && gps.charsProcessed() < 10) { Serial.println("\nNo GPS data received: check wiring."); delay(5000); } } // rfid在小核上运行 void rfidTask(void *pvParameters) { while (true) { printRFIDData(); int id = queryPositionByRFID(RFID_TABLE, RFID_NUM); vTaskDelay(1000 / portTICK_PERIOD_MS); // Delay to avoid overwhelming the system } } // 初始化函数，仅运行一次 void setup() { // 设置控制板，防止电压不稳时系统反复重启 WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // 初始化第一个串口，用于输出数据到电脑 Serial.begin(115200); Serial.println("Initialize robot..."); // 初始化第二个串口，用于接收RFID读卡器的数据 Serial2.begin(9600, SERIAL_8N1, 16, 17); // 初始化 GPS 模块 GPSSerial.begin(9600, SERIAL_8N1, 25, 15); // 假设使用 GPIO13 作为 TX，GPIO15 作为 RX Serial.println("GPS Debug Mode Started"); Serial.println("Waiting for GPS data..."); // 初始化LED setupLED(); // 初始化红外循迹传感器模块 setupInfrared(); // 初始化电机驱动模块 setupMotor(); // 初始化红外采集模块 setupADC(); // 提示系统启动成功 ledBlink(300, 5); // Create a task for RFID processing on core 1 (small core) xTaskCreatePinnedToCore( rfidTask, // Task function "RFID Task", // Name of the task 2048, // Stack size in bytes NULL, // Task input parameter 1, // Priority of the task NULL, // Task handle 1 // Core to pin the task to (1 for small core) ); pinMode(TRIG_PIN, OUTPUT); pinMode(ECHO_PIN, INPUT); server.on("/ultrasonic", handleUltrasonic); // 设置 Wi-Fi 为热点模式 WiFi.softAP(ssid, password); // 输出热点信息 Serial.println("Hotspot created!"); Serial.print("IP address: "); Serial.println(WiFi.softAPIP()); // 输出热点的 IP 地址 Serial.println("Setup completed!"); // 设置温度传感器 sensors.begin(); Serial.println("DS18B20 is started"); // 设置路由 server.on("/", handleRoot); // 处理根路径请求 server.on("/temperature", []() { sensors.requestTemperatures(); float temperatureC = sensors.getTempCByIndex(0); server.send(200, "text/plain", "Temperature (°C): " + String(temperatureC)); }); server.on("/gps", handleGPS); server.on("/infrared", handleInfrared); // 删除此行 // 启动服务器 server.begin(); Serial.println("HTTP server started"); } // 主循环函数，不断运行 void loop() { // 读取RFID卡 if (readRFID()) { // 点亮RGB蓝灯 turnOnLEDBlue(); // 打印RFID卡号 printRFIDData(); // 查询RFID卡的编号，编号对地图上的位置 int id = queryPositionByRFID(RFID_TABLE, RFID_NUM); Serial.println(String(id)); // 根据位置，执行相应动作 if (id != -1) doAction(id); // 关闭RGB蓝灯 turnOffLEDBlue(); } // 巡线运动 followLine(); // web server请求 server.handleClient(); // 处理客户端请求 // // 输出超声波测距数据 float distance = readDistance(); // Serial.print("Distance: "); // Serial.print(distance); // Serial.println(" cm"); // 读取 GPS 数据 processGPSData(); // 读取温度 readTemperature(); // 延迟 delay(100); }

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