[靈動狗] 網頁控制

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#include <Arduino.h> #include <WiFi.h> #include <WebServer.h> #include <ESP32Servo.h> #include <Adafruit_NeoPixel.h> #include <Preferences.h> // 資料型別定義 typedef signed char wex_s8_t ; // 8 位元有符號整數類型 typedef signed short wex_s16_t ; // 16 位元有符號整數類型 typedef signed long wex_s32_t ; // 32 位元有符號整數類型 typedef signed long long wex_s64_t ; // 64 位元有符號整數類型 typedef unsigned char wex_u8_t ; // 8 位元無符號整數類型 typedef unsigned short wex_u16_t ; // 16 位元無符號整數類型 typedef unsigned long wex_u32_t ; // 32 位元無符號整數類型 typedef unsigned long long wex_u64_t ; // 64 位元無符號整數類型 typedef float wex_f32_t ; // 32 位元單精度浮點數類型 typedef double wex_f64_t ; // 64 位元雙精確度浮點數類型 /* ========== 你的原本引腳定義保留 ========== */ #define WEX_LED_PIN 8 #define EYES_CTRL_PIN 6 #define LEFTHAND_CTRL_PIN 0 #define RIGHTHAND_CTRL_PIN 1 #define LEFTLEG_CTRL_PIN 10 #define RIGHTLEG_CTRL_PIN 7 #define TOUCH_SW_PIN 4 #define EYES_NUM 2 #define THERSHOLD_ANGLE 65 /* ========== 枚舉保留 ========== */ enum lightModel_t { LIGHT_MODEL_NORMAL=0, LIGHT_MODEL_BREATHING, LIGHT_MODEL_COLORFUL }; enum actionModel_t { ACTION_MODEL_NONE=0, ACTION_MODEL_FORWARD, ACTION_MODEL_LEFT, ACTION_MODEL_RIGHT, ACTION_MODEL_BACKWARD, ACTION_MODEL_STANDUP, ACTION_MODEL_GETDOWN, ACTION_MODEL_SITDOWN, ACTION_MODEL_STRETCH, ACTION_MODEL_HANDSHAKE, ACTION_MODEL_CRAWL, ACTION_MODEL_LEFTRIGHT, ACTION_MODEL_FRONTBACK, ACTION_MODEL_HEADFWD, ACTION_MODEL_HEADBACK }; enum stateModel_t { STATE_MODEL_IDLE=0, STATE_MODEL_MOVING, STATE_MODEL_STANDUP, STATE_MODEL_GETDOWN, STATE_MODEL_SITDOWN }; /* ========== 舵機/狀態變數保留 ========== */ Servo leftHandServo, rightHandServo, leftLegServo, rightLegServo; int leftHandAngle=90, rightHandAngle=90, leftLegAngle=90, rightLegAngle=90; uint8_t actionModel=ACTION_MODEL_NONE; uint8_t stateModel=STATE_MODEL_IDLE; uint8_t moveSpeed=6; uint8_t stepFlag=0; /* ========== LED 相關保留 ========== */ Adafruit_NeoPixel strip(EYES_NUM, EYES_CTRL_PIN, NEO_GRB + NEO_KHZ800); uint8_t lightLevel=0; // 0~255 uint8_t lightModel=LIGHT_MODEL_NORMAL;// 0/1/2 uint8_t ledRGB[3] = {255,255,255}; /* ========== 校準保留 ========== */ Preferences preferences; int8_t leftHandOffset=0, rightHandOffset=0, leftLegOffset=0, rightLegOffset=0; /* ========== 電池(你原本 ISR/Timer 若要保留可接回來) ========== */ const char* pcBatteryStatusStr[6]={"未知狀態","電池放電中","低電預警","電量耗盡","電池充電中","電池已充滿"}; uint8_t batteryStatus = 0; uint32_t firmwareVersion = 0x010101; uint32_t hardwareVersion = 0x0000; /* ========== Web 控制 ========== */ WebServer server(80); bool webCtrlFlag = false; // 取代你原本 wexcubeCtrlFlag：網頁正在控制時，先忽略觸碰按鍵 /* ========== 你原本宣告的函式(保留) ========== */ void updateLED(uint8_t r,uint8_t g,uint8_t b,uint8_t level); void updateServo(uint8_t lh,uint8_t rh,uint8_t ll,uint8_t rl); void standUp(); void getDown(); void sitDown(); void stretch(); void headForward(); void headBackward(); void saveOffsetsToFlash(); /* ========== 內建 HTML (手機/電腦瀏覽器都可) ========== */ static const char INDEX_HTML[] PROGMEM = R"HTML( <!doctype html><html lang="zh-Hant"><head> <meta charset="utf-8"/> <meta name="viewport" content="width=device-width,initial-scale=1"/> <title>RobotDog 控制台</title> <style> body{font-family:system-ui,-apple-system,"Segoe UI",Arial; margin:16px; background:#f6f7fb;} .card{background:#fff;border-radius:14px;padding:14px;margin:10px 0;box-shadow:0 2px 10px rgba(0,0,0,.06);} .row{display:flex;gap:10px;flex-wrap:wrap} button{border:0;border-radius:12px;padding:14px 16px;font-size:16px;background:#2f6fed;color:#fff;min-width:120px} button.secondary{background:#555} button.danger{background:#d94a38} label{display:block;margin:10px 0 6px} input[type=range]{width:100%} .small{color:#666;font-size:13px} .grid{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:10px} </style></head><body> <h2>RobotDog 網頁控制</h2> <div class="card"> <div class="small" id="status">讀取狀態中…</div> </div> <div class="card"> <h3>移動</h3> <div class="grid"> <button id="btnF">前進</button> <button class="secondary" id="btnS">停止</button> <button id="btnB">後退</button> <button id="btnL">左轉</button> <button id="btnStand">站立</button> <button id="btnR">右轉</button> </div> </div> <div class="card"> <h3>動作</h3> <div class="row"> <button id="btnDown" class="secondary">趴下</button> <button id="btnSit" class="secondary">坐下</button> <button id="btnStretch" class="secondary">伸懶腰</button> <button id="btnShake" class="secondary">握手(按住)</button> <button id="btnCrawl" class="secondary">匍匐(按住)</button> <button id="btnLR" class="secondary">左右搖(按住)</button> <button id="btnFB" class="secondary">前後搖(按住)</button> <button id="btnHF" class="secondary">前頂</button> <button id="btnHB" class="secondary">後頂</button> </div> </div> <div class="card"> <h3>動作速度</h3> <label>速度（1~10）: <span id="spdV">6</span></label> <input id="spd" type="range" min="1" max="10" value="6"/> </div> <div class="card"> <h3>舵機角度</h3> <label>左手 <span id="lhV">90</span></label><input id="lh" type="range" min="0" max="180" value="90"> <label>右手 <span id="rhV">90</span></label><input id="rh" type="range" min="0" max="180" value="90"> <label>左腳 <span id="llV">90</span></label><input id="ll" type="range" min="0" max="180" value="90"> <label>右腳 <span id="rlV">90</span></label><input id="rl" type="range" min="0" max="180" value="90"> <div class="small">拖曳會即時送出（建議站立狀態校準/調整）。</div> </div> <div class="card"> <h3>眼睛燈效</h3> <label>亮度（0~100）: <span id="lvV">0</span></label> <input id="lv" type="range" min="0" max="100" value="0"/> <div class="row"> <button class="secondary" id="m0">正常</button> <button class="secondary" id="m1">呼吸</button> <button class="secondary" id="m2">彩燈</button> </div> <label>顏色</label> <input id="col" type="color" value="#ffffff"/> </div> <div class="card"> <h3>校準</h3> <div class="row"> <button class="danger" id="calReset">校準重設</button> <button id="calSet">校準寫入</button> </div> <div class="small">校準寫入：需站立且四肢接近 90° 才允許。</div> </div> <script> const qs = o => Object.entries(o).map(([k,v])=>`${k}=${encodeURIComponent(v)}`).join("&"); async function api(path, params){ await fetch(path + "?" + qs(params)); } function hold(btn, name){ const down = () => api("/api/cmd",{name, v:1}); const up = () => api("/api/cmd",{name, v:0}); btn.addEventListener("pointerdown", e=>{e.preventDefault(); down();}); btn.addEventListener("pointerup", e=>{e.preventDefault(); up();}); btn.addEventListener("pointercancel",up); btn.addEventListener("pointerleave",up); } function click(btn, name){ btn.addEventListener("click", ()=>api("/api/cmd",{name, v:1})); } hold(document.getElementById("btnF"),"forward"); hold(document.getElementById("btnB"),"backward"); hold(document.getElementById("btnL"),"left"); hold(document.getElementById("btnR"),"right"); click(document.getElementById("btnS"),"stop"); click(document.getElementById("btnStand"),"standup"); click(document.getElementById("btnDown"),"getdown"); click(document.getElementById("btnSit"),"sitdown"); click(document.getElementById("btnStretch"),"stretch"); hold(document.getElementById("btnShake"),"handshake"); hold(document.getElementById("btnCrawl"),"crawl"); hold(document.getElementById("btnLR"),"leftright"); hold(document.getElementById("btnFB"),"frontback"); click(document.getElementById("btnHF"),"headfwd"); click(document.getElementById("btnHB"),"headback"); const spd=document.getElementById("spd"), spdV=document.getElementById("spdV"); spd.oninput=()=>{spdV.textContent=spd.value; api("/api/cmd",{name:"speed", v:spd.value});}; const ids=["lh","rh","ll","rl"]; function sendServo(){ api("/api/servo",{ lh:document.getElementById("lh").value, rh:document.getElementById("rh").value, ll:document.getElementById("ll").value, rl:document.getElementById("rl").value }); } for(const id of ids){ const el=document.getElementById(id); const out=document.getElementById(id+"V"); el.oninput=()=>{out.textContent=el.value; sendServo();}; } const lv=document.getElementById("lv"), lvV=document.getElementById("lvV"); lv.oninput=()=>{lvV.textContent=lv.value; api("/api/eyes",{level:lv.value});}; document.getElementById("m0").onclick=()=>api("/api/eyes",{mode:0}); document.getElementById("m1").onclick=()=>api("/api/eyes",{mode:1}); document.getElementById("m2").onclick=()=>api("/api/eyes",{mode:2}); const col=document.getElementById("col"); col.oninput=()=>{ const c=col.value; const r=parseInt(c.slice(1,3),16), g=parseInt(c.slice(3,5),16), b=parseInt(c.slice(5,7),16); api("/api/eyes",{r,g,b}); }; document.getElementById("calReset").onclick=()=>api("/api/calib",{name:"reset",v:1}); document.getElementById("calSet").onclick=()=>api("/api/calib",{name:"set",v:1}); async function poll(){ try{ const r=await fetch("/api/status"); const j=await r.json(); document.getElementById("status").textContent = `FW ${j.fw} / HW ${j.hw}｜電池：${j.battery}｜狀態：${j.state}｜動作：${j.action}`; }catch(e){} setTimeout(poll,800); } poll(); </script> </body></html> )HTML"; /* ========== Web API handlers ========== */ String verToStr(uint32_t v){ char s[16]; sprintf(s,"V%d.%d.%d",(v>>16)&0xFF,(v>>8)&0xFF,v&0xFF); return String(s); } String hwToStr(uint32_t v){ char s[16]; sprintf(s,"V%d.%d",(v>>8)&0xFF,v&0xFF); return String(s); } void handleRoot(){ server.send(200, "text/html; charset=utf-8", INDEX_HTML); } void handleCmd(){ String name = server.arg("name"); int v = server.arg("v").toInt(); // 任何 API 呼叫都視為網頁正在控制（避免同時觸控鍵干擾） webCtrlFlag = true; if(name=="stop"){ actionModel = ACTION_MODEL_NONE; webCtrlFlag = false; stepFlag = 0; }else if(name=="speed"){ // 網頁用 1~10，你原本 moveSpeed 邏輯是 2~?，這裡直接用 1~10 映射到 2~20（你也可改） moveSpeed = constrain(v,1,10) * 2; }else if(name=="forward"){ if(v){ standUp(); actionModel=ACTION_MODEL_FORWARD; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="backward"){ if(v){ standUp(); actionModel=ACTION_MODEL_BACKWARD; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="left"){ if(v){ standUp(); actionModel=ACTION_MODEL_LEFT; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="right"){ if(v){ standUp(); actionModel=ACTION_MODEL_RIGHT; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="standup"){ actionModel = ACTION_MODEL_STANDUP; }else if(name=="getdown"){ actionModel = ACTION_MODEL_GETDOWN; }else if(name=="sitdown"){ actionModel = ACTION_MODEL_SITDOWN; }else if(name=="stretch"){ actionModel = ACTION_MODEL_STRETCH; }else if(name=="handshake"){ if(v){ sitDown(); actionModel=ACTION_MODEL_HANDSHAKE; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="crawl"){ if(v){ sitDown(); actionModel=ACTION_MODEL_CRAWL; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="leftright"){ if(v){ standUp(); actionModel=ACTION_MODEL_LEFTRIGHT; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="frontback"){ if(v){ standUp(); actionModel=ACTION_MODEL_FRONTBACK; } else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; } }else if(name=="headfwd"){ actionModel = ACTION_MODEL_HEADFWD; }else if(name=="headback"){ actionModel = ACTION_MODEL_HEADBACK; } server.send(200,"text/plain","OK"); } void handleServo(){ leftHandAngle = constrain(server.arg("lh").toInt(),0,180); rightHandAngle = constrain(server.arg("rh").toInt(),0,180); leftLegAngle = constrain(server.arg("ll").toInt(),0,180); rightLegAngle = constrain(server.arg("rl").toInt(),0,180); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); server.send(200,"text/plain","OK"); } void handleEyes(){ if(server.hasArg("level")){ int lv = constrain(server.arg("level").toInt(),0,100); lightLevel = map(lv,0,100,0,255); } if(server.hasArg("mode")){ lightModel = constrain(server.arg("mode").toInt(),0,2); } if(server.hasArg("r") && server.hasArg("g") && server.hasArg("b")){ ledRGB[0]=constrain(server.arg("r").toInt(),0,255); ledRGB[1]=constrain(server.arg("g").toInt(),0,255); ledRGB[2]=constrain(server.arg("b").toInt(),0,255); } if(lightLevel==0) updateLED(0,0,0,0); else updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel); server.send(200,"text/plain","OK"); } void handleCalib(){ String name = server.arg("name"); if(name=="reset"){ leftHandOffset=rightHandOffset=leftLegOffset=rightLegOffset=0; saveOffsetsToFlash(); server.send(200,"text/plain","RESET_OK"); return; } if(name=="set"){ // 你的原本規則：必須站立狀態且角度接近 90 if(stateModel != STATE_MODEL_STANDUP){ server.send(400,"text/plain","ERR_NOT_STANDUP"); return; } if(abs(leftHandAngle-90)>15 || abs(rightHandAngle-90)>15 || abs(leftLegAngle-90)>15 || abs(rightLegAngle-90)>15){ server.send(400,"text/plain","ERR_TOO_MUCH_OFFSET"); return; } leftHandOffset += (leftHandAngle-90); rightHandOffset += (rightHandAngle-90); leftLegOffset += (leftLegAngle-90); rightLegOffset += (rightLegAngle-90); saveOffsetsToFlash(); leftHandAngle=rightHandAngle=leftLegAngle=rightLegAngle=90; updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); server.send(200,"text/plain","SET_OK"); return; } server.send(400,"text/plain","ERR_BAD_REQ"); } void handleStatus(){ String json = "{"; json += "\"fw\":\""+verToStr(firmwareVersion)+"\","; json += "\"hw\":\""+hwToStr(hardwareVersion)+"\","; json += "\"battery\":\""+String(pcBatteryStatusStr[batteryStatus])+"\","; json += "\"state\":"+String(stateModel)+","; json += "\"action\":"+String(actionModel); json += "}"; server.send(200,"application/json",json); } /* ========== setup / loop ========== */ void setup(){ setCpuFrequencyMhz(80); delay(500); Serial.begin(115200); pinMode(WEX_LED_PIN, OUTPUT); digitalWrite(WEX_LED_PIN, LOW); // 有開機就亮(你可自行調) // 舵機 50Hz leftHandServo.setPeriodHertz(50); rightHandServo.setPeriodHertz(50); leftLegServo.setPeriodHertz(50); rightLegServo.setPeriodHertz(50); leftHandServo.attach(LEFTHAND_CTRL_PIN, 500, 2500); rightHandServo.attach(RIGHTHAND_CTRL_PIN, 500, 2500); leftLegServo.attach(LEFTLEG_CTRL_PIN, 500, 2500); rightLegServo.attach(RIGHTLEG_CTRL_PIN, 500, 2500); // 讀取校準 preferences.begin("servo", false); leftHandOffset = preferences.getInt("leftHandOffset",0); rightHandOffset = preferences.getInt("rightHandOffset",0); leftLegOffset = preferences.getInt("leftLegOffset",0); rightLegOffset = preferences.getInt("rightLegOffset",0); preferences.end(); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); strip.begin(); strip.setBrightness(lightLevel); strip.show(); pinMode(TOUCH_SW_PIN, INPUT_PULLDOWN); // 硬體版本讀取（保留你原本判斷） pinMode(20, INPUT_PULLUP); pinMode(21, INPUT_PULLUP); delay(100); uint8_t pin20Value1 = digitalRead(20); uint8_t pin21Value1 = digitalRead(21); pinMode(20, INPUT_PULLDOWN); pinMode(21, INPUT_PULLDOWN); delay(100); uint8_t pin20Value2 = digitalRead(20); uint8_t pin21Value2 = digitalRead(21); if(pin20Value1==HIGH && pin21Value1==HIGH && pin20Value2==LOW && pin21Value2==LOW) hardwareVersion=0x0100; else hardwareVersion=0x0101; // === WiFi AP === uint64_t chipid = ESP.getEfuseMac(); char ssid[32]; sprintf(ssid, "RobotDog02-%02X%02X%02X", (uint8_t)(chipid>>16), (uint8_t)(chipid>>8), (uint8_t)chipid); WiFi.mode(WIFI_AP); WiFi.softAP(ssid, "12345678"); // 你可改密碼 IPAddress ip = WiFi.softAPIP(); Serial.printf("AP SSID: %s\n", ssid); Serial.printf("Open: http://%s/\n", ip.toString().c_str()); // Web routes server.on("/", handleRoot); server.on("/api/cmd", handleCmd); server.on("/api/servo", handleServo); server.on("/api/eyes", handleEyes); server.on("/api/calib", handleCalib); server.on("/api/status", handleStatus); server.begin(); } void loop(){ server.handleClient(); // 避免阻塞 delay(20); // === 觸碰按鍵控制保留，但網頁控制中先不進來 ===webCtrlFlag if ( webCtrlFlag == false ) { // 觸摸事件處理： // 1. 單擊，眼睛燈光開關 // 2. 雙擊，站立/趴下 int SW = digitalRead ( TOUCH_SW_PIN ); // 讀取觸控按鍵值 if ( SW == HIGH ) // 觸碰按鍵按下 { wex_u32_t i = 0 ; delay ( 30 ); // 防抖動延遲 // 等待搖桿按鍵放開 while ( digitalRead ( TOUCH_SW_PIN ) == HIGH ) { i ++ ; delay ( 10 ); } if ( i < 50 ) { while ( i < 50 ) { delay ( 10 ); if ( digitalRead ( TOUCH_SW_PIN ) == HIGH ) // 觸摸按鍵再次按下 break ; i ++ ; } } if ( i < 50 ) { if ( leftLegAngle >= 70 ) actionModel = ACTION_MODEL_GETDOWN ; else actionModel = ACTION_MODEL_STANDUP ; delay ( 500 ); // 等手拿開 } else { lightLevel = lightLevel == 0 ? 128 : 0 ; // 切換眼睛燈光開關 if ( lightLevel == 0 ) { updateLED ( 0 , 0 , 0 , 0 ); // 關閉燈光 // wex_setValue ( SLIDER_EYES_LEVEL_ID , 0 ); // 更新小程式滑桿值 } else { updateLED ( ledRGB [ 0 ], ledRGB [ 1 ], ledRGB [ 2 ], lightLevel ); // 開啟燈光 // wex_setValue ( SLIDER_EYES_LEVEL_ID , map ( lightLevel , 0 , 255 , 0 , 100 )); // 更新小程式滑桿值 } } } } // === 眼睛燈光控制（保留你的原本邏輯）=== if(lightLevel){ if(lightModel==LIGHT_MODEL_NORMAL){ static uint32_t cnt=0; cnt++; if(cnt>=10){ cnt=0; updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel); } }else if(lightModel==LIGHT_MODEL_BREATHING){ static uint8_t level=0, dir=0; static float s=0.0f; float v = (float)lightLevel/50.0f; if(dir){ if(level>=lightLevel){ dir=0; s=(float)lightLevel; } else { s+=v; level = s<(float)lightLevel ? (uint8_t)s : lightLevel; } }else{ if(level==0){ dir=1; s=0.0f; } else { s-=v; level = s>0.0f ? (uint8_t)s : 0; } } updateLED(ledRGB[0],ledRGB[1],ledRGB[2],level); }else if(lightModel==LIGHT_MODEL_COLORFUL){ static long firstPixelHue=0; firstPixelHue += 256; if(firstPixelHue>=65536) firstPixelHue=0; for(int i=0;i<strip.numPixels();i++){ int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels()); strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue))); } strip.show(); } } // === 動作狀態機（保留你原本 switch(actionModel) 整段）=== switch(actionModel){ case ACTION_MODEL_FORWARD : // 前進 { if ( stepFlag == 0 ) { leftHandAngle -= moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle <= THERSHOLD_ANGLE ) stepFlag = 1 ; } else if ( stepFlag == 1 ) { rightHandAngle += moveSpeed ; leftLegAngle += moveSpeed ; if ( rightHandAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle += moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle >= 90 ) stepFlag = 3 ; } else if ( stepFlag == 3 ) { rightHandAngle -= moveSpeed ; leftLegAngle -= moveSpeed ; if ( rightHandAngle <= THERSHOLD_ANGLE ) stepFlag = 4 ; } else if ( stepFlag == 4 ) { leftHandAngle += moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 5 ; } else if ( stepFlag == 5 ) { rightHandAngle += moveSpeed ; leftLegAngle += moveSpeed ; if ( rightHandAngle >= 90 ) stepFlag = 6 ; } else if ( stepFlag == 6 ) { leftHandAngle -= moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle <= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_LEFT : // 左轉 { if ( stepFlag == 0 ) { rightHandAngle -= moveSpeed ; leftLegAngle += moveSpeed ; if ( rightHandAngle <= THERSHOLD_ANGLE ) stepFlag = 1 ; } else if ( stepFlag == 1 ) { rightLegAngle += moveSpeed ; leftHandAngle -= moveSpeed ; if ( rightLegAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 2 ; } else if ( stepFlag == 2 ) { rightHandAngle += moveSpeed ; leftLegAngle -= moveSpeed ; if ( rightHandAngle >= 90 ) stepFlag = 3 ; } else if ( stepFlag == 3 ) { rightLegAngle -= moveSpeed ; leftHandAngle += moveSpeed ; if ( rightLegAngle <= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_RIGHT : // 右轉 { if ( stepFlag == 0 ) { leftHandAngle -= moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle <= THERSHOLD_ANGLE ) stepFlag = 1 ; } else if ( stepFlag == 1 ) { leftLegAngle += moveSpeed ; rightHandAngle -= moveSpeed ; if ( leftLegAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle += moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle >= 90 ) stepFlag = 3 ; } else if ( stepFlag == 3 ) { leftLegAngle -= moveSpeed ; rightHandAngle += moveSpeed ; if ( leftLegAngle <= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_BACKWARD : // 後退 { if ( stepFlag == 0 ) { leftHandAngle += moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 1 ; } else if ( stepFlag == 1 ) { rightHandAngle -= moveSpeed ; leftLegAngle -= moveSpeed ; if ( rightHandAngle <= THERSHOLD_ANGLE ) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle -= moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle <= 90 ) stepFlag = 3 ; } else if ( stepFlag == 3 ) { rightHandAngle += moveSpeed ; leftLegAngle += moveSpeed ; if ( rightHandAngle >= ( 180 - THERSHOLD_ANGLE )) stepFlag = 4 ; } else if ( stepFlag == 4 ) { leftHandAngle -= moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle <= THERSHOLD_ANGLE ) stepFlag = 5 ; } else if ( stepFlag == 5 ) { rightHandAngle -= moveSpeed ; leftLegAngle -= moveSpeed ; if ( rightHandAngle <= 90 ) stepFlag = 6 ; } else if ( stepFlag == 6 ) { leftHandAngle += moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle >= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_STANDUP: standUp(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break; case ACTION_MODEL_GETDOWN: getDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_GETDOWN; break; case ACTION_MODEL_SITDOWN: sitDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_SITDOWN; break; case ACTION_MODEL_STRETCH: stretch(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break; case ACTION_MODEL_HANDSHAKE : // 握手 { if ( stepFlag == 0 ) { rightHandAngle -= moveSpeed ; if ( rightHandAngle <= 15 ) stepFlag = 1 ; } else if ( stepFlag == 1 ) { rightHandAngle += moveSpeed ; if ( rightHandAngle >= 50 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_CRAWL : // 匍匐前進 { if ( stepFlag == 0 ) { leftHandAngle -= moveSpeed ; if ( leftHandAngle <= 60 ) stepFlag = 1 ; } else if ( stepFlag == 1 ) { rightHandAngle += moveSpeed ; if ( rightHandAngle >= 140 ) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle += moveSpeed ; if ( leftHandAngle >= 100 ) stepFlag = 3 ; } else if ( stepFlag == 3 ) { rightHandAngle -= moveSpeed ; if ( rightHandAngle <= 60 ) stepFlag = 4 ; } else if ( stepFlag == 4 ) { leftHandAngle += moveSpeed ; if ( leftHandAngle >= 140 ) stepFlag = 5 ; } else if ( stepFlag == 5 ) { rightHandAngle += moveSpeed ; if ( rightHandAngle >= 100 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_LEFTRIGHT : // 左右搖晃 { if ( stepFlag == 0 ) { while (( abs ( rightHandAngle - 20 ) > moveSpeed ) || ( abs ( rightLegAngle - 20 ) > moveSpeed )) { if ( rightHandAngle < 20 ) rightHandAngle += moveSpeed ; else if ( rightHandAngle > 20 ) rightHandAngle -= moveSpeed ; if ( rightLegAngle < 20 ) rightLegAngle += moveSpeed ; else if ( rightLegAngle > 20 ) rightLegAngle -= moveSpeed ; delay ( 10 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } stepFlag = 1 ; } else if ( stepFlag == 1 ) { leftHandAngle -= moveSpeed ; rightHandAngle += moveSpeed ; leftLegAngle -= moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle <= 20 ) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle += moveSpeed ; rightHandAngle -= moveSpeed ; leftLegAngle += moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle >= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_FRONTBACK : // 前後搖晃 { if ( stepFlag == 0 ) { while (( abs ( leftLegAngle - 160 ) > moveSpeed ) || ( abs ( rightLegAngle - 160 ) > moveSpeed )) { if ( leftLegAngle > 160 ) leftLegAngle -= moveSpeed ; else if ( leftLegAngle < 160 ) leftLegAngle += moveSpeed ; if ( rightLegAngle > 160 ) rightLegAngle -= moveSpeed ; else if ( rightLegAngle < 160 ) rightLegAngle += moveSpeed ; delay ( 10 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } stepFlag = 1 ; } else if ( stepFlag == 1 ) { leftHandAngle -= moveSpeed ; rightHandAngle -= moveSpeed ; leftLegAngle -= moveSpeed ; rightLegAngle -= moveSpeed ; if ( leftHandAngle <= 20 ) stepFlag = 2 ; } else if ( stepFlag == 2 ) { leftHandAngle += moveSpeed ; rightHandAngle += moveSpeed ; leftLegAngle += moveSpeed ; rightLegAngle += moveSpeed ; if ( leftHandAngle >= 90 ) stepFlag = 0 ; } updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 stateModel = STATE_MODEL_MOVING ; // 設定狀態為移動 } break ; case ACTION_MODEL_HEADFWD: headForward(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break; case ACTION_MODEL_HEADBACK: headBackward(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break; default: stepFlag=0; break; } } /** * @brief LED 顏色、亮度更新 * @param ucRed 紅色分量 * @param ucGreen 綠色分量 * @param ucBlue 藍色分量 * @param ucLevel 亮度 * @retval None */ void updateLED ( wex_u8_t ucRed , wex_u8_t ucGreen , wex_u8_t ucBlue , wex_u8_t ucLevel ) { for ( int i = 0 ; i < EYES_NUM ; i ++ ) { strip . setPixelColor ( i , strip . Color ( ucRed , ucGreen , ucBlue )); } strip . setBrightness ( ucLevel ); strip . show (); } // 將舵機偏移量儲存到Flash void saveOffsetsToFlash () { preferences . begin ( "servo" , false ); preferences . putInt ( "leftHandOffset" , leftHandOffset ); preferences . putInt ( "rightHandOffset" , rightHandOffset ); preferences . putInt ( "leftLegOffset" , leftLegOffset ); preferences . putInt ( "rightLegOffset" , rightLegOffset ); preferences . end (); } /** * @brief 舵機更新 * @param ucLeftHand 左手舵機角度 * @param ucRightHand 右手舵機角度 * @param ucLeftLeg 左腳舵機角度 * @param ucRightLeg 右腳舵機角度 * @retval None */ void updateServo ( wex_u8_t ucLeftHand , wex_u8_t ucRightHand , wex_u8_t ucLeftLeg , wex_u8_t ucRightLeg ) { // 根據偏移量修正舵機角度 int leftHand = ucLeftHand + leftHandOffset ; int rightHand = ucRightHand + rightHandOffset ; int leftLeg = ucLeftLeg + leftLegOffset ; int rightLeg = ucRightLeg + rightLegOffset ; leftHand = constrain ( leftHand , 0 , 180 ); // 限制角度範圍 rightHand = constrain ( rightHand , 0 , 180 ); // 限制角度範圍 leftLeg = constrain ( leftLeg , 0 , 180 ); // 限制角度範圍 rightLeg = constrain ( rightLeg , 0 , 180 ); // 限制角度範圍 // 把舵機角度統一化，0為最前，180為最後 rightHand = 180 - rightHand ; // 右舵機角度反轉 rightLeg = 180 - rightLeg ; // 右腳舵機角度反轉 leftHandServo . write ( leftHand ); // 設定左手舵機角度 rightHandServo . write ( rightHand ); // 設定右手舵機角度 leftLegServo . write ( leftLeg ); // 設定左腳舵機角度 rightLegServo . write ( rightLeg ); // 設定右腳舵機角度 } // 站立 void standUp () { while (( abs ( leftLegAngle - 90 ) > 5 ) || ( abs ( rightLegAngle - 90 ) > 5 )) { if ( leftLegAngle > 90 ) leftLegAngle -= 3 ; else if ( leftLegAngle < 90 ) leftLegAngle += 3 ; if ( rightLegAngle > 90 ) rightLegAngle -= 3 ; else if ( rightLegAngle < 90 ) rightLegAngle += 3 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftLegAngle = 90 ; rightLegAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); while (( abs ( leftHandAngle - 90 ) > 5 ) || ( abs ( rightHandAngle - 90 ) > 5 )) { if ( leftHandAngle > 90 ) leftHandAngle -= 5 ; else if ( leftHandAngle < 90 ) leftHandAngle += 5 ; if ( rightHandAngle > 90 ) rightHandAngle -= 5 ; else if ( rightHandAngle < 90 ) rightHandAngle += 5 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftHandAngle = 90 ; rightHandAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); } // 趴下 void getDown () { while (( abs ( leftLegAngle - 15 ) > 5 ) || ( abs ( rightLegAngle - 15 ) > 5 )) { if ( leftLegAngle > 15 ) leftLegAngle -= 5 ; else if ( leftLegAngle < 15 ) leftLegAngle += 5 ; if ( rightLegAngle > 15 ) rightLegAngle -= 5 ; else if ( rightLegAngle < 15 ) rightLegAngle += 5 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftLegAngle = 15 ; rightLegAngle = 15 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); while (( abs ( leftHandAngle - 15 ) > 5 ) || ( abs ( rightHandAngle - 15 ) > 5 )) { if ( leftHandAngle > 15 ) leftHandAngle -= 5 ; else if ( leftHandAngle < 15 ) leftHandAngle += 5 ; if ( rightHandAngle > 15 ) rightHandAngle -= 5 ; else if ( rightHandAngle < 15 ) rightHandAngle += 5 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftHandAngle = 15 ; rightHandAngle = 15 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); } // 坐下 void sitDown () { while (( abs ( leftLegAngle - 40 ) > 5 ) || ( abs ( rightLegAngle - 40 ) > 5 )) { if ( leftLegAngle > 40 ) leftLegAngle -= 3 ; else if ( leftLegAngle < 40 ) leftLegAngle += 3 ; if ( rightLegAngle > 40 ) rightLegAngle -= 3 ; else if ( rightLegAngle < 40 ) rightLegAngle += 3 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftLegAngle = 40 ; rightLegAngle = 40 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); while (( abs ( leftHandAngle - 100 ) > 5 ) || ( abs ( rightHandAngle - 100 ) > 5 )) { if ( leftHandAngle > 100 ) leftHandAngle -= 5 ; else if ( leftHandAngle < 100 ) leftHandAngle += 5 ; if ( rightHandAngle > 100 ) rightHandAngle -= 5 ; else if ( rightHandAngle < 100 ) rightHandAngle += 5 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } leftHandAngle = 100 ; rightHandAngle = 100 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); } // 伸懶腰 void stretch () { standUp (); // 先站立 // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); while ( leftHandAngle >= 15 ) { leftHandAngle -= 3 ; rightHandAngle -= 3 ; leftLegAngle -= 1 ; rightLegAngle -= 1 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); int n = 2 ; while ( n -- ) { while ( leftHandAngle <= 25 ) { leftHandAngle += 1 ; rightHandAngle += 1 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } while ( leftHandAngle >= 15 ) { leftHandAngle -= 2 ; rightHandAngle -= 2 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } } // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); while ( leftLegAngle <= 165 ) { leftHandAngle += 3 ; rightHandAngle += 3 ; leftLegAngle += 3 ; rightLegAngle += 3 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); n = 2 ; while ( n -- ) { while ( leftLegAngle >= 155 ) { leftLegAngle -= 1 ; rightLegAngle -= 1 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } while ( leftLegAngle <= 165 ) { leftLegAngle += 2 ; rightLegAngle += 2 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } } // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); while ( leftHandAngle >= 90 ) { leftHandAngle -= 1 ; rightHandAngle -= 1 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } // 避免長時間未處理藍牙接收訊息，導致WeXCube 斷開連接 //wex_process (); while ( leftLegAngle >= 90 ) { leftLegAngle -= 3 ; rightLegAngle -= 3 ; delay ( 20 ); // 延時，避免過快 updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); // 更新舵機角度 } actionModel = ACTION_MODEL_NONE ; // 停止動作 } // 前頂 void headForward () { standUp (); leftHandAngle = 140 ; rightHandAngle = 140 ; leftLegAngle = 150 ; rightLegAngle = 150 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 200 ); leftHandAngle = 90 ; rightHandAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 100 ); leftLegAngle = 90 ; rightLegAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 100 ); } // 後頂 void headBackward () { standUp (); leftHandAngle = 30 ; rightHandAngle = 30 ; leftLegAngle = 40 ; rightLegAngle = 40 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 200 ); leftLegAngle = 90 ; rightLegAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 100 ); leftHandAngle = 90 ; rightHandAngle = 90 ; updateServo ( leftHandAngle , rightHandAngle , leftLegAngle , rightLegAngle ); delay ( 100 ); } /* ======= 以下函式請用你原本的版本（直接複製貼上）======= updateLED, updateServo, selectEyesColor/selectEyesModel 已不需要（可刪） standUp/getDown/sitDown/stretch/headForward/headBackward, saveOffsetsToFlash */