智慧生活科技專業社群: [靈動狗] Web語音控制

/*
  ESP32-C3 SuperMini RobotDog - WiFi Voice Control (CN/EN)
  Board: ESP32C3 Dev Module (Arduino IDE)
  Libs : ESP32Servo, Adafruit_NeoPixel

  WiFi AP:
    SSID: RobotDog-Voice
    PASS: 12345678

  Open on phone:
    http://192.168.4.1/

  Voice commands (examples):
    中文：站立/起立、趴下、坐下、伸懶腰、前頂、後頂、前進、後退、左轉、右轉、停、開燈、關燈、彩虹
    English: stand up, get down, sit down, stretch, head forward, head back, forward, backward, left, right, stop, light on, light off, rainbow
*/

#include <Arduino.h>
#include <WiFi.h>
#include <WebServer.h>
#include <ESP32Servo.h>
#include <Adafruit_NeoPixel.h>

// ===================== WiFi AP =====================
static const char* AP_SSID = "RobotDog-Voice";
static const char* AP_PASS = "12345678";   // 你問的 WiFi 連線密碼：就在這裡改

WebServer server(80);

// ===================== Pins (請依實際接線調整) =====================
// ESP32-C3 可用腳位依板子不同略有差異，若某腳位不穩就換別的 GPIO
#define EYES_CTRL_PIN      6
#define EYES_NUM           2

#define LEFTHAND_CTRL_PIN  0
#define RIGHTHAND_CTRL_PIN 1
#define LEFTLEG_CTRL_PIN   10
#define RIGHTLEG_CTRL_PIN  7

// ===================== Servo & LED =====================
Servo leftHandServo;
Servo rightHandServo;
Servo leftLegServo;
Servo rightLegServo;

Adafruit_NeoPixel strip(EYES_NUM, EYES_CTRL_PIN, NEO_GRB + NEO_KHZ800);

// 舵機角度（0~180）
int leftHandAngle  = 90;
int rightHandAngle = 90;
int leftLegAngle   = 90;
int rightLegAngle  = 90;

// 校準偏移量（需要再加）
int leftHandOffset  = 0;
int rightHandOffset = 0;
int leftLegOffset   = 0;
int rightLegOffset  = 0;

// 動作速度（每次變動角度）
int moveSpeed = 6;

// 眼睛燈狀態
uint8_t lightLevel = 0;          // 0=off, 1..255=on
uint8_t ledRGB[3]  = {255,255,255};
uint8_t lightMode  = 0;          // 0 normal, 1 breathing, 2 rainbow

// gait step
uint8_t stepFlag = 0;

// ===================== Helpers =====================
static inline int clampAngle(int a){ return constrain(a, 0, 180); }

void updateLED(uint8_t r, uint8_t g, uint8_t b, uint8_t level) {
  for (int i=0;i<EYES_NUM;i++) strip.setPixelColor(i, strip.Color(r,g,b));
  strip.setBrightness(level);
  strip.show();
}

void updateServo(uint8_t lh, uint8_t rh, uint8_t ll, uint8_t rl) {
  int Lh = clampAngle((int)lh + leftHandOffset);
  int Rh = clampAngle((int)rh + rightHandOffset);
  int Ll = clampAngle((int)ll + leftLegOffset);
  int Rl = clampAngle((int)rl + rightLegOffset);

  // 右側反轉（依你的機構方向；如果你實機相反，就把這兩行註解）
  Rh = 180 - Rh;
  Rl = 180 - Rl;

  leftHandServo.write(Lh);
  rightHandServo.write(Rh);
  leftLegServo.write(Ll);
  rightLegServo.write(Rl);
}

// ===================== Motions (你提供的 standUp 風格) =====================
void standUp() {
  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);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftHandAngle = rightHandAngle = 90;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);

  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);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftLegAngle = rightLegAngle = 90;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void getDown() {  // 趴下
  // 腿到 15，手到 15（你可依機構調）
  int targetLeg = 15, targetHand = 15;

  while ((abs(leftLegAngle-targetLeg) > 5) || (abs(rightLegAngle-targetLeg) > 5)) {
    leftLegAngle  += (leftLegAngle  > targetLeg ? -5 : +5);
    rightLegAngle += (rightLegAngle > targetLeg ? -5 : +5);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftLegAngle = rightLegAngle = targetLeg;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);

  while ((abs(leftHandAngle-targetHand) > 5) || (abs(rightHandAngle-targetHand) > 5)) {
    leftHandAngle  += (leftHandAngle  > targetHand ? -5 : +5);
    rightHandAngle += (rightHandAngle > targetHand ? -5 : +5);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftHandAngle = rightHandAngle = targetHand;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void sitDown() {  // 坐下（腿 40，手 100）
  int targetLeg = 40, targetHand = 100;

  while ((abs(leftLegAngle-targetLeg) > 5) || (abs(rightLegAngle-targetLeg) > 5)) {
    leftLegAngle  += (leftLegAngle  > targetLeg ? -3 : +3);
    rightLegAngle += (rightLegAngle > targetLeg ? -3 : +3);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftLegAngle = rightLegAngle = targetLeg;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);

  while ((abs(leftHandAngle-targetHand) > 5) || (abs(rightHandAngle-targetHand) > 5)) {
    leftHandAngle  += (leftHandAngle  > targetHand ? -5 : +5);
    rightHandAngle += (rightHandAngle > targetHand ? -5 : +5);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  leftHandAngle = rightHandAngle = targetHand;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void stretch() {  // 簡化伸懶腰：站立->手往前->腿伸->回站立
  standUp();
  // 手往前（角度變小）
  for (int i=0;i<20;i++){
    leftHandAngle  = clampAngle(leftHandAngle  - 3);
    rightHandAngle = clampAngle(rightHandAngle - 3);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  // 腿伸直（角度變大）
  for (int i=0;i<25;i++){
    leftLegAngle  = clampAngle(leftLegAngle  + 3);
    rightLegAngle = clampAngle(rightLegAngle + 3);
    delay(20);
    updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  }
  // 回站立
  standUp();
}

void headForward() { // 前頂
  standUp();
  leftHandAngle = rightHandAngle = 140;
  leftLegAngle  = rightLegAngle  = 150;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  delay(250);
  standUp();
}

void headBackward() { // 後頂
  standUp();
  leftHandAngle = rightHandAngle = 30;
  leftLegAngle  = rightLegAngle  = 40;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
  delay(250);
  standUp();
}

// 走路：簡化版（你可替換成你原本更完整的 gait）
void stepForwardOnce() {
  // 左手/右腳前，右手/左腳後 交替
  if (stepFlag == 0) {
    leftHandAngle  -= moveSpeed;
    rightLegAngle  -= moveSpeed;
    if (leftHandAngle <= 65) stepFlag = 1;
  } else {
    rightHandAngle += moveSpeed;
    leftLegAngle   += moveSpeed;
    if (rightHandAngle >= 115) stepFlag = 0;
  }
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void stepBackwardOnce() {
  if (stepFlag == 0) {
    leftHandAngle  += moveSpeed;
    rightLegAngle  += moveSpeed;
    if (leftHandAngle >= 115) stepFlag = 1;
  } else {
    rightHandAngle -= moveSpeed;
    leftLegAngle   -= moveSpeed;
    if (rightHandAngle <= 65) stepFlag = 0;
  }
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void stepLeftOnce() {   // 原地左轉（簡化）
  leftLegAngle  += moveSpeed;
  rightLegAngle -= moveSpeed;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

void stepRightOnce() {  // 原地右轉（簡化）
  leftLegAngle  -= moveSpeed;
  rightLegAngle += moveSpeed;
  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);
}

// ===================== Command Parser =====================
String toLowerTrim(String s){
  s.trim();
  s.toLowerCase();
  return s;
}

void doCommand(String text){
  String t = toLowerTrim(text);

  // ===== Lights =====
  if (t.indexOf("開燈") >= 0 || t.indexOf("light on") >= 0 || t == "on") {
    lightLevel = 128;
    lightMode = 0;
    updateLED(ledRGB[0], ledRGB[1], ledRGB[2], lightLevel);
    return;
  }
  if (t.indexOf("關燈") >= 0 || t.indexOf("light off") >= 0 || t == "off") {
    lightLevel = 0;
    updateLED(0,0,0,0);
    return;
  }
  if (t.indexOf("彩虹") >= 0 || t.indexOf("rainbow") >= 0) {
    lightLevel = 80;
    lightMode = 2;
    return;
  }

  // ===== Postures =====
  if (t.indexOf("站立") >= 0 || t.indexOf("起立") >= 0 || t.indexOf("stand") >= 0) {
    standUp(); return;
  }
  if (t.indexOf("趴下") >= 0 || t.indexOf("趴") >= 0 || t.indexOf("get down") >= 0 || t.indexOf("down") >= 0) {
    getDown(); return;
  }
  if (t.indexOf("坐下") >= 0 || t.indexOf("sit") >= 0) {
    sitDown(); return;
  }
  if (t.indexOf("伸懶腰") >= 0 || t.indexOf("stretch") >= 0) {
    stretch(); return;
  }
  if (t.indexOf("前頂") >= 0 || t.indexOf("head forward") >= 0 || t.indexOf("head fwd") >= 0) {
    headForward(); return;
  }
  if (t.indexOf("後頂") >= 0 || t.indexOf("head back") >= 0 || t.indexOf("back head") >= 0) {
    headBackward(); return;
  }

  // ===== Move (single action) =====
  if (t.indexOf("前進") >= 0 || t == "forward" || t == "go" ) {
    standUp();
    for(int i=0;i<12;i++){ stepForwardOnce(); delay(25); }
    return;
  }
  if (t.indexOf("後退") >= 0 || t == "backward" || t == "back" ) {
    standUp();
    for(int i=0;i<12;i++){ stepBackwardOnce(); delay(25); }
    return;
  }
  if (t.indexOf("左轉") >= 0 || t == "left") {
    standUp();
    for(int i=0;i<10;i++){ stepLeftOnce(); delay(25); }
    return;
  }
  if (t.indexOf("右轉") >= 0 || t == "right") {
    standUp();
    for(int i=0;i<10;i++){ stepRightOnce(); delay(25); }
    return;
  }
  if (t.indexOf("停") >= 0 || t.indexOf("stop") >= 0) {
    stepFlag = 0;
    standUp();
    return;
  }
}

// ===================== Web UI =====================
static const char INDEX_HTML[] PROGMEM = R"HTML(
<!doctype html>
<html lang="zh-TW">
<head>
<meta charset="utf-8"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>RobotDog Voice</title>
<style>
body{font-family:system-ui, -apple-system, "Segoe UI", Arial; margin:16px;}
button{font-size:18px; padding:12px 14px; margin:6px; border-radius:10px; border:0; background:#2d6cdf; color:#fff;}
button.gray{background:#666;}
.card{padding:12px; border:1px solid #ddd; border-radius:12px; margin:10px 0;}
small{color:#666;}
#txt{font-size:18px; width:100%; padding:10px; border-radius:10px; border:1px solid #ccc;}
</style>
</head>
<body>
<h2>靈動狗 Wi-Fi 語音控制</h2>
<div class="card">
  <div><b>步驟</b></div>
  <ol>
    <li>手機連上 Wi-Fi：<b>RobotDog-Voice</b></li>
    <li>打開：<b>http://192.168.4.1/</b></li>
    <li>按「開始語音」，用中文或英文說口令</li>
  </ol>
  <small>提示：部分瀏覽器/系統可能需要 HTTPS 才能用語音；Android Chrome 通常可在區網使用。</small>
</div>

<div class="card">
  <input id="txt" placeholder="也可以直接輸入口令，例如：站立 / forward / rainbow" />
  <div style="margin-top:10px">
    <button id="btnStart">開始語音</button>
    <button class="gray" id="btnSend">送出文字</button>
  </div>
  <div style="margin-top:8px"><small>辨識/輸入結果：</small> <span id="out"></span></div>
</div>

<div class="card">
  <div><b>常用按鍵</b></div>
  <div>
    <button onclick="sendCmd('站立')">站立</button>
    <button onclick="sendCmd('趴下')">趴下</button>
    <button onclick="sendCmd('坐下')">坐下</button>
    <button onclick="sendCmd('伸懶腰')">伸懶腰</button>
  </div>
  <div>
    <button onclick="sendCmd('前進')">前進</button>
    <button onclick="sendCmd('後退')">後退</button>
    <button onclick="sendCmd('左轉')">左轉</button>
    <button onclick="sendCmd('右轉')">右轉</button>
    <button class="gray" onclick="sendCmd('停')">停</button>
  </div>
  <div>
    <button onclick="sendCmd('開燈')">開燈</button>
    <button onclick="sendCmd('關燈')">關燈</button>
    <button onclick="sendCmd('彩虹')">彩虹</button>
  </div>
</div>

<div class="card">
  <div><b>口令例子（中/英）</b></div>
  <ul>
    <li>站立 / 起立 / stand up</li>
    <li>趴下 / get down</li>
    <li>坐下 / sit down</li>
    <li>伸懶腰 / stretch</li>
    <li>前頂 / head forward</li>
    <li>後頂 / head back</li>
    <li>前進 / forward，後退 / backward，左轉 / left，右轉 / right，停 / stop</li>
    <li>開燈 / light on，關燈 / light off，彩虹 / rainbow</li>
  </ul>
</div>

<script>
const out = document.getElementById('out');
const txt = document.getElementById('txt');

async function sendCmd(cmd){
  out.textContent = cmd;
  await fetch('/cmd?text=' + encodeURIComponent(cmd));
}

document.getElementById('btnSend').onclick = () => sendCmd(txt.value || '');

let rec = null;
document.getElementById('btnStart').onclick = () => {
  const SR = window.SpeechRecognition || window.webkitSpeechRecognition;
  if(!SR){
    alert('此瀏覽器不支援 SpeechRecognition。可改用 Chrome 或直接按鍵/輸入文字。');
    return;
  }
  if(rec){ rec.stop(); rec = null; return; }

  rec = new SR();
  rec.lang = 'zh-TW'; // 也能辨識英文；若你想偏英文，可改 'en-US'
  rec.interimResults = false;
  rec.maxAlternatives = 1;

  rec.onresult = (e)=>{
    const t = e.results[0][0].transcript || '';
    txt.value = t;
    sendCmd(t);
  };
  rec.onerror = (e)=>{ out.textContent = 'error: ' + e.error; };
  rec.onend = ()=>{ rec = null; };

  rec.start();
};
</script>
</body>
</html>
)HTML";

void handleRoot(){
  server.send_P(200, "text/html; charset=utf-8", INDEX_HTML);
}

void handleCmd(){
  String text = server.hasArg("text") ? server.arg("text") : "";
  doCommand(text);
  server.send(200, "text/plain; charset=utf-8", "OK");
}

// ===================== Setup / Loop =====================
void setup() {
  Serial.begin(115200);
  delay(200);

  // Servo
  leftHandServo.setPeriodHertz(50);
  rightHandServo.setPeriodHertz(50);
  leftLegServo.setPeriodHertz(50);
  rightLegServo.setPeriodHertz(50);

  // attach(pin, minUs, maxUs)
  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);

  updateServo(leftHandAngle, rightHandAngle, leftLegAngle, rightLegAngle);

  // NeoPixel
  strip.begin();
  strip.show();
  updateLED(0,0,0,0);

  // WiFi AP
  WiFi.mode(WIFI_AP);
  WiFi.softAP(AP_SSID, AP_PASS);
  IPAddress ip = WiFi.softAPIP();
  Serial.print("AP IP: ");
  Serial.println(ip);

  // Web server
  server.on("/", handleRoot);
  server.on("/cmd", handleCmd);
  server.begin();
  Serial.println("HTTP server started");
}

void loop() {
  server.handleClient();

  // LED mode animation
  static uint32_t lastLedMs = 0;
  uint32_t now = millis();

  if (lightLevel == 0) return;

  if (lightMode == 0) {
    // normal: keep current color
    if (now - lastLedMs > 200) {
      lastLedMs = now;
      updateLED(ledRGB[0], ledRGB[1], ledRGB[2], lightLevel);
    }
  } else if (lightMode == 1) {
    // breathing (optional)
    static int dir = 1;
    static int lv = 0;
    if (now - lastLedMs > 30) {
      lastLedMs = now;
      lv += dir * 4;
      if (lv >= lightLevel) { lv = lightLevel; dir = -1; }
      if (lv <= 0) { lv = 0; dir = 1; }
      updateLED(ledRGB[0], ledRGB[1], ledRGB[2], (uint8_t)lv);
    }
  } else if (lightMode == 2) {
    // rainbow
    static uint16_t hue = 0;
    if (now - lastLedMs > 25) {
      lastLedMs = now;
      hue += 256;
      for (int i=0;i<strip.numPixels();i++){
        uint16_t h = hue + (i * 65535UL / strip.numPixels());
        strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(h)));
      }
      strip.setBrightness(lightLevel);
      strip.show();
    }
  }
}
智慧生活科技專業社群

2026年1月28日星期三

[靈動狗] Web語音控制

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張貼留言

2026年1月28日 星期三

[靈動狗] Web語音控制

沒有留言:

張貼留言

2026年1月28日星期三
