前一篇文章：樹藝森林靈犬操作與程式
RobotDog V1.2 已具備完整的手機網頁控制功能，包括四肢動作、站立、坐下、趴下、眼睛燈光控制，以及離線積木流程。
當 RobotDog 硬體升級到 V1.3 後，原本的控制程式雖然可以編譯與燒錄，但因為腳位配置、電源狀態、觸控訊號與 LED 初始化方式不同，陸續出現手腳無法動作、Wi-Fi AP 無法連線、燈光持續閃爍、觸控失效等問題。
本文記錄將 V1.2 網頁控制程式修改為 V1.3 相容版本的過程，並整理兩個版本的硬體差異、問題原因與最後的修正方法，作為後續維護 RobotDog 韌體的參考。
一、原有 V1.2 網頁控制功能
V1.2 網頁控制程式主要提供下列功能：
- RobotDog 自建 Wi-Fi AP，手機不需要外部路由器即可連線。
- 瀏覽器開啟
http://192.168.4.1/操作四肢與預設動作。 - 控制站立、坐下、趴下、伸展、前進、後退與轉向。
- 控制眼睛燈光的顏色、亮度與顯示模式。
- 提供離線積木流程頁面
/blockly。 - 提供
/api/run、/api/stop與/api/status等網頁 API。
二、V1.2 與 V1.3 腳位差異
這次移植最重要的工作，是確認 V1.3 實際使用的 GPIO。兩個版本外觀看起來相近，但四肢舵機、眼睛燈與觸控開關的接腳並不相同。
| 功能 | V1.2 GPIO | V1.3 GPIO | 說明 |
|---|---|---|---|
| 眼睛燈 | 6 | 21 | V1.3 改用 GPIO 21 控制 NeoPixel。 |
| 左手舵機 | 0 | 20 | 移植初期曾誤設為 GPIO 5，造成左手完全無法控制。 |
| 右手舵機 | 1 | 10 | 兩版接腳不同。 |
| 左腳舵機 | 10 | 7 | 兩版接腳不同。 |
| 右腳舵機 | 7 | 6 | 兩版接腳不同。 |
| 觸控開關 | 4 | 0 | V1.3 採低電位觸發，需使用內部上拉。 |
| 電源喚醒 | 5 | 3 | V1.3 使用 GPIO 3 維持或喚醒電源。 |
同一個 GPIO 編號在不同 ESP32 開發板或硬體版本上，可能具有不同用途。移植程式時不能只修改版本字串，必須重新確認每一條訊號線的實際接腳。
三、第一次移植：建立 V1.2／V1.3 相容架構
一開始將固定的 #define 腳位改成可在執行階段指定的變數，並加入硬體版本設定函式。
原本希望透過硬體偵測，自動判斷目前是 V1.2 或 V1.3，再設定四肢、燈光與觸控腳位。
// V1.3 最後確認的腳位
EYES_CTRL_PIN = 21;
LEFTHAND_CTRL_PIN = 20;
RIGHTHAND_CTRL_PIN = 10;
LEFTLEG_CTRL_PIN = 7;
RIGHTLEG_CTRL_PIN = 6;
TOUCH_SW_PIN = 0;
VCC_WAKE_PIN = 3;
同時將舵機的 attach() 移到硬體版本與 GPIO 設定完成之後，避免舵機先綁定到錯誤腳位。
四、問題一：右腳與左手無法控制
現象
程式可以啟動，網頁也可以操作，但右腳與左手沒有動作。
檢查方向
- 確認網頁指令是否有送到 ESP32。
- 確認舵機物件是否成功執行
attach()。 - 確認四肢角度寫入函式是否使用正確的舵機物件。
- 逐一比對 V1.3 實際 GPIO。
修正
右腳確認使用 GPIO 6；左手最初曾改成 GPIO 5，但實機測試仍無動作，最後確認 V1.3 左手應使用 GPIO 20。 修正後，四肢動作均可由網頁正常控制。
為避免舊的校準值讓舵機角度超出範圍，也加入偏移量保護：
offset = constrain(offset, -15, 15);
angle = constrain(baseAngle + offset, 0, 180);五、問題二：Wi-Fi AP 無法連線，而且燈光一直閃
現象
手機搜尋得到 RobotDog AP，但經常無法完成連線；同時眼睛燈反覆閃爍，看起來像是不斷重新開機。
問題原因
程式在 loop() 中讀取 GPIO 8，並將 LOW 判斷為關機訊號，接著執行 ESP.restart()。
但 GPIO 8 在目前 V1.3 硬體上可能長時間維持 LOW，因此形成無限重啟循環。
if (digitalRead(SWITCH_STATE_PIN) == LOW) {
ESP.restart();
}ESP32 每次剛建立 Wi-Fi AP 就立刻重啟，造成手機看到的 AP 不穩定；眼睛燈也因為反覆執行開機燈效而不斷閃爍。
修正
- 移除 GPIO 8 直接觸發
ESP.restart()的流程。 - Wi-Fi AP 啟動前清除舊的連線狀態。
- 固定 AP 使用 Wi-Fi 頻道 1。
- 加入 AP 啟動成功與 IP 位址的序列埠訊息。
WiFi.mode(WIFI_AP);
WiFi.softAPdisconnect(true);
delay(100);
bool apOK = WiFi.softAP(apName, "12345678", 1, false, 4);
Serial.print("WiFi AP start: ");
Serial.println(apOK ? "OK" : "FAIL");
Serial.println(WiFi.softAPIP());六、問題三：只剩左手不能控制
Wi-Fi 與其他三個關節恢復正常後，左手仍完全沒有反應。由於右手、左腳與右腳都可以正常執行，表示網頁 API、動作函式與舵機控制架構沒有問題，問題範圍便縮小到左手的 GPIO。
最後將左手從 GPIO 5 改為 GPIO 20：
LEFTHAND_CTRL_PIN = 20;
leftHandServo.attach(LEFTHAND_CTRL_PIN);
修正後，左手、右手、左腳與右腳均可正常由手機網頁控制。
七、問題四：觸控無法切換動作，燈光也無法控制
觸控問題
V1.3 的觸控開關接在 GPIO 0，實際訊號為低電位觸發。因此初始化應使用內部上拉，按下或觸控時讀到 LOW。
pinMode(TOUCH_SW_PIN, INPUT_PULLUP);
bool touched = (digitalRead(TOUCH_SW_PIN) == LOW);觸控功能重新規劃為：
- 短觸：在站立與趴下之間切換。
- 長觸：切換眼睛燈開啟或關閉。
- 採非阻塞式計時，避免觸控判斷影響 Wi-Fi 網頁服務。
網頁控制旗標問題
執行網頁的站立、坐下或趴下動作後，原本的 webCtrlFlag 沒有恢復為 false，因此後續觸控輸入被程式忽略。
// 單次網頁動作完成後
webCtrlFlag = false;燈光問題
原本程式先設定像素顏色，再修改亮度。當先前亮度為 0 時，燈光資料可能仍維持黑色。
修正後先設定亮度，再寫入 RGB 顏色，最後呼叫 show()。
strip.setBrightness(level);
for (int i = 0; i < EYES_NUM; i++) {
strip.setPixelColor(i, strip.Color(red, green, blue));
}
strip.show();八、最後測試結果
| 測試項目 | 結果 |
|---|---|
| 手機搜尋 RobotDog Wi-Fi AP | 正常 |
| 使用密碼 12345678 連線 | 正常 |
| 開啟 192.168.4.1 網頁 | 正常 |
| 左手、右手、左腳、右腳控制 | 正常 |
| 站立、坐下、趴下等動作 | 正常 |
| 短觸切換站立與趴下 | 正常 |
| 長觸切換眼睛燈 | 正常 |
| 網頁控制燈光顏色與亮度 | 正常 |
| 離線積木流程 | 保留原有功能 |
九、這次除錯的經驗
- 硬體升版不代表腳位相容：即使外觀與功能相同，也要重新確認每一個 GPIO。
- 同時出現 AP 不穩與燈光閃爍，應先懷疑反覆重啟：不要只從 Wi-Fi 密碼或 AP 名稱尋找問題。
- 當只有一個關節失效時，優先檢查腳位：其他關節正常，通常代表控制流程與網頁 API 沒有問題。
- 觸控要確認有效電位：使用
INPUT_PULLUP時，通常以 LOW 表示觸發。 - 狀態旗標要在動作完成後釋放：否則網頁操作可能永久鎖住實體按鍵或觸控功能。
- LED 初始化順序很重要：先設定亮度，再設定顏色與執行
show()，較不容易產生全黑或狀態不同步。 - 逐步測試比一次修改全部更有效：每次只解決一個現象，才能確認真正的原因。
十、手機操作方式
- 開啟 RobotDog 電源。
- 手機 Wi-Fi 搜尋
RobotDog52-XXXXXX。 - 輸入密碼
12345678。 - 若手機提示此 Wi-Fi 無法連上網際網路，仍選擇保持連線。
- 開啟瀏覽器，輸入
http://192.168.4.1/。 - 離線積木流程頁面為
http://192.168.4.1/blockly。
結語
這次 RobotDog V1.2 網頁控制程式移植到 V1.3，看似只是更換幾個 GPIO，實際上還牽涉硬體版本辨識、舵機初始化順序、電源狀態、Wi-Fi AP 重啟、觸控有效電位、控制旗標與 NeoPixel 顯示流程。
經過逐項測試後，V1.3 已可正常使用手機網頁控制四肢、執行站立與坐下等動作、使用觸控切換狀態，並控制眼睛燈光。這個過程也再次說明：嵌入式系統的程式移植，除了軟體邏輯之外，必須把硬體接線與實機測試一起納入。
本文由作者主導內容規劃，並使用生成式 AI 協助程式檢查、除錯紀錄整理與 HTML 版面編排；所有程式修改與功能均經作者實機測試確認。
修改後程式碼：
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離線積木流程頁（自製輕量積木：可拖拉排序、按 Play 播放） - POST /api/run 送入流程 JSON - POST /api/stop 停止並清空流程 - GET /api/status 顯示狀態（含 runner 狀態） 本版新增積木： - 單獨「前進 / 後退 / 左轉 / 右轉」（各自可設定秒數，時間到自動停止） - 原本的「移動(前/後/左/右)」仍保留（下拉選方向） 注意： - standUp/getDown/sitDown/stretch/headForward/headBackward 為阻塞函式（入門版可接受） - 若你想讓流程播放時網頁依然極順（不中斷 server.handleClient），下一版我會把這些動作改成非阻塞狀態機 */ #include <Arduino.h> #include <WiFi.h> #include <WebServer.h> #include <ESP32Servo.h> #include <Adafruit_NeoPixel.h> #include <Preferences.h> #include <ArduinoJson.h> // 資料型別定義 typedef signed char wex_s8_t; typedef signed short wex_s16_t; typedef signed long wex_s32_t; typedef signed long long wex_s64_t; typedef unsigned char wex_u8_t; typedef unsigned short wex_u16_t; typedef unsigned long wex_u32_t; typedef unsigned long long wex_u64_t; typedef float wex_f32_t; typedef double wex_f64_t; /* ========== V1.2 / V1.3 相容腳位 ========== */ // GPIO 8 是原廠用來識別 V1.2 / V1.3 與偵測電源狀態的腳位， // 不再當作一般狀態 LED 使用。 #define SWITCH_STATE_PIN 8 #define BAT_VOLT_PIN 4 #define EYES_NUM 2 #define THERSHOLD_ANGLE 65 // 先使用 V1.3 預設值，setup() 偵測到 V1.2 後會自動改寫。 uint8_t EYES_CTRL_PIN = 21; uint8_t LEFTHAND_CTRL_PIN = 20; uint8_t RIGHTHAND_CTRL_PIN = 10; uint8_t LEFTLEG_CTRL_PIN = 7; uint8_t RIGHTLEG_CTRL_PIN = 6; uint8_t TOUCH_SW_PIN = 0; uint8_t VCC_WAKE_PIN = 3; /* ========== 枚舉 ========== */ 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 ========== */ 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 ========== */ 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 ========== */ Preferences preferences; int8_t leftHandOffset=0, rightHandOffset=0, leftLegOffset=0, rightLegOffset=0; /* ========== 電池/版本 ========== */ 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 = 0x010202; uint32_t hardwareVersion = 0x0000; /* ========== Web 控制 ========== */ WebServer server(80); bool webCtrlFlag = false; // 網頁正在控制時，忽略觸碰按鍵 /* ========== 函式宣告 ========== */ 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(); void detectHardwareAndConfigurePins(); /* ========== 內建 HTML：按鈕控制台 ========== */ 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} a{color:#2f6fed;text-decoration:none} </style></head><body> <h2>雲林官邸兒童館</h2> <h2>RobotDog 網頁控制</h2> <div class="small"><a href="/blockly">切換到：離線積木流程 /blockly</a></div> <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}｜流程：${j.runner||"idle"}`; }catch(e){} setTimeout(poll,800); } poll(); </script> </body></html> )HTML"; /* ========== 內建 HTML：離線積木流程（自製拖拉排序） ========== */ static const char BLOCKLY_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 離線積木流程</title> <style> :root{--bg:#f6f7fb;--card:#fff;--shadow:0 2px 10px rgba(0,0,0,.06);--blue:#2f6fed;--gray:#555;} body{font-family:system-ui,-apple-system,"Segoe UI",Arial;margin:0;background:var(--bg);} #top{position:sticky;top:0;z-index:10;background:var(--card);box-shadow:var(--shadow);padding:10px 12px;display:flex;gap:10px;align-items:center;flex-wrap:wrap} button{border:0;border-radius:10px;padding:10px 14px;font-size:15px;background:var(--blue);color:#fff;cursor:pointer} button.secondary{background:var(--gray)} button.danger{background:#d94a38} .small{color:#666;font-size:13px} a{color:var(--blue);text-decoration:none} .wrap{padding:12px} .panel{background:var(--card);border-radius:14px;box-shadow:var(--shadow);padding:12px;margin:10px 0} .h{font-weight:700;margin:0 0 8px} .palette{display:flex;gap:8px;flex-wrap:wrap} .pbtn{background:#eef2ff;color:#183b9b;border:1px solid #dbe5ff} .pbtn:active{transform:translateY(1px)} .list{display:flex;flex-direction:column;gap:10px;margin-top:10px} .block{ background:#fff;border:1px solid #e7e9f2;border-radius:12px;padding:10px; box-shadow:0 1px 6px rgba(0,0,0,.05); display:flex; gap:10px; align-items:flex-start } .drag{ width:34px;height:34px;border-radius:10px;background:#f1f3f8;color:#333;display:flex;align-items:center;justify-content:center; user-select:none;cursor:grab;font-weight:700 } .body{flex:1} .row{display:flex;gap:8px;flex-wrap:wrap;align-items:center} .sel,input[type=number],input[type=color]{padding:8px 10px;border-radius:10px;border:1px solid #d9ddea;background:#fff;font-size:14px} input[type=number]{width:90px} .badge{display:inline-block;background:#f1f3f8;border-radius:999px;padding:4px 10px;font-size:13px;color:#333} .x{background:#f7f0f0;color:#b0302a;border:1px solid #f1d1cf;border-radius:10px;padding:6px 10px;cursor:pointer} .hint{color:#666;font-size:13px;margin-top:6px;line-height:1.4} .dropHint{border:2px dashed #b9c7ff;background:#f7f9ff} </style></head><body> <h2>RobotDog 雲林官邸兒童館</h2> <h2>RobotDog 積木編程</h2> <div id="top"> <button id="btnPlay">Play</button> <button class="secondary" id="btnStop">Stop</button> <button class="danger" id="btnClear">清空</button> <span class="small" id="msg">先用「新增積木」加入步驟，拖拉排序後按 Play</span> <span class="small" style="margin-left:auto"><a href="/">回到按鈕控制 /</a></span> </div> <div class="wrap"> <div class="panel"> <div class="h">新增積木</div> <div class="palette"> <button class="pbtn" data-add="standup">站立</button> <button class="pbtn" data-add="getdown">趴下</button> <button class="pbtn" data-add="sitdown">坐下</button> <button class="pbtn" data-add="stretch">伸懶腰</button> <button class="pbtn" data-add="headfwd">前頂</button> <button class="pbtn" data-add="headback">後頂</button> <button class="pbtn" data-add="forward">前進</button> <button class="pbtn" data-add="backward">後退</button> <button class="pbtn" data-add="left">左轉</button> <button class="pbtn" data-add="right">右轉</button> <button class="pbtn" data-add="move">移動(前/後/左/右)</button> <button class="pbtn" data-add="do">互動(握手/匍匐/搖)</button> <button class="pbtn" data-add="wait">等待</button> <button class="pbtn" data-add="speed">速度</button> <button class="pbtn" data-add="eyes">眼睛</button> </div> <div class="hint">提示：每個積木都可以拖拉排序；刪除請按右側「刪除」。</div> </div> <div class="panel"> <div class="h">我的流程（拖拉排序）</div> <div id="list" class="list"></div> <div class="hint">「前進/後退/左轉/右轉/互動」會依秒數自動停止；「等待」會停留指定秒數；「眼睛」可設定模式/亮度/顏色。</div> </div> </div> <script> const list = document.getElementById("list"); const msg = document.getElementById("msg"); function el(tag, attrs={}, children=[]){ const e=document.createElement(tag); for(const [k,v] of Object.entries(attrs)){ if(k==="class") e.className=v; else if(k==="html") e.innerHTML=v; else if(k.startsWith("on")) e.addEventListener(k.slice(2), v); else e.setAttribute(k,v); } for(const c of children) e.appendChild(c); return e; } function blockTemplate(type){ const drag = el("div",{class:"drag",draggable:"true",html:"≡"}); const body = el("div",{class:"body"}); const del = el("button",{class:"x",html:"刪除"}); const wrap = el("div",{class:"block", "data-type": type},[drag, body, del]); del.onclick = ()=> wrap.remove(); wrap.addEventListener("dragover", e=>{ e.preventDefault(); wrap.classList.add("dropHint"); }); wrap.addEventListener("dragleave", ()=> wrap.classList.remove("dropHint")); wrap.addEventListener("drop", e=>{ e.preventDefault(); wrap.classList.remove("dropHint"); const id = e.dataTransfer.getData("text/plain"); const src = document.querySelector(`.block[data-id="${id}"]`); if(src && src!==wrap){ list.insertBefore(src, wrap); } }); drag.addEventListener("dragstart", e=>{ const id = wrap.getAttribute("data-id"); e.dataTransfer.setData("text/plain", id); e.dataTransfer.effectAllowed = "move"; }); return {wrap, body}; } let uid=0; function addBlock(type){ uid++; const {wrap, body} = blockTemplate(type); wrap.setAttribute("data-id", String(uid)); const oneLine = (label, cmd)=>{ body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:label}), el("span",{class:"small",html:`指令：${cmd}`}) ])); wrap.setAttribute("data-cmd", cmd); }; if(type==="standup") oneLine("站立","standup"); else if(type==="getdown") oneLine("趴下","getdown"); else if(type==="sitdown") oneLine("坐下","sitdown"); else if(type==="stretch") oneLine("伸懶腰","stretch"); else if(type==="headfwd") oneLine("前頂","headfwd"); else if(type==="headback") oneLine("後頂","headback"); else if(type==="forward" || type==="backward" || type==="left" || type==="right"){ wrap.setAttribute("data-cmd", type); const names = {forward:"前進", backward:"後退", left:"左轉", right:"右轉"}; const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:names[type]}), el("span",{class:"small",html:"秒"}), sec ])); wrap._sec = sec; } else if(type==="wait"){ wrap.setAttribute("data-cmd","wait"); const sec = el("input",{type:"number",min:"0",max:"30",step:"0.5",value:"1"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:"等待"}), el("span",{class:"small",html:"秒數"}), sec ])); wrap._sec = sec; } else if(type==="speed"){ wrap.setAttribute("data-cmd","speed"); const v = el("input",{type:"number",min:"1",max:"10",step:"1",value:"6"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:"速度"}), el("span",{class:"small",html:"1~10"}), v ])); wrap._v = v; } else if(type==="move"){ wrap.setAttribute("data-cmd","move"); const sel = el("select",{class:"sel"}); [["前進","forward"],["後退","backward"],["左轉","left"],["右轉","right"]].forEach(([t,val])=>{ sel.appendChild(el("option",{value:val,html:t})); }); const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:"移動"}), sel, el("span",{class:"small",html:"秒"}), sec ])); wrap._sel = sel; wrap._sec = sec; } else if(type==="do"){ wrap.setAttribute("data-cmd","do"); const sel = el("select",{class:"sel"}); [["握手","handshake"],["匍匐","crawl"],["左右搖","leftright"],["前後搖","frontback"]].forEach(([t,val])=>{ sel.appendChild(el("option",{value:val,html:t})); }); const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:"互動"}), sel, el("span",{class:"small",html:"秒"}), sec ])); wrap._sel = sel; wrap._sec = sec; } else if(type==="eyes"){ wrap.setAttribute("data-cmd","eyes"); const mode = el("select",{class:"sel"}); [["正常","0"],["呼吸","1"],["彩燈","2"]].forEach(([t,val])=>{ mode.appendChild(el("option",{value:val,html:t})); }); const lv = el("input",{type:"number",min:"0",max:"100",step:"1",value:"60"}); const col = el("input",{type:"color",value:"#ffffff"}); body.appendChild(el("div",{class:"row"},[ el("span",{class:"badge",html:"眼睛"}), el("span",{class:"small",html:"模式"}), mode, el("span",{class:"small",html:"亮度"}), lv, el("span",{class:"small",html:"顏色"}), col ])); wrap._mode=mode; wrap._lv=lv; wrap._col=col; } list.appendChild(wrap); } document.querySelectorAll("[data-add]").forEach(b=>{ b.addEventListener("click", ()=> addBlock(b.getAttribute("data-add"))); }); async function postJSON(url, obj){ const r = await fetch(url,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify(obj)}); const t = await r.text(); return {ok:r.ok, text:t}; } function buildSteps(){ const blocks = [...document.querySelectorAll(".block")]; const steps = []; for(const b of blocks){ const type = b.getAttribute("data-type"); const cmd0 = b.getAttribute("data-cmd"); if(cmd0==="wait"){ const s = Number(b._sec.value||0); steps.push({cmd:"wait", ms: Math.round(s*1000)}); continue; } if(cmd0==="speed"){ const v = Number(b._v.value||6); steps.push({cmd:"speed", v: v}); continue; } if(cmd0==="forward" || cmd0==="backward" || cmd0==="left" || cmd0==="right"){ const s = Number(b._sec.value||0); steps.push({cmd: cmd0, ms: Math.round(s*1000)}); steps.push({cmd:"wait", ms: 80}); continue; } if(cmd0==="move"){ const cmd = b._sel.value; const s = Number(b._sec.value||0); steps.push({cmd: cmd, ms: Math.round(s*1000)}); steps.push({cmd:"wait", ms: 80}); continue; } if(cmd0==="do"){ const cmd = b._sel.value; const s = Number(b._sec.value||0); steps.push({cmd: cmd, ms: Math.round(s*1000)}); steps.push({cmd:"wait", ms: 80}); continue; } if(cmd0==="eyes"){ const mode = Number(b._mode.value||0); const lv = Number(b._lv.value||0); const color = b._col.value||"#ffffff"; steps.push({cmd:"eyes", v: mode, ms: lv, color}); continue; } const mapOnce = { "standup":"standup","getdown":"getdown","sitdown":"sitdown", "stretch":"stretch","headfwd":"headfwd","headback":"headback" }; const once = mapOnce[type]; if(once) steps.push({cmd: once}); } return steps; } document.getElementById("btnPlay").onclick = async ()=>{ const steps = buildSteps(); if(!steps.length){ msg.textContent="沒有積木"; return; } const res = await postJSON("/api/run",{steps}); msg.textContent = res.ok ? "已送出，開始播放" : ("送出失敗："+res.text); }; document.getElementById("btnStop").onclick = async ()=>{ const r = await fetch("/api/stop",{method:"POST"}); msg.textContent = r.ok ? "已停止" : "停止失敗"; }; document.getElementById("btnClear").onclick = ()=>{ list.innerHTML=""; msg.textContent="已清空"; }; // 預設示例流程 addBlock("standup"); addBlock("speed"); addBlock("forward"); addBlock("do"); addBlock("getdown"); </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 handleBlockly(){ server.send(200, "text/html; charset=utf-8", BLOCKLY_HTML); } void handleCmd(){ String name = server.arg("name"); int v = server.arg("v").toInt(); webCtrlFlag = true; if(name=="stop"){ actionModel = ACTION_MODEL_NONE; webCtrlFlag = false; stepFlag = 0; }else if(name=="speed"){ 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"){ 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"); } /* ====== Script Runner（入門版）====== */ struct Step { char cmd[12]; int v; int ms; // wait: ms；eyes: 亮度(0~100)；持續型：ms int r,g,b; bool hasRGB; }; static const int MAX_STEPS = 40; Step steps[MAX_STEPS]; int stepCount = 0; bool runnerRunning = false; int runnerIdx = 0; uint32_t stepEndAt = 0; String runnerStateStr(){ if(!runnerRunning) return "idle"; return "running " + String(runnerIdx) + "/" + String(stepCount); } void runnerStop(){ runnerRunning = false; runnerIdx = 0; stepCount = 0; stepEndAt = 0; actionModel = ACTION_MODEL_NONE; webCtrlFlag = false; stepFlag = 0; } String readBody(){ if(server.hasArg("plain")) return server.arg("plain"); if(server.hasArg("data")) return server.arg("data"); return ""; } bool loadStepsFromJson(const String& body){ StaticJsonDocument<4096> doc; DeserializationError err = deserializeJson(doc, body); if(err) return false; JsonArray arr = doc["steps"].as<JsonArray>(); if(arr.isNull()) return false; stepCount = 0; for(JsonObject o : arr){ if(stepCount >= MAX_STEPS) break; const char* c = o["cmd"] | ""; if(!c || !c[0]) continue; Step &s = steps[stepCount++]; strncpy(s.cmd, c, sizeof(s.cmd)-1); s.cmd[sizeof(s.cmd)-1] = '\0'; s.v = o["v"] | 0; s.ms = o["ms"] | 0; s.hasRGB = false; if(o.containsKey("color")){ const char* hx = o["color"]; if(hx && hx[0]=='#' && strlen(hx)==7){ char rr[3]={hx[1],hx[2],0}, gg[3]={hx[3],hx[4],0}, bb[3]={hx[5],hx[6],0}; s.r = strtol(rr, nullptr, 16); s.g = strtol(gg, nullptr, 16); s.b = strtol(bb, nullptr, 16); s.hasRGB = true; } }else if(o.containsKey("r") && o.containsKey("g") && o.containsKey("b")){ s.r = (int)o["r"]; s.g = (int)o["g"]; s.b = (int)o["b"]; s.hasRGB = true; } } return stepCount > 0; } void handleRun(){ webCtrlFlag = true; String body = readBody(); if(body.length()==0){ server.send(400,"text/plain","ERR_NO_BODY"); return; } if(!loadStepsFromJson(body)){ server.send(400,"text/plain","ERR_BAD_JSON"); return; } runnerRunning = true; runnerIdx = 0; stepEndAt = 0; server.send(200,"text/plain","RUN_OK"); } void handleStop(){ runnerStop(); server.send(200,"text/plain","STOP_OK"); } int cmdToAction(const char* cmd){ if(strcmp(cmd,"forward")==0) return ACTION_MODEL_FORWARD; if(strcmp(cmd,"backward")==0) return ACTION_MODEL_BACKWARD; if(strcmp(cmd,"left")==0) return ACTION_MODEL_LEFT; if(strcmp(cmd,"right")==0) return ACTION_MODEL_RIGHT; if(strcmp(cmd,"handshake")==0) return ACTION_MODEL_HANDSHAKE; if(strcmp(cmd,"crawl")==0) return ACTION_MODEL_CRAWL; if(strcmp(cmd,"leftright")==0) return ACTION_MODEL_LEFTRIGHT; if(strcmp(cmd,"frontback")==0) return ACTION_MODEL_FRONTBACK; return ACTION_MODEL_NONE; } void runOnceCmd(const char* cmd){ if(strcmp(cmd,"standup")==0){ standUp(); stateModel=STATE_MODEL_STANDUP; } else if(strcmp(cmd,"getdown")==0){ getDown(); stateModel=STATE_MODEL_GETDOWN; } else if(strcmp(cmd,"sitdown")==0){ sitDown(); stateModel=STATE_MODEL_SITDOWN; } else if(strcmp(cmd,"stretch")==0){ stretch(); stateModel=STATE_MODEL_STANDUP; } else if(strcmp(cmd,"headfwd")==0){ headForward(); stateModel=STATE_MODEL_STANDUP; } else if(strcmp(cmd,"headback")==0){ headBackward(); stateModel=STATE_MODEL_STANDUP; } } void runnerTick(){ if(!runnerRunning) return; if(runnerIdx >= stepCount){ runnerStop(); return; } uint32_t now = millis(); if(stepEndAt != 0 && now < stepEndAt){ return; } stepEndAt = 0; actionModel = ACTION_MODEL_NONE; stepFlag = 0; Step &s = steps[runnerIdx++]; if(strcmp(s.cmd,"wait")==0){ stepEndAt = now + (uint32_t)max(0, s.ms); return; } if(strcmp(s.cmd,"speed")==0){ int vv = constrain(s.v,1,10); moveSpeed = vv * 2; return; } if(strcmp(s.cmd,"eyes")==0){ int mode = constrain(s.v,0,2); int lv100 = constrain(s.ms,0,100); lightModel = mode; lightLevel = map(lv100,0,100,0,255); if(s.hasRGB){ ledRGB[0]=constrain(s.r,0,255); ledRGB[1]=constrain(s.g,0,255); ledRGB[2]=constrain(s.b,0,255); } if(lightLevel==0) updateLED(0,0,0,0); else updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel); return; } if(strcmp(s.cmd,"standup")==0 || strcmp(s.cmd,"getdown")==0 || strcmp(s.cmd,"sitdown")==0 || strcmp(s.cmd,"stretch")==0 || strcmp(s.cmd,"headfwd")==0 || strcmp(s.cmd,"headback")==0){ runOnceCmd(s.cmd); return; } int act = cmdToAction(s.cmd); if(act != ACTION_MODEL_NONE){ if(act==ACTION_MODEL_HANDSHAKE || act==ACTION_MODEL_CRAWL) sitDown(); else standUp(); actionModel = act; stepEndAt = now + (uint32_t)max(0, s.ms); return; } } 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 += "\"runner\":\""+runnerStateStr()+"\""; json += "}"; server.send(200,"application/json",json); } /* ========== setup / loop ========== */ void setup(){ setCpuFrequencyMhz(80); delay(200); Serial.begin(115200); // 先辨識硬體版本，再初始化電源、燈光與舵機，避免使用錯誤 GPIO。 detectHardwareAndConfigurePins(); pinMode(VCC_WAKE_PIN, OUTPUT); digitalWrite(VCC_WAKE_PIN, LOW); delay(200); digitalWrite(VCC_WAKE_PIN, HIGH); delay(50); // NeoPixel 物件建立時使用 V1.3 預設腳位；硬體辨識後重新指定正確腳位。 strip.setPin(EYES_CTRL_PIN); strip.begin(); strip.clear(); strip.setBrightness(64); for(int i=0;i<EYES_NUM;i++) strip.setPixelColor(i, strip.Color(0, 0, 255)); strip.show(); delay(250); strip.clear(); strip.setBrightness(0); strip.show(); leftHandServo.setPeriodHertz(50); rightHandServo.setPeriodHertz(50); leftLegServo.setPeriodHertz(50); rightLegServo.setPeriodHertz(50); int chLH = leftHandServo.attach(LEFTHAND_CTRL_PIN, 500, 2500); int chRH = rightHandServo.attach(RIGHTHAND_CTRL_PIN, 500, 2500); int chLL = leftLegServo.attach(LEFTLEG_CTRL_PIN, 500, 2500); int chRL = rightLegServo.attach(RIGHTLEG_CTRL_PIN, 500, 2500); Serial.printf("Servo attach LH(pin %u,ch %d) RH(pin %u,ch %d) LL(pin %u,ch %d) RL(pin %u,ch %d)\n", LEFTHAND_CTRL_PIN,chLH,RIGHTHAND_CTRL_PIN,chRH, LEFTLEG_CTRL_PIN,chLL,RIGHTLEG_CTRL_PIN,chRL); preferences.begin("servo", false); leftHandOffset = constrain(preferences.getInt("leftHandOffset",0), -15, 15); rightHandOffset = constrain(preferences.getInt("rightHandOffset",0), -15, 15); leftLegOffset = constrain(preferences.getInt("leftLegOffset",0), -15, 15); rightLegOffset = constrain(preferences.getInt("rightLegOffset",0), -15, 15); preferences.end(); Serial.printf("Servo offsets LH=%d RH=%d LL=%d RL=%d\n", leftHandOffset, rightHandOffset, leftLegOffset, rightLegOffset); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); pinMode(TOUCH_SW_PIN, INPUT_PULLUP); // V1.3 觸控輸出為低電位有效 uint64_t chipid = ESP.getEfuseMac(); char ssid[32]; sprintf(ssid, "RobotDog53-%02X%02X%02X", (uint8_t)(chipid>>16), (uint8_t)(chipid>>8), (uint8_t)chipid); WiFi.persistent(false); WiFi.disconnect(true, true); delay(100); WiFi.mode(WIFI_AP); delay(100); bool apOK = WiFi.softAP(ssid, "12345678", 1, false, 4); IPAddress ip = WiFi.softAPIP(); Serial.printf("WiFi AP start: %s\n", apOK ? "OK" : "FAILED"); Serial.printf("AP SSID: %s\n", ssid); Serial.printf("Open: http://%s/\n", ip.toString().c_str()); Serial.printf("Blocks: http://%s/blockly\n", ip.toString().c_str()); server.on("/", handleRoot); server.on("/blockly", handleBlockly); 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.on("/api/run", HTTP_POST, handleRun); server.on("/api/stop", HTTP_POST, handleStop); server.begin(); } void loop(){ // 不再用 GPIO 8 直接觸發 ESP.restart()。 // 部分 V1.3 板子的 GPIO 8 會長時間維持 LOW，若據此重啟， // 將造成 Wi-Fi AP 不斷中斷且眼睛燈反覆閃爍。 server.handleClient(); runnerTick(); delay(20); // 觸碰按鍵：V1.3 GPIO0 為低電位有效。 // 短觸：站立 / 趴下切換；長觸（>= 0.8 秒）：眼睛燈開關。 // 僅在 Blockly 流程未播放時啟用，避免 webCtrlFlag 殘留使觸控永久失效。 static bool touchPressed = false; static uint32_t touchStartMs = 0; static uint32_t touchReleaseMs = 0; if(!runnerRunning){ bool pressedNow = (digitalRead(TOUCH_SW_PIN) == LOW); uint32_t nowTouch = millis(); if(pressedNow && !touchPressed && (nowTouch - touchReleaseMs > 80)){ touchPressed = true; touchStartMs = nowTouch; } if(!pressedNow && touchPressed){ touchPressed = false; touchReleaseMs = nowTouch; uint32_t heldMs = nowTouch - touchStartMs; if(heldMs >= 800){ lightLevel = (lightLevel == 0) ? 128 : 0; if(lightLevel == 0) updateLED(0,0,0,0); else updateLED(ledRGB[0], ledRGB[1], ledRGB[2], lightLevel); }else if(heldMs >= 40){ webCtrlFlag = false; if(stateModel == STATE_MODEL_STANDUP || leftLegAngle >= 70){ actionModel = ACTION_MODEL_GETDOWN; }else{ actionModel = ACTION_MODEL_STANDUP; } } } } // 眼睛燈效 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 switch(actionModel){ case ACTION_MODEL_FORWARD:{ 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_LEFT:{ 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_RIGHT:{ 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_BACKWARD:{ 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_STANDUP: standUp(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; webCtrlFlag=false; break; case ACTION_MODEL_GETDOWN: getDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_GETDOWN; webCtrlFlag=false; break; case ACTION_MODEL_SITDOWN: sitDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_SITDOWN; webCtrlFlag=false; break; case ACTION_MODEL_STRETCH: stretch(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; webCtrlFlag=false; break; case ACTION_MODEL_HANDSHAKE:{ if(stepFlag==0){ rightHandAngle -= moveSpeed; if(rightHandAngle <= 15) stepFlag = 1; }else{ rightHandAngle += moveSpeed; if(rightHandAngle >= 50) stepFlag = 0; } updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_CRAWL:{ 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_LEFTRIGHT:{ 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); stateModel = STATE_MODEL_MOVING; } break; case ACTION_MODEL_FRONTBACK:{ 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); stateModel = STATE_MODEL_MOVING; } 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; } } /* ======= LED 顏色、亮度更新 ======= */ void updateLED(wex_u8_t ucRed, wex_u8_t ucGreen, wex_u8_t ucBlue, wex_u8_t ucLevel){ // 必須先設定亮度，再寫入顏色。若先前亮度為 0，反向順序可能讓像素保持黑色。 strip.setBrightness(ucLevel); for(int i=0;i<EYES_NUM;i++){ strip.setPixelColor(i, strip.Color(ucRed, ucGreen, ucBlue)); } strip.show(); } /* ======= V1.2 / V1.3 硬體辨識與腳位配置 ======= */ void detectHardwareAndConfigurePins(){ // 本檔為 V1.3 硬體專用、沿用 V1.2 網頁控制介面。 // 明確指定 V1.3 腳位；左手舵機使用 GPIO 20。 hardwareVersion = 0x0103; EYES_CTRL_PIN = 21; LEFTHAND_CTRL_PIN = 20; RIGHTHAND_CTRL_PIN = 10; LEFTLEG_CTRL_PIN = 7; RIGHTLEG_CTRL_PIN = 6; TOUCH_SW_PIN = 0; VCC_WAKE_PIN = 3; Serial.printf( "Forced HW V1.3 | eyes=%u LH=%u RH=%u LL=%u RL=%u touch=%u wake=%u\n", EYES_CTRL_PIN, LEFTHAND_CTRL_PIN, RIGHTHAND_CTRL_PIN, LEFTLEG_CTRL_PIN, RIGHTLEG_CTRL_PIN, TOUCH_SW_PIN, VCC_WAKE_PIN ); return; // 以下保留原自動辨識程式供日後重新啟用。 // 沿用原廠 V1.3 韌體的 GPIO 8 辨識流程。 pinMode(SWITCH_STATE_PIN, OUTPUT); digitalWrite(SWITCH_STATE_PIN, HIGH); delay(1); if(!digitalRead(SWITCH_STATE_PIN)){ // 某些板子在電源尚未完全開啟時會維持 LOW。 pinMode(SWITCH_STATE_PIN, INPUT_PULLUP); uint32_t waitStart = millis(); while(digitalRead(SWITCH_STATE_PIN) == LOW && millis() - waitStart < 3000){ delay(10); } } pinMode(SWITCH_STATE_PIN, INPUT_PULLUP); delay(10); if(digitalRead(SWITCH_STATE_PIN) == HIGH){ hardwareVersion = 0x0103; EYES_CTRL_PIN = 21; LEFTHAND_CTRL_PIN = 20; RIGHTHAND_CTRL_PIN = 10; LEFTLEG_CTRL_PIN = 7; RIGHTLEG_CTRL_PIN = 6; TOUCH_SW_PIN = 0; VCC_WAKE_PIN = 3; }else{ hardwareVersion = 0x0102; EYES_CTRL_PIN = 6; LEFTHAND_CTRL_PIN = 0; RIGHTHAND_CTRL_PIN = 1; LEFTLEG_CTRL_PIN = 10; RIGHTLEG_CTRL_PIN = 7; TOUCH_SW_PIN = 4; VCC_WAKE_PIN = 5; } Serial.printf( "Detected HW V%d.%d | eyes=%u LH=%u RH=%u LL=%u RL=%u touch=%u wake=%u\n", (hardwareVersion >> 8) & 0xFF, hardwareVersion & 0xFF, EYES_CTRL_PIN, LEFTHAND_CTRL_PIN, RIGHTHAND_CTRL_PIN, LEFTLEG_CTRL_PIN, RIGHTLEG_CTRL_PIN, TOUCH_SW_PIN, VCC_WAKE_PIN ); } /* ======= 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(); } /* ======= 舵機更新 ======= */ void updateServo(wex_u8_t ucLeftHand, wex_u8_t ucRightHand, wex_u8_t ucLeftLeg, wex_u8_t ucRightLeg){ int leftHand = ucLeftHand + leftHandOffset; int rightHand = ucRightHand + rightHandOffset; int leftLeg = ucLeftLeg + leftLegOffset; int rightLeg = ucRightLeg + rightLegOffset; leftHand = constrain(leftHand, 0, 180); rightHand = constrain(rightHand, 0, 180); leftLeg = constrain(leftLeg, 0, 180); rightLeg = constrain(rightLeg, 0, 180); rightHand = 180 - rightHand; rightLeg = 180 - rightLeg; leftHandServo.write(leftHand); rightHandServo.write(rightHand); leftLegServo.write(leftLeg); rightLegServo.write(rightLeg); } /* ======= 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } 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); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } leftHandAngle=100; rightHandAngle=100; updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } /* ======= 伸懶腰 ======= */ void stretch(){ standUp(); while(leftHandAngle >= 15){ leftHandAngle -= 3; rightHandAngle -= 3; leftLegAngle -= 1; rightLegAngle -= 1; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } int n=2; while(n--){ while(leftHandAngle <= 25){ leftHandAngle += 1; rightHandAngle += 1; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } while(leftHandAngle >= 15){ leftHandAngle -= 2; rightHandAngle -= 2; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } } while(leftLegAngle <= 165){ leftHandAngle += 3; rightHandAngle += 3; leftLegAngle += 3; rightLegAngle += 3; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } n=2; while(n--){ while(leftLegAngle >= 155){ leftLegAngle -= 1; rightLegAngle -= 1; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } while(leftLegAngle <= 165){ leftLegAngle += 2; rightLegAngle += 2; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } } while(leftHandAngle >= 90){ leftHandAngle -= 1; rightHandAngle -= 1; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } while(leftLegAngle >= 90){ leftLegAngle -= 3; rightLegAngle -= 3; delay(20); updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle); } actionModel = ACTION_MODEL_NONE; } /* ======= 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); } |
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