[遙控甲蟲] 用Web控制甲蟲

 

Board：ESP32 Wrover Module

Arduino程式：

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/* ESP32-CAM Web 控制（影像 + 搖桿 + 夾爪） 優化重點： 1) 控制與串流分成兩個 HTTP Server： - 控制頁 + /set 在 port 80 - MJPEG /stream 在 port 81（避免串流阻塞控制） 2) 影像改用較順設定：QVGA + 較高壓縮 + grab latest 3) 伺服 PWM 固定用 LEDC channel 1~3（避開相機用 channel 0） 4) 控制端傳送頻率調穩（避免爆量 fetch 造成卡頓） AP 模式： http://192.168.4.1/ 控制頁 http://192.168.4.1:81/stream 影像串流 /set?fb=1500&rl=1500&t=1500（1000~2000, 1500 中立） */ #include <WiFi.h> #include "esp_camera.h" #include "esp_http_server.h" #include "soc/soc.h" #include "soc/rtc_cntl_reg.h" #include <esp_wifi.h> // ========= 伺服/馬達腳位 ========= static const int TongsPin = 14; // 夾爪 static const int WheelRPin = 12; // 右輪 static const int WheelLPin = 13; // 左輪 // ========= LEDC channels（避開 0；相機用 channel 0） ========= static const int CH_TONGS = 1; static const int CH_WHEELR = 2; static const int CH_WHEELL = 3; // ========= WiFi AP 設定 ========= static const char *ssid = "2AC0"; static const char *password = "12345678"; // ========= 控制狀態（1000~2000, 1500中立） ========= volatile int web_fb = 1500; // 前後 volatile int web_rl = 1500; // 左右 volatile int web_t = 1500; // 夾爪 volatile unsigned long lastCmdMs = 0; // ========= failsafe / deadband ========= static const uint32_t FAILSAFE_MS = 2000; // 2 秒無指令回中 static const int DEADBAND = 5; // FB/RL 小於 5 當作 0 // ========= 相機翻轉設定 ========= int vFlip = 0; // 1=上下翻轉 int hMirror = 0; // 1=左右鏡像 // ========= 串流設定 ========= #define PART_BOUNDARY "123456789000000000000987654321" static const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; static const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n"; static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n"; // 兩個 server：控制(80) / 串流(81) httpd_handle_t control_httpd = NULL; httpd_handle_t stream_httpd = NULL; sensor_t *s = nullptr; // ========= 伺服 PWM（微秒→duty，50Hz） ========= static inline void servo_us_ch(int ch, int us) { us = constrain(us, 400, 2600); const int RES = 16; const uint32_t maxDuty = (1UL << RES) - 1; // 65535 uint32_t duty = (uint32_t)((us / 20000.0) * maxDuty); // 50Hz => 20000us ledcWriteChannel(ch, duty); } static inline void servo_angle_ch(int ch, int angle) { angle = constrain(angle, 0, 180); int us = map(angle, 0, 180, 500, 2500); // 行程緊可改 600~2400 servo_us_ch(ch, us); } // ========= 初始化伺服 ========= void initServo() { ledcAttachChannel(TongsPin, 50, 16, CH_TONGS); ledcAttachChannel(WheelRPin, 50, 16, CH_WHEELR); ledcAttachChannel(WheelLPin, 50, 16, CH_WHEELL); servo_angle_ch(CH_TONGS, 90); servo_angle_ch(CH_WHEELR, 90); servo_angle_ch(CH_WHEELL, 90); } // ========= 相機設定（AI Thinker ESP32-CAM 常見腳位） ========= void setupCam() { camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; config.pin_d0 = 5; config.pin_d1 = 18; config.pin_d2 = 19; config.pin_d3 = 21; config.pin_d4 = 36; config.pin_d5 = 39; config.pin_d6 = 34; config.pin_d7 = 35; config.pin_xclk = 0; config.pin_pclk = 22; config.pin_vsync = 25; config.pin_href = 23; config.pin_sscb_sda = 26; config.pin_sscb_scl = 27; config.pin_pwdn = 32; config.pin_reset = -1; config.xclk_freq_hz = 20000000; config.pixel_format = PIXFORMAT_JPEG; // ===== 影像速度優化（建議值）===== // QQVGA(160x120) 幀率會明顯比 VGA 好很多 config.frame_size = FRAMESIZE_QQVGA; // 160x120; // 數字越大壓縮越高、越省 CPU/頻寬（畫質會下降一些） config.jpeg_quality = 18; // 沒 PSRAM 的情況用 1；有 PSRAM 可用 2 config.fb_count = psramFound() ? 2 : 1; #if defined(CAMERA_GRAB_LATEST) config.grab_mode = CAMERA_GRAB_LATEST; // 優先送最新畫面，降低延遲 #endif #if defined(CAMERA_FB_IN_PSRAM) if (psramFound()) config.fb_location = CAMERA_FB_IN_PSRAM; #endif esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed: 0x%x\n", err); return; } s = esp_camera_sensor_get(); s->set_brightness(s, 1); s->set_contrast(s, 1); s->set_saturation(s, 1); s->set_wb_mode(s, 0); s->set_vflip(s, vFlip); s->set_hmirror(s, hMirror); s->set_framesize(s, FRAMESIZE_QQVGA); Serial.println("Camera Setup OK"); } // ========= MJPEG 串流 handler（跑在 port 81 的 server） ========= static esp_err_t stream_handler(httpd_req_t *req) { camera_fb_t *fb = NULL; esp_err_t res = ESP_OK; size_t jpg_len = 0; uint8_t *jpg_buf = NULL; char part_buf[64]; httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); while (true) { fb = esp_camera_fb_get(); if (!fb) { Serial.println("Camera capture failed"); res = ESP_FAIL; } else { if (fb->format != PIXFORMAT_JPEG) { bool ok = frame2jpg(fb, 80, &jpg_buf, &jpg_len); esp_camera_fb_return(fb); fb = NULL; if (!ok) { Serial.println("JPEG compression failed"); res = ESP_FAIL; } } else { jpg_len = fb->len; jpg_buf = fb->buf; } } if (res == ESP_OK) { size_t hlen = snprintf(part_buf, sizeof(part_buf), _STREAM_PART, jpg_len); res = httpd_resp_send_chunk(req, part_buf, hlen); } if (res == ESP_OK) res = httpd_resp_send_chunk(req, (const char *)jpg_buf, jpg_len); if (res == ESP_OK) res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); if (fb) { esp_camera_fb_return(fb); fb = NULL; jpg_buf = NULL; } else if (jpg_buf) { free(jpg_buf); jpg_buf = NULL; } if (res != ESP_OK) break; // 讓出 CPU（避免把控制端擠爆） vTaskDelay(1); } return res; } // ========= 控制頁 HTML ========= 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>ESP32-CAM Web 控制</title> <style> body{font-family:Arial,Helvetica,sans-serif;background:#f5f5f5;margin:0;padding:14px} .wrap{max-width:920px;margin:0 auto} .card{background:#fff;border-radius:12px;padding:12px;margin-bottom:12px;box-shadow:0 2px 10px rgba(0,0,0,.06)} .row{display:flex;gap:12px;flex-wrap:wrap} .col{flex:1;min-width:280px} img{width:100%;border-radius:10px;background:#000} .joy{width:260px;height:260px;border-radius:16px;background:#eee;position:relative;touch-action:none;user-select:none} .dot{width:28px;height:28px;border-radius:50%;background:#333;position:absolute;left:50%;top:50%;transform:translate(-50%,-50%)} button{padding:10px 12px;border:0;border-radius:10px;background:#2d7ef7;color:#fff;font-size:16px} button.gray{background:#6c757d} button.red{background:#d9534f} .btns{display:flex;gap:10px;flex-wrap:wrap;margin-top:10px} .hint{color:#555;font-size:14px;line-height:1.5} .val{font-family:ui-monospace,Consolas,monospace} </style> </head> <body> <div class="wrap"> <div class="card"> <div class="row"> <div class="col"> <div class="hint">影像（port 81 /stream）</div> <img id="cam" src="" alt="stream"> </div> <div class="col"> <div class="hint">搖桿控制（差速混控）：<span class="val" id="vv">fb=1500 rl=1500</span></div> <div class="joy" id="joy"><div class="dot" id="dot"></div></div> <div class="btns"> <button id="stop" class="red">停止</button> <button id="center" class="gray">歸中</button> </div> <div class="hint" style="margin-top:10px"> 夾爪：<span class="val" id="tv">t=1500</span> </div> <div class="btns"> <button id="open">上舉</button> <button id="close" class="gray">下壓</button> </div> </div> </div> </div> <div class="card hint"> 操作：拖曳搖桿控制前後/左右；放開回中。若 WiFi 抖動，2 秒無指令會自動停止。 </div> </div> <script> let fb=1500, rl=1500, t=1500; // 控制送出頻率：建議 40~60ms（約 16~25Hz） const SEND_INTERVAL_MS = 50; let lastSend=0; function clamp(x,a,b){return Math.max(a,Math.min(b,x));} function send(force=false){ const now=Date.now(); if(!force && (now-lastSend < SEND_INTERVAL_MS)) return; lastSend=now; document.getElementById('vv').textContent = `fb=${fb} rl=${rl}`; document.getElementById('tv').textContent = `t=${t}`; fetch(`http://${location.host}/set?fb=${fb}&rl=${rl}&t=${t}`, {cache:"no-store"}) .catch(()=>{}); } function moveDot(nx, ny){ const joy = document.getElementById('joy'); const dot = document.getElementById('dot'); const w = joy.clientWidth, h = joy.clientHeight; const cx = w/2, cy = h/2; const r = Math.min(w,h)*0.42; dot.style.left = (cx + nx*r) + 'px'; dot.style.top = (cy + ny*r) + 'px'; } function setCenter(){ fb=1500; rl=1500; moveDot(0,0); send(true); } function setStop(){ fb=1500; rl=1500; t=1500; moveDot(0,0); send(true); } const joy = document.getElementById('joy'); function calcFromEvent(e){ const rect = joy.getBoundingClientRect(); const x = (e.clientX - rect.left) - rect.width/2; const y = (e.clientY - rect.top) - rect.height/2; const r = Math.min(rect.width, rect.height)*0.42; let nx = clamp(x / r, -1, 1); let ny = clamp(y / r, -1, 1); // 建議先用 600，太敏感再降；太鈍再升 fb = Math.round(1500 + (-ny)*600); rl = Math.round(1500 + ( nx)*600); fb = clamp(fb,1000,2000); rl = clamp(rl,1000,2000); moveDot(nx, ny); send(false); } let active=false; joy.addEventListener('pointerdown', (e)=>{ active=true; joy.setPointerCapture(e.pointerId); calcFromEvent(e); }); joy.addEventListener('pointermove', (e)=>{ if(!active) return; calcFromEvent(e); }); joy.addEventListener('pointerup', ()=>{ active=false; setCenter(); }); joy.addEventListener('pointercancel', ()=>{ active=false; setCenter(); }); document.getElementById('stop').onclick = setStop; document.getElementById('center').onclick = setCenter; // 上舉 / 下壓（仍用 t=2000 / 1000，角度在 ESP32 端映射） document.getElementById('open').onclick = ()=>{ t=2000; send(true); }; document.getElementById('close').onclick = ()=>{ t=1000; send(true); }; // 影像改連 port 81 document.getElementById('cam').src = `http://${location.hostname}:81/stream`; moveDot(0,0); send(true); </script> </body> </html> )HTML"; // ========= handler：/ ========= static esp_err_t index_handler(httpd_req_t *req) { httpd_resp_set_type(req, "text/html; charset=utf-8"); return httpd_resp_send(req, INDEX_HTML, HTTPD_RESP_USE_STRLEN); } // ========= handler：/set ========= static esp_err_t set_handler(httpd_req_t *req) { char qs[128]; char v[16]; int fb = web_fb, rl = web_rl, tt = web_t; if (httpd_req_get_url_query_str(req, qs, sizeof(qs)) == ESP_OK) { if (httpd_query_key_value(qs, "fb", v, sizeof(v)) == ESP_OK) fb = atoi(v); if (httpd_query_key_value(qs, "rl", v, sizeof(v)) == ESP_OK) rl = atoi(v); if (httpd_query_key_value(qs, "t", v, sizeof(v)) == ESP_OK) tt = atoi(v); } fb = constrain(fb, 1000, 2000); rl = constrain(rl, 1000, 2000); tt = constrain(tt, 1000, 2000); web_fb = fb; web_rl = rl; web_t = tt; lastCmdMs = millis(); // Debug // Serial.printf("SET fb=%d rl=%d t=%d\n", web_fb, web_rl, web_t); httpd_resp_set_type(req, "text/plain"); httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); return httpd_resp_sendstr(req, "OK"); } // ========= 啟動控制 Server（port 80） ========= void startControlServer() { httpd_config_t config = HTTPD_DEFAULT_CONFIG(); config.server_port = 80; config.ctrl_port = 32768; // 第二個 server 需要不同 ctrl_port config.max_open_sockets = 6; httpd_uri_t uri_index = { .uri="/", .method=HTTP_GET, .handler=index_handler, .user_ctx=NULL }; httpd_uri_t uri_set = { .uri="/set", .method=HTTP_GET, .handler=set_handler, .user_ctx=NULL }; if (httpd_start(&control_httpd, &config) == ESP_OK) { httpd_register_uri_handler(control_httpd, &uri_index); httpd_register_uri_handler(control_httpd, &uri_set); } Serial.println("Control server: port 80 ( / , /set )"); } // ========= 啟動串流 Server（port 81） ========= void startStreamServer() { httpd_config_t config = HTTPD_DEFAULT_CONFIG(); config.server_port = 81; config.ctrl_port = 32769; config.max_open_sockets = 3; httpd_uri_t uri_stream = { .uri="/stream", .method=HTTP_GET, .handler=stream_handler, .user_ctx=NULL }; if (httpd_start(&stream_httpd, &config) == ESP_OK) { httpd_register_uri_handler(stream_httpd, &uri_stream); } Serial.println("Stream server: port 81 ( /stream )"); } void setup() { WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); Serial.begin(115200); // WiFi 穩定度/延遲優化 WiFi.mode(WIFI_AP); WiFi.setSleep(false); esp_wifi_set_ps(WIFI_PS_NONE); WiFi.softAP(ssid, password, 1, false, 4); // channel=1, max conn=4 WiFi.setTxPower(WIFI_POWER_19_5dBm); IPAddress IP = WiFi.softAPIP(); Serial.print("AP IP: http://"); Serial.println(IP); setupCam(); initServo(); startControlServer(); startStreamServer(); // 關掉板上閃光燈（通常 GPIO4） pinMode(4, OUTPUT); digitalWrite(4, LOW); lastCmdMs = millis(); } void loop() { // failsafe if (millis() - lastCmdMs > FAILSAFE_MS) { web_fb = 1500; web_rl = 1500; web_t = 1500; } // FB/RL 映射到 -90~90 int FB = map(web_fb, 1000, 2000, -90, 90); int RL = map(web_rl, 1000, 2000, -90, 90); if (abs(FB) < DEADBAND) FB = 0; if (abs(RL) < DEADBAND) RL = 0; int RWheel = 90 + FB + RL; int LWheel = 90 - FB + RL; RWheel = constrain(RWheel, 0, 180); LWheel = constrain(LWheel, 0, 180); // 夾爪：上舉=120度（t=2000）、下壓=75度（t=1000） int tongAngle = map(web_t, 1000, 2000, 75, 120); servo_angle_ch(CH_TONGS, tongAngle); servo_angle_ch(CH_WHEELR, RWheel); servo_angle_ch(CH_WHEELL, LWheel); // 控制迴圈不需要太慢，縮短 delay 讓操控更跟手 delay(5); }

[8051 and ESP32 CAM] 實作雙晶片的連線

參考教材1：單晶片微處理機實習，黃嘉輝，台科大出版

參考教材2：使用ESP32開發版與Arduino C程式語言，尤濬哲 ，台科大出版

前一篇文章：[8051] 實作檢查碼，若有錯則顯示錯誤

前幾篇文章都是設定在通訊鮑率為9600bps，但在這一篇我們選擇1200bps，其原因是因為實驗室的實習板是採用12M Hz石英振盪器，您可以參考：8051 Baud Rate Calculator。

8051程式碼(新增恢復連線的功能)：

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#include <regx51.h> #define STX 0x02 #define ETX 0x03 unsigned char SendBuf[]="51015100peanut10"; unsigned char ReceiveBuf[16]; int receive_cnt=0; unsigned char buf; int count=1000; //1秒=1000*1ms int on_line_sec=0; //連線秒數 int on_line_status=0; //onlne or offline int is_receive=0; //是否有接收 int is_check=0; //檢查碼 unsigned char calculateLRC(unsigned char *d, int length); // 使用函數的設定區 extern void LCD_Init(void); extern void LCD_Out(unsigned char x, unsigned char y, unsigned char *text); extern void LCD_Out_Cp(unsigned char *text); extern void LCD_Chr(unsigned char x, unsigned char y, unsigned char c); extern void LCD_Chr_Cp(unsigned char c); extern void LCD_Cmd(unsigned char cmd); extern void LCD_GotoXY(unsigned char x, unsigned char y); // 使用命令的設定區 extern unsigned char LCD_CURSOR_ON; extern unsigned char LCD_CURSOR_OFF; extern unsigned char LCD_CLEAR; void init_UART(unsigned int baudrate) { SCON=0x52; TMOD=0x20; # TH1=256-((11059200/384)/baudrate); TH1=0xE6; TL1=TH1; TR1=1; } void T0_int(void) interrupt 1 { TL0=(8192-1000)%32; //重設設定值 TH0=(8192-1000)/32; if(count==0) //連線已經有1秒了嗎? { if(on_line_status) { on_line_sec++; on_line_sec%=100; LCD_Chr(2,16, on_line_sec%10+0x30); //將接收到的資料送往顯示 LCD_Chr(2,15, on_line_sec/10+0x30); //將接收到的資料送往顯示 } if(!is_receive) { LCD_Cmd(LCD_CLEAR); LCD_Out(2,1,"offline "); on_line_status=0; on_line_sec=0; } else LCD_Out(2,1,"online "); is_receive=0; count=1000; //1秒count } else count--; //count每1ms減1 } void UART_int(void) interrupt 4 //串列中斷函式 { if(RI==1) //是不為接收中斷? { RI=0; //完成後清除RI buf=SBUF; //將接到的資料給buf if(is_check){ is_check=0; if(buf != calculateLRC(ReceiveBuf, 16)) LCD_Out(2,1,"check err"); else LCD_Out(2,1,"online "); } else if(buf == STX) receive_cnt=0; else if (buf == ETX) { LCD_Out(1,1,ReceiveBuf); is_check=1; } else { ReceiveBuf[receive_cnt++]=buf; receive_cnt%=16; } is_receive=1; if(!on_line_status){ on_line_sec=0; on_line_status=1; LCD_Out(2,1,"online "); count=1000; } } else TI=0; //如果是傳送中斷，則清除TI，下次才方再傳送 } void Delay_ms(unsigned int count) //延遲count*1ms函式 { unsigned int i,j; for(i=0;i<count;i++) for(j=0;j<123;j++); } unsigned char calculateLRC(unsigned char *d, int length) { unsigned char LRC = 0; // LRC 的初始值 int i; for (i = 0; i < length; i++) { LRC ^= d[i]; // 進行 XOR 運算 } LRC ^= ETX; // XOR 運算 ETX return LRC; } void main(void) { unsigned int i; init_UART(1200); //設定串列傳輸模式-9600bps ES=1; //開啟串列中斷 ET0=1; //啟動計時器1 EA=1; //開啟總中斷 TR0=1; //啟動計時器 LCD_Init(); // LCD 初始化 LCD_Cmd(LCD_CURSOR_ON); // 將游標打開 LCD_Chr(1,7,'8'); // LCD 在(1,7)位置顯示8 LCD_Chr_Cp('0'); // LCD 在(1,8)位置顯示0 LCD_Out_Cp("51"); // LCD 在(1,9)位置顯示51 LCD_Cmd(LCD_CURSOR_OFF); // 將游標關閉 LCD_Out(1,1," "); LCD_Out(2,1,"offline"); // LCD 在(2,1)位置顯示offline LCD_Out(2,15,"00"); while(1) { SBUF=STX; Delay_ms(10); for(i=0;i<16;i++) { SBUF=SendBuf[i]; //傳送0-9 Delay_ms(10); } SBUF=ETX; Delay_ms(10); SBUF=calculateLRC(SendBuf, 16); Delay_ms(1000); } }

ESP32 CAM程式(感謝小霸王科技 施經理提供)：

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/* * 按下IO0傳給8051 * */ // 定義引腳 const int buttonPin = 0; // IO0 引腳 const int ledPin = 4; // LED 引腳（通常是 GPIO 4） #define RXD2 12 #define TXD2 13 // 定義字節常量 byte STX = 0x02; // 開始標記 byte ETX = 0x03; // 結束標記 byte ACK = 0x06; // 確認標記 // 數據陣列 byte dataBytes[16] = {0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48}; byte receivedData[18]; // 接收的數據 int receivedIndex = 0; // 接收數據的索引 // 定義變量 int dataIndex = 0; // 接收數據的索引 bool receiving = false; // 是否正在接收數據 unsigned long previousMillis = 0; // 儲存上次更新的時間 const long interval = 1000; // 設定間隔時間 // 計算 LRC 的函數 byte calculateLRC(byte *data, size_t length) { byte LRC = 0; // LRC 的初始值 for (size_t i = 0; i < length; i++) { LRC ^= data[i]; // 進行 XOR 運算 } LRC ^= ETX; // XOR 運算 ETX return LRC; } // 發送數據的函數 void sendData(byte *data, size_t length) { // 計算 LRC byte LRC = calculateLRC(data, length); // 構建完整數據包 Serial2.write(STX); // 發送 STX Serial2.write(data, length); // 發送 DATA Serial2.write(ETX); // 發送 ETX Serial2.write(LRC); // 發送 LRC // 發送 ACK // Serial2.write(ACK); } // 處理接收的數據 void handleIncomingData() { while (Serial2.available()) { byte incomingByte = Serial2.read(); // 讀取字節 // Serial.print("incomm:"); // Serial.println(incomingByte,HEX); // 檢查是否是 STX if (incomingByte == STX) { receivedIndex = 0; // 重置索引，不存儲 STX } else if (receivedIndex < sizeof(receivedData)) { // 在 STX 和 ETX 之間接收數據 receivedData[receivedIndex++] = incomingByte; } // 檢查是否接收到完整數據包 if (receivedIndex >= 3 && receivedData[receivedIndex - 2] == ETX) { byte LRC = calculateLRC(receivedData, receivedIndex - 2); // 計算 LRC，不包括 ETX 和 LRC byte receivedLRC = receivedData[receivedIndex - 1]; // 最後一個字節是 LRC // 打印接收到的數據和 LRC Serial.print("Received Data: "); for (int i = 0; i < receivedIndex; i++) { Serial.print(receivedData[i], HEX); // 以十六進制格式顯示 Serial.print(" "); } Serial.print("LRC: "); Serial.print(LRC, HEX); Serial.print(" receivedLRC: "); Serial.println(receivedLRC, HEX); // 檢查 LRC 是否匹配 if (LRC == receivedLRC) { processReceivedData(receivedData, receivedIndex - 2); } else{ Serial.println("LRC check failed!"); } receivedIndex = 0; // 重置索引以接收下一個數據包 } } } // 處理接收到的數據 void processReceivedData(byte *data, int length) { Serial.print("Received Data: "); for (int i = 0; i < length; i++) { dataBytes[i] = data[i]; Serial.print(data[i], HEX); // 以十六進制格式顯示 Serial.print(" "); } Serial.println(); } void setup() { Serial.begin(115200); // 初始化串口，波特率為 115200 Serial2.begin(1200, SERIAL_8N1, RXD2, TXD2); pinMode(buttonPin, INPUT_PULLUP); // 設定 IO0 為輸入，並啟用內部上拉電阻 pinMode(ledPin, OUTPUT); // 設定 LED 引腳為輸出 digitalWrite(ledPin, LOW); // 確保 LED 初始狀態為熄滅 } void loop() { // 讀取按鈕狀態 int buttonState = digitalRead(buttonPin); // 檢查按鈕是否被按下 if (buttonState == LOW) { // 按鈕按下時，IO0 為 LOW dataBytes[0] = 0x48; // 設置數據陣列的第一個字節 //Serial.println("Button State: Pressed"); // 傳送狀態到 SERIAL } else { dataBytes[0] = 0x4C; // 設置數據陣列的第一個字節 //Serial.println("Button State: Not Pressed"); // 傳送狀態到 SERIAL } handleIncomingData(); // 處理接收到的數據 // 檢查 dataBytes[1] 是否等於 0x48 if (dataBytes[1] == 0x48) { digitalWrite(ledPin, HIGH); // 點亮 LED } else { digitalWrite(ledPin, LOW); // 熄滅 LED } yield(); // 讓 ESP32 檢查看門狗定時器 //delay(500); // 延遲 500 毫秒 // 非阻塞延遲 unsigned long currentMillis = millis(); if (currentMillis - previousMillis >= interval) { previousMillis = currentMillis; // 在這裡執行需要延遲的代碼 // 發送數據到 Serial2 Serial.println("millis"); sendData(dataBytes, sizeof(dataBytes) / sizeof(dataBytes[0])); } }