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1604 | /*
RobotDog ESP32（離線內建「積木流程」入門版：可拖拉排序、按 Play 才執行）
- / 按鈕控制台
- /blockly 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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