Arduino-er

In my previous posts, I show simple examples of ESP32 Bluetooth Classic serial example, Servo Motor Control and I2C SSD1306 OLED. In this exercise, group three altogether run on ESP32-DevKitC-V4, receive single character command from Raspberry Pi/Python via Bluetooth Classic, control Servo Motors, and display position on 0.96" 128x64 I2C SSD1306 OLED.

Connection:

BTServoServer_20201226.ino

// BTServoServer
#include "BluetoothSerial.h"
#include "esp_bt_device.h"
#include "ssd1306.h"
#include <ESP32Servo.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
Servo myservoX; // create servo objects to control a servo
Servo myservoY;
int servoPinX = 18;
int servoPinY = 19;
#define CMD_ORG 'O'
#define CMD_XDEC 'A'
#define CMD_XDEC10 'B'
#define CMD_XINC 'C'
#define CMD_XINC10 'D'
#define CMD_YDEC 'E'
#define CMD_YDEC10 'F'
#define CMD_YINC 'G'
#define CMD_YINC10 'H'
int x = 0;
int y = 0;
void printDeviceAddress() {
 
 const uint8_t* point = esp_bt_dev_get_address();
 
 for (int i = 0; i < 6; i++) {
 
 char str[3];
 
 sprintf(str, "%02X", (int)point[i]);
 Serial.print(str);
 
 if (i < 5){
 Serial.print(":");
 }
 
 }
}
void setup() {
 Serial.begin(115200);
 Serial.println("\n---Start---");
 SerialBT.begin("ESP32test"); //Bluetooth device name
 
 Serial.println("The device started, now you can pair it with bluetooth!");
 Serial.println("Device Name: ESP32test");
 Serial.print("BT MAC: ");
 printDeviceAddress();
 Serial.println();
 ssd1306_setFixedFont(ssd1306xled_font6x8);
 ssd1306_128x64_i2c_init();
 ssd1306_clearScreen();
 ssd1306_printFixed(0, 8, "BTServoServer", STYLE_BOLD);
 ssd1306_printFixed(0, 40, "arduino-er.blogspot.com", STYLE_BOLD);
 // Allow allocation of all timers
 ESP32PWM::allocateTimer(0);
 ESP32PWM::allocateTimer(1);
 ESP32PWM::allocateTimer(2);
 ESP32PWM::allocateTimer(3);
 myservoX.setPeriodHertz(50); // standard 50 hz servo
 myservoX.attach(servoPinX, 500, 2500); // attaches the servo on pin 18 to the servo object
 myservoY.setPeriodHertz(50); // standard 50 hz servo
 myservoY.attach(servoPinY, 500, 2500);
 myservoX.write(90);
 myservoY.write(90);
}
void loop() {
 if (SerialBT.available()) {
 char cmd = SerialBT.read();
 switch(cmd) {
 case CMD_ORG:
 x = 0;
 y = 0; 
 break;
 case CMD_XDEC:
 x--;
 break;
 case CMD_XDEC10:
 x = x-10;
 break;
 case CMD_XINC:
 x++;
 break;
 case CMD_XINC10:
 x = x+10;
 break;
 case CMD_YDEC:
 y--;
 break;
 case CMD_YDEC10:
 y = y-10;
 break;
 case CMD_YINC:
 y++;
 break;
 case CMD_YINC10:
 y = y+10;
 break;
 default:
 Serial.println("unknown command!");
 break;
 }
 if(x < -90)
 x = -90;
 if(x > 90)
 x = 90;
 if(y < -90)
 y = -90;
 if(y > 90)
 y = 90;
 String s = String(x, DEC) + " : " + String(y, DEC) + " ";
 const char* c;
 c = s.c_str();
 Serial.println(s);
 ssd1306_printFixed(0, 25, c, STYLE_NORMAL);
 myservoX.write(x + 90);
 myservoY.write(y + 90);
 delay(200); // wait for the servo to get there
 }
 delay(20);
}

Python code in Raspberry Pi side, refer to my another blog's post: Hello Raspberry Pi - Raspberry Pi/Python remote control ESP32/Servos via Bluetooth Classic

Post a Comment

[フレーム]