整机安装效果图

 1#define LEFT_FORWARD_PWM            "pwm4"2#define LEFT_FORWARD_PWM_CHANNEL    1           // GPIO PD1234#define LEFT_BACKWARD_PWM           "pwm4"   5#define LEFT_BACKWARD_PWM_CHANNEL   3          // GPIO PB867#define RIGHT_FORWARD_PWM           "pwm2"8#define RIGHT_FORWARD_PWM_CHANNEL   1          // GPIO PA09
10#define RIGHT_BACKWARD_PWM          "pwm2"
11#define RIGHT_BACKWARD_PWM_CHANNEL   3          // GPIO PB10

 1宏定义 PWM2_CONFIG  PWM4_CONFIG2static struct stm32_pwm stm32_pwm_obj[] 3最后rtconfig.h4#define RT_USING_PWM56#define BSP_USING_PWM7#define BSP_USING_PWM28#define BSP_USING_PWM2_CH19#define BSP_USING_PWM2_CH2
10#define BSP_USING_PWM2_CH3
11#define BSP_USING_PWM2_CH4
12#define BSP_USING_PWM4
13#define BSP_USING_PWM4_CH1
14#define BSP_USING_PWM4_CH2
15#define BSP_USING_PWM4_CH3
16#define BSP_USING_PWM4_CH4

1void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
2void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
3static void pwm_get_channel(void)
4

1#define DBG_SECTION_NAME     "drv.pwm"
2#define DBG_LEVEL     DBG_LOG
3#include <rtdbg.h>

 1void tcprecvserv(void *parameter)2{3    unsigned char *recv_data; 4    socklen_t sin_size;5    int sock, bytes_received;6    struct sockaddr_in server_addr, client_addr;7    rt_bool_t stop = RT_FALSE;8    int ret;9    int nNetTimeout = 20;
10    recv_data = (unsigned char *)rt_malloc(BUFFER_SIZE);
11    rt_kprintf("tcpserv start ......\n");
12    if (recv_data == RT_NULL)
13    {
14        rt_kprintf("No memory\n");
15        return;
16    }
17
18    if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == -1)
19    {
20        rt_kprintf("Socket error\n");
21
22        rt_free(recv_data);
23        return;
24    }
25
26    server_addr.sin_family = AF_INET;
27    server_addr.sin_port = htons(5000);
28    server_addr.sin_addr.s_addr = INADDR_ANY;
29    rt_memset(&(server_addr.sin_zero), 0, sizeof(server_addr.sin_zero));
30    setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (char *)&nNetTimeout, sizeof(int)); 
31    if (bind(sock, (struct sockaddr *)&server_addr, sizeof(struct sockaddr)) == -1)
32    {
33        rt_kprintf("Unable to bind\n");
34        rt_free(recv_data);
35        return;
36    }
37
38    if (listen(sock, 5) == -1)
39    {
40        rt_kprintf("Listen error\n");
41
42        /* release recv buffer */
43        rt_free(recv_data);
44        return;
45    }
46
47    rt_kprintf("\nTCPServer Waiting for client on port 5000...\n");
48    while (stop != RT_TRUE)
49    {
50        sin_size = sizeof(struct sockaddr_in);
51
52        rt_kprintf("Listen start = %d\n", connected);
53        connected = accept(sock, (struct sockaddr *)&client_addr, &sin_size);
54        rt_kprintf("Listen end = %d\n", connected);
55        if (connected < 0)
56        {
57            rt_kprintf("accept connection failed! errno = %d\n", errno);
58            continue;
59        }
60
61        rt_kprintf("I got a connection from (%s , %d)\n",
62        inet_ntoa(client_addr.sin_addr), ntohs(client_addr.sin_port));
63
64        while (1)
65        {
66            bytes_received = recv(connected, recv_data, BUFFER_SIZE, MSG_WAITALL);
67            if (bytes_received < 0)
68            {
69                closesocket(connected);
70                break;
71            } else if (bytes_received == 0) {
72                rt_kprintf("\nReceived warning,recv function return 0.\r\n");
73                closesocket(connected);
74                connected = -1;
75                break;
76            }
77           rt_ringbuffer_put_force(tcp_dat, (const rt_uint8_t *)recv_data, bytes_received);
78        }
79    }
80
81    closesocket(sock);
82    rt_ringbuffer_destroy(tcp_dat);
83    rt_free(recv_data);
84    return ;
85}

1rt_ringbuffer_create(2*BUFFER_SIZE); // 创建ringbuffer
2rt_ringbuffer_put_force(tcp_dat, (const rt_uint8_t *)recv_data, bytes_received);  // wifi收到数据后往buffer写数据

1while (rt_ringbuffer_data_len(tcp_dat) != 0) {
2    ......
3    rt_ringbuffer_getchar(tcp_dat, &dat);
4    .....
5    }

 1typedef struct {2    single_pwm_motor_t left_forward_motor, left_backward_motor, right_forward_motor, right_backward_motor;3    ab_phase_encoder_t left_forward_encoder, left_backward_encoder, right_forward_encoder, right_backward_encoder;4    inc_pid_controller_t left_forward_pid, left_backward_pid, right_forward_pid, right_backward_pid;5    wheel_t left_forward_wheel, left_backward_wheel, right_forward_wheel, right_backward_wheel;67    motor_t x_servo, y_servo;8    kinematics_t c_kinematics;9    E_ROC_ROBOT_STATUS status;
10    rt_int8_t speed ;
11    rt_int16_t degree;
12}ST_ROC_ROBOT;

1roc_robot_init() 
2roc_robot_go_forward()
3roc_robot_go_backward() 
4roc_robot_turn_right()
5roc_robot_turn_right_rotate()
6roc_robot_turn_left()
7roc_robot_turn_left_rotate()
8roc_robot_stop()

1V左前 = +Vx
2V右前 = -Vx
3V左后 = - Vx
4V右后 = +Vx

1V左前 =  Vy
2V右前 =  Vy
3V左后 =  Vy
4V右后 =  Vy

1V左前 =  W
2V右前 =  -W
3V左后 = W
4V右后 = -W

1V左前 = +Vx + Vy + W
2V右前 = -Vx + Vy -W
3V左后 = - Vx + Vy + W
4V右后 = +Vx + Vy -W

 1void roc_robot_run(rt_int16_t x, rt_int16_t y, rt_int16_t rotate)2{3    rt_int16_t lf_speed = x + y + rotate; 4    rt_int16_t lb_speed = -x + y + rotate;5    rt_int16_t rf_speed = -x + y -rotate;6    rt_int16_t rb_speed = x + y - rotate;7    single_pwm_motor_set_speed(roc_robot.left_forward_motor, lf_speed *10);8    single_pwm_motor_set_speed(roc_robot.left_backward_motor, lb_speed *10);9    single_pwm_motor_set_speed(roc_robot.right_forward_motor, rf_speed *10);
10    single_pwm_motor_set_speed(roc_robot.right_backward_motor, rb_speed *10);
11}

 1typedef struct2{3    rt_uint8_t start_code ;   // 8bit 0xAA4    rt_uint8_t len;           // protocol package data length5    E_ROBOT_TYPE type;6    rt_uint8_t addr;7    E_CONTOROL_FUNC function;      // 8 bit8    rt_uint8_t *data;         // n bit9    rt_uint16_t sum;       // check sum 16bit
10    rt_uint8_t end_code;      // 8bit 0x55
11} ST_PROTOCOL; // wifi数据字节流结构体
12
13typedef enum
14{
15    E_BATTERY = 1,
16    E_LED,
17    E_BUZZER,
18    E_INFO,
19    E_ROBOT_CONTROL_DIRECTION,  //机器人控制角度 （0~360）
20    E_ROBOT_CONTROL_SPEED,      //机器人控制速度 （0~100）
21    E_TEMPERATURE,
22    E_INFRARED_TRACKING,
23    E_ULTRASONIC,
24    E_INFRARED_REMOTE,
25    E_INFRARED_AVOIDANCE,
26    E_CONTROL_MODE,  //12
27    E_BUTTON,
28    E_LED_MAXTRIX,
29    E_CMD_LINE,
30    E_VERSION,
31    E_UPGRADE,
32    E_PHOTORESISTOR,
33    E_SERVER_DEGREE,
34    E_CONTOROL_CODE_MAX,
35} E_CONTOROL_FUNC; // wifi控制指令功能部分

1Vx = cos(degree) * speed
2Vy = sin(degree)*speed

 1void roc_robot_drive(rt_uint16_t degree)2{3    LOG_D("roc_robot_drive %d", degree);4    rt_int16_t x, y;56    if (degree == 0XFFFF) {7        roc_robot_stop();8    } else {9        x = cos(degree)*roc_robot.speed;
10        y = sin(degree)*roc_robot.speed;
11        roc_robot_run(x, y, 0);
12    }
13}
14整个程序流程如下：
15
16main.c:
17
18wifi_auto_connect(); // 自动链接wifi热点函数
19
20roc_robot_init(0); // 使用RT-Robot框架初始化RT-Robot驱动, 函数前进后退方法都在roc_robot.c里面
21
22rt_thread_create("led_flash", led_flash... // 判断wifi连接情况起的线程
23
24ret = rt_thread_create("wifi_control", wifi_control... // 将接受的wifi数据转化为指令执行
25
26tcprecvserv((void *)pareser_package.buffer); // 接受wifi数据到data下