esp32cam小车

闲来没事，把以前做的摄像头小车发出来。视频

。先说说线路esp32cam模块一个h桥直流电机驱动一个履带底盘一个
io用的12，13，14，15电源就不说了然后h桥驱动器用的最便宜的2块多。
还有小车这个就贵点了
io12，13一组电机14，15一组，就这么简单
然后代码以前用的官方的程序改的有点麻烦，后来用的arduino这个简单在原有代码上添加脉冲代码主要改变占空比来改变速度ledcSetup函数用了两个低速和一个高速通道记不太清楚了频率都设成500别的也可以，影响不大，然后建立一个socket服务器端口800和手机端通讯。可做路由器端口映射实现远程操作，arduino代码

#include "esp_camera.h"
#include 
#include 
#define CAMERA_MODEL_AI_THINKER

const char* ssid = "热点";
const char* password = "密码";
WiFiServer server(800)//端口号
#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    21
#define SIOD_GPIO_NUM    26
#define SIOC_GPIO_NUM    27
#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

#else
#error "Camera model not selected"
#endif
float cm; 
void startCameraServer();
void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();
  pinMode(4, OUTPUT);   pinMode(2, INPUT); 
 // pinMode(12, OUTPUT); pinMode(13, OUTPUT); pinMode(14, OUTPUT); pinMode(15, OUTPUT); // set the LED pin mode
  ledcSetup(9, 500, 8); // 设置通道
  //ledcAttachPin(12, 9);  // 将通道与对应的引脚连接
       ledcSetup(8, 10, 8); // 设置通道
    ledcSetup(10, 500, 8); // 设置通道
 // ledcAttachPin(14, 10);  // 将通道与对应的引脚连接
camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }
// camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }
//drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_SVGA);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
    delay(100);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");
startCameraServer();
Serial.print("Camera Ready! Use 'http://");
  Serial.print(WiFi.localIP());
  Serial.println("' to connect");
  server.begin();
}
int v1=0,v=0;
char m1='0', m='0';
void loop() {
WiFiClient client = server.available();   // listen for incoming clients用于接收信息
 if (client) { digitalWrite(2, LOW);
  client.print("Welcome back" );
 // client.println();// if you get a client,
    Serial.println("New Client.");           // print a message out the serial port
 while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then读去一个字符
  if (c == 'm') {                    // if the byte is a newline character查看是否是m
         c = client.read();             // read a byte, then
          if(c=='='){
        m = client.read();             // 得到m的值用来控制方向
        Serial.write(m);                    // print it out the serial monitor串口输出
        }   
  } else 
        if (c == 'v') {                 // if the byte is a newline character查看v就是占空比用来控制速度
        c=client.read(); // read a byte, then
          if(c=='='){
        c = client.read(); 
        if('0'<=c<='9'){v=0;  v=10*v+c-'0';}//得到十位数
        c = client.read();
        if('0'<=c<='9')  v=10*v+c-'0';//个位
        c = client.read();
        if('0'<=c<='9')  v=10*v+c-'0';
         c = client.read();
         ledcWrite(9, v/2);  ledcWrite(10, v);       // read a byte, then用于获得拐弯时不同的速度，这里速度差一半
        Serial.write(c);                    // print it out the serial monitor
        }}
if(m1!=m||v1!=v) {m1=m;v1=v;
        switch(m-'0'){                         // print it out the serial monitor
case 0:  //8号通道占空比为零，就是停止然后就是输出端口和通道的绑定
      ledcAttachPin(12, 8);     ledcAttachPin(14, 8);    
      ledcAttachPin(13, 8);     ledcAttachPin(15, 8);          
        break;
case 1:    
      ledcAttachPin(12, 10);    ledcAttachPin(14, 10);      
      ledcAttachPin(13, 8);    ledcAttachPin(15, 8);      
  break;
case 2:
      ledcAttachPin(13, 10);     ledcAttachPin(15, 10);    
      ledcAttachPin(12, 8);     ledcAttachPin(14, 8);    
 break;
case 3:
      ledcAttachPin(13, 10);     ledcAttachPin(14, 10);    
      ledcAttachPin(12, 8);     ledcAttachPin(15, 8);     
      break;
case 4:
  ledcAttachPin(12, 10);     ledcAttachPin(15, 10);   
      ledcAttachPin(13, 8);     ledcAttachPin(14, 8);    break;
case 5:
ledcAttachPin(12, 9);     ledcAttachPin(14, 10);  
      ledcAttachPin(13, 8);     ledcAttachPin(15, 8);    
    break;
case 6: 
      ledcAttachPin(12, 10);     ledcAttachPin(14, 9); 
      ledcAttachPin(13, 8);     ledcAttachPin(15, 8);    
      break;
case 7: 
      ledcAttachPin(13, 10);     ledcAttachPin(15, 9); 
      ledcAttachPin(12, 8);     ledcAttachPin(14, 8);    
      break;
case 8:
     ledcAttachPin(13, 9);     ledcAttachPin(15, 10);  
      ledcAttachPin(12, 8);     ledcAttachPin(14, 8);    
      break;
case 9:digitalWrite(4, HIGH); break;
case 49:digitalWrite(4, LOW); break;//可以写成‘a'懒得改了
case 50:  //这段是超声波测距
        digitalWrite(4, LOW); //低高低电平发一个短时间脉冲去TrigPin
        delayMicroseconds(2); digitalWrite(4, HIGH);
        delayMicroseconds(10); digitalWrite(4, LOW); 
        cm = pulseIn(2, HIGH) / 58.0; //将回波时间换算成cm
        cm = (int(cm * 100.0)) / 100.0; //保留两位小数 
        Serial.print(cm); Serial.print("cm"); Serial.println(); 
        client.print(cm);  client.print("cm");break;
default:break;
}}}
 }
    // close the connection:
    client.stop();//通讯中断时停止
     ledcAttachPin(12, 8);     ledcAttachPin(14, 8);    
     ledcAttachPin(13, 8);     ledcAttachPin(15, 8); 
    digitalWrite(2, HIGH);
    Serial.println("Client Disconnected.");
 }
  // put your main code here, to run repeatedly:
  delay(10000);
}

无语了还要一点一点拷贝
下次再写安卓端