ESP32（MicroPython） 网页控制两轮差速底盘（发出热点、串口输出）
由于本人目前没有Linux开发板，为了方便对两轮差速底盘进行闭环控制的调试，本人制作了在另一个主控上使用的程序以便通过网页向控制底盘的主控发送数据。实测发现在有负载时两轮差速底盘的P、I值可以增大，目前调到P=10、I=2，在目标速度为0.5m/s以上时响应速度良好。
程序如下
#导入Pin模块
from machine import Pin
import time
from machine import PWM
import network
import socket
#定义LED控制对象
led1=Pin(6,Pin.OUT,Pin.PULL_DOWN)
duty=0
speed=0
turn=0
angular=400
linear=400
#WIFI连接
def wifi_connect():
ap = network.WLAN(network.AP_IF) # 指定用ap模式
ap.active(True) # 启用wifi前需要先激活接口
ap.config(essid="ESP32_Motor_Control") # 设置热点名称
ap.config(authmode=0) # 设置认证模式
return True
#网页数据
def web_page():
global a1
global a2
global a3
global a4
html = """
ESP32 Motor Control
linear: """ + str(speed) + """
"""
return html
#程序入口
if __name__=="__main__":
wifi_connect()
#SOCK_STREAM表示的是TCP协议，SOCK_DGRAM表示的是UDP协议
my_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM) #创建socket连接
# 将socket对象绑定ip地址和端口号
my_socket.bind(('', 80))
# 相当于电话的开机 括号里的参数表示可以同时接收5个请求
my_socket.listen(5)
while True:
try:
# 进入监听状态，等待别人链接过来，有两个返回值，
#一个是对方的socket对象，一个是对方的ip以及端口
client, addr = my_socket.accept()
# recv表示接收，括号里是最大接收字节
request = client.recv(1024)
request = str(request)
w10 = request.find('/?w10')
w11 = request.find('/?w11')
w12 = request.find('/?w12')
w13 = request.find('/?w13')
w14 = request.find('/?w14')
w15 = request.find('/?w15')
w16 = request.find('/?w16')
w17 = request.find('/?w17')
w18 = request.find('/?w18')
w19 = request.find('/?w19')
w1a = request.find('/?w1a')
w1b = request.find('/?w1b')
w1c = request.find('/?w1c')
w1d = request.find('/?w1d')
w1e = request.find('/?w1e')
w1f = request.find('/?w1f')
w1g = request.find('/?w1g')
w1h = request.find('/?w1h')
w1i = request.find('/?w1i')
w1j = request.find('/?w1j')
w1k = request.find('/?w1k')
w1l = request.find('/?w1l')
w1m = request.find('/?w1m')
w1n = request.find('/?w1n')
w1o = request.find('/?w1o')
w20 = request.find('/?w20')
w21 = request.find('/?w21')
w22 = request.find('/?w22')
w23 = request.find('/?w23')
w24 = request.find('/?w24')
w25 = request.find('/?w25')
w26 = request.find('/?w26')
w27 = request.find('/?w27')
w28 = request.find('/?w28')
w29 = request.find('/?w29')
w2a = request.find('/?w2a')
w2b = request.find('/?w2b')
w2c = request.find('/?w2c')
w2d = request.find('/?w2d')
w2e = request.find('/?w2e')
w2f = request.find('/?w2f')
w2g = request.find('/?w2g')
w2h = request.find('/?w2h')
w2i = request.find('/?w2i')
w2j = request.find('/?w2j')
w2k = request.find('/?w2k')
w2l = request.find('/?w2l')
w2m = request.find('/?w2m')
w2n = request.find('/?w2n')
w2o = request.find('/?w2o')
d1 = request.find('/?d1')
d2 = request.find('/?d2')
if d1 == 6:
speed=0.00
linear=400
print(str(angular)+str(linear))
if d2 == 6:
turn=0.00
angular=400
print(str(angular)+str(linear))
if w10 == 6:
speed=-3.00
linear=100
print(str(angular)+str(linear))
if w11 == 6:
speed=-2.75
linear=125
print(str(angular)+str(linear))
if w12 == 6:
speed=-2.50
linear=150
print(str(angular)+str(linear))
if w13 == 6:
speed=-2.25
linear=175
print(str(angular)+str(linear))
if w14 == 6:
speed=-2.00
linear=200
print(str(angular)+str(linear))
if w15 == 6:
speed=-1.75
linear=225
print(str(angular)+str(linear))
if w16 == 6:
speed=-1.50
linear=250
print(str(angular)+str(linear))
if w17 == 6:
speed=-1.25
linear=275
print(str(angular)+str(linear))
if w18 == 6:
speed=-1.00
linear=300
print(str(angular)+str(linear))
if w19 == 6:
speed=-0.75
linear=325
print(str(angular)+str(linear))
if w1a == 6:
speed=-0.50
linear=350
print(str(angular)+str(linear))
if w1b == 6:
speed=-0.25
linear=375
print(str(angular)+str(linear))
if w1c == 6:
speed=0.00
linear=400
print(str(angular)+str(linear))
if w1d == 6:
speed=0.25
linear=425
print(str(angular)+str(linear))
if w1e == 6:
speed=0.50
linear=450
print(str(angular)+str(linear))
if w1f == 6:
speed=0.75
linear=475
print(str(angular)+str(linear))
if w1g == 6:
speed=1.00
linear=500
print(str(angular)+str(linear))
if w1h == 6:
speed=1.25
linear=525
print(str(angular)+str(linear))
if w1i == 6:
speed=1.50
linear=550
print(str(angular)+str(linear))
if w1j == 6:
speed=1.75
linear=575
print(str(angular)+str(linear))
if w1k == 6:
speed=2.00
linear=600
print(str(angular)+str(linear))
if w1l == 6:
speed=2.25
linear=625
print(str(angular)+str(linear))
if w1m == 6:
speed=2.50
linear=650
print(str(angular)+str(linear))
if w1n == 6:
speed=2.75
linear=675
print(str(angular)+str(linear))
if w1o == 6:
speed=3.00
linear=700
print(str(angular)+str(linear))
if w20 == 6:
turn=-3.00
angular=100
print(str(angular)+str(linear))
if w21 == 6:
turn=-2.75
angular=125
print(str(angular)+str(linear))
if w22 == 6:
turn=-2.50
angular=150
print(str(angular)+str(linear))
if w23 == 6:
turn=-2.25
angular=175
print(str(angular)+str(linear))
if w24 == 6:
turn=-2.00
angular=200
print(str(angular)+str(linear))
if w25 == 6:
turn=-1.75
angular=225
print(str(angular)+str(linear))
if w26 == 6:
turn=-1.50
angular=250
print(str(angular)+str(linear))
if w27 == 6:
turn=-1.25
angular=275
print(str(angular)+str(linear))
if w28 == 6:
turn=-1.00
angular=300
print(str(angular)+str(linear))
if w29 == 6:
turn=-0.75
angular=325
print(str(angular)+str(linear))
if w2a == 6:
turn=-0.50
angular=350
print(str(angular)+str(linear))
if w2b == 6:
turn=-0.25
angular=375
print(str(angular)+str(linear))
if w2c == 6:
turn=0.00
angular=400
print(str(angular)+str(linear))
if w2d == 6:
turn=0.25
angular=425
print(str(angular)+str(linear))
if w2e == 6:
turn=0.50
angular=450
print(str(angular)+str(linear))
if w2f == 6:
turn=0.75
angular=475
print(str(angular)+str(linear))
if w2g == 6:
turn=1.00
angular=500
print(str(angular)+str(linear))
if w2h == 6:
turn=1.25
angular=525
print(str(angular)+str(linear))
if w2i == 6:
turn=1.50
angular=550
print(str(angular)+str(linear))
if w2j == 6:
turn=1.75
angular=575
print(str(angular)+str(linear))
if w2k == 6:
turn=2.00
angular=600
print(str(angular)+str(linear))
if w2l == 6:
turn=2.25
angular=625
print(str(angular)+str(linear))
if w2m == 6:
turn=2.50
angular=650
print(str(angular)+str(linear))
if w2n == 6:
turn=2.75
angular=675
print(str(angular)+str(linear))
if w2o == 6:
turn=3.00
angular=700
print(str(angular)+str(linear))
response = web_page()
client.send('HTTP/1.1 200 OK\n')
client.send('Content-Type: text/html\n')
client.send('Connection: close\n\n')
client.sendall(response)
client.close()
except:
pass