ESP32（MicroPython） 网页控制五自由度机械臂
ESP32（MicroPython） 网页控制五自由度机械臂
本程序通过网页控制五自由度机械臂，驱动方案改用PCA9685。
代码如下
#导入Pin模块
from machine import Pin
import time
from machine import SoftI2C
from servo import Servos
import network
import socket
#定义LED控制对象
led1=Pin(15,Pin.OUT,Pin.PULL_DOWN)
i2c=SoftI2C(sda=Pin(26),scl=Pin(27),freq=10000)
servos=Servos(i2c,address=0x40)
#连接的WIFI账号和密码
ssid = " "
password = " "
#舵机默认角度
servos.position(0,90)
servos.position(1,90)
servos.position(2,90)
servos.position(3,90)
servos.position(4,90)
#WIFI连接
def wifi_connect():
wlan=network.WLAN(network.STA_IF) #STA模式
wlan.active(True) #激活
if not wlan.isconnected():
print("conneting to network...")
wlan.connect(ssid,password) #输入 WIFI 账号密码
while not wlan.isconnected():
led1.value(1)
time.sleep_ms(300)
led1.value(0)
time.sleep_ms(300)
led1.value(0)
return False
else:
led1.value(0)
print("network information:", wlan.ifconfig())
return True
a0=90
a1=90
a2=90
a3=90
a4=90
#网页数据
def web_page():
global a0
global a1
global a2
global a3
global a4
html = """
ESP32 Servo Control
"""
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()
print('Got a connection from %s' % str(addr))
# recv表示接收，括号里是最大接收字节
request = client.recv(1024)
request = str(request)
print('Content = %s' % request)
b00 = request.find('/?b00')
b01 = request.find('/?b01')
b02 = request.find('/?b02')
b03 = request.find('/?b03')
b04 = request.find('/?b04')
b05 = request.find('/?b05')
b06 = request.find('/?b06')
b07 = request.find('/?b07')
b08 = request.find('/?b08')
b09 = request.find('/?b09')
b0a = request.find('/?b0a')
b0b = request.find('/?b0b')
b0c = request.find('/?b0c')
b0d = request.find('/?b0d')
b0e = request.find('/?b0e')
b0f = request.find('/?b0f')
b0g = request.find('/?b0g')
b0h = request.find('/?b0h')
b0i = request.find('/?b0i')
b10 = request.find('/?b10')
b11 = request.find('/?b11')
b12 = request.find('/?b12')
b13 = request.find('/?b13')
b14 = request.find('/?b14')
b15 = request.find('/?b15')
b16 = request.find('/?b16')
b17 = request.find('/?b17')
b18 = request.find('/?b18')
b19 = request.find('/?b19')
b1a = request.find('/?b1a')
b1b = request.find('/?b1b')
b1c = request.find('/?b1c')
b1d = request.find('/?b1d')
b1e = request.find('/?b1e')
b1f = request.find('/?b1f')
b1g = request.find('/?b1g')
b1h = request.find('/?b1h')
b1i = request.find('/?b1i')
b20 = request.find('/?b10')
b21 = request.find('/?b21')
b22 = request.find('/?b22')
b23 = request.find('/?b23')
b24 = request.find('/?b24')
b25 = request.find('/?b25')
b26 = request.find('/?b26')
b27 = request.find('/?b27')
b28 = request.find('/?b28')
b29 = request.find('/?b29')
b2a = request.find('/?b2a')
b2b = request.find('/?b2b')
b2c = request.find('/?b2c')
b2d = request.find('/?b2d')
b2e = request.find('/?b2e')
b2f = request.find('/?b2f')
b2g = request.find('/?b2g')
b2h = request.find('/?b2h')
b2i = request.find('/?b2i')
b30 = request.find('/?b30')
b31 = request.find('/?b31')
b32 = request.find('/?b32')
b33 = request.find('/?b33')
b34 = request.find('/?b34')
b35 = request.find('/?b35')
b36 = request.find('/?b36')
b37 = request.find('/?b37')
b38 = request.find('/?b38')
b39 = request.find('/?b39')
b3a = request.find('/?b3a')
b3b = request.find('/?b3b')
b3c = request.find('/?b3c')
b3d = request.find('/?b3d')
b3e = request.find('/?b3e')
b3f = request.find('/?b3f')
b3g = request.find('/?b3g')
b3h = request.find('/?b3h')
b3i = request.find('/?b3i')
b40 = request.find('/?b40')
b41 = request.find('/?b41')
b42 = request.find('/?b42')
b43 = request.find('/?b43')
b44 = request.find('/?b44')
b45 = request.find('/?b45')
b46 = request.find('/?b46')
b47 = request.find('/?b47')
b48 = request.find('/?b48')
b49 = request.find('/?b49')
b4a = request.find('/?b4a')
b4b = request.find('/?b4b')
b4c = request.find('/?b4c')
b4d = request.find('/?b4d')
b4e = request.find('/?b4e')
b4f = request.find('/?b4f')
b4g = request.find('/?b4g')
b4h = request.find('/?b4h')
b4i = request.find('/?b4i')
if b00 == 6:
servos.position(0,0)
a0=0
if b11 == 6:
servos.position(0,10)
a0=10
if b02 == 6:
servos.position(0,20)
a0=20
if b03 == 6:
servos.position(0,30)
a0=30
if b04 == 6:
servos.position(0,40)
a0=40
if b05 == 6:
servos.position(0,50)
a0=50
if b06 == 6:
servos.position(0,60)
a0=60
if b07 == 6:
servos.position(0,70)
a0=70
if b08 == 6:
servos.position(0,80)
a0=80
if b09 == 6:
servos.position(0,90)
a0=90
if b0a == 6:
servos.position(0,100)
a0=100
if b0b == 6:
servos.position(0,110)
a0=110
if b0c == 6:
servos.position(0,120)
a0=120
if b0d == 6:
servos.position(0,130)
a0=130
if b0e == 6:
servos.position(0,140)
a0=140
if b0f == 6:
servos.position(0,150)
a0=150
if b0g == 6:
servos.position(0,160)
a0=160
if b0h == 6:
servos.position(0,170)
a0=170
if b0i == 6:
servos.position(0,180)
a0=180
if b10 == 6:
servos.position(1,0)
a1=0
if b11 == 6:
servos.position(1,10)
a1=10
if b12 == 6:
servos.position(1,20)
a1=20
if b13 == 6:
servos.position(1,30)
a1=30
if b14 == 6:
servos.position(1,40)
a1=40
if b15 == 6:
servos.position(1,50)
a1=50
if b16 == 6:
servos.position(1,60)
a1=60
if b17 == 6:
servos.position(1,70)
a1=70
if b18 == 6:
servos.position(1,80)
a1=80
if b19 == 6:
servos.position(1,90)
a1=90
if b1a == 6:
servos.position(1,100)
a1=100
if b1b == 6:
servos.position(1,110)
a1=110
if b1c == 6:
servos.position(1,120)
a1=120
if b1d == 6:
servos.position(1,130)
a1=130
if b1e == 6:
servos.position(1,140)
a1=140
if b1f == 6:
servos.position(1,150)
a1=150
if b1g == 6:
servos.position(1,160)
a1=160
if b1h == 6:
servos.position(1,170)
a1=170
if b1i == 6:
servos.position(1,180)
a1=180
if b20 == 6:
servos.position(2,0)
a2=0
if b21 == 6:
servos.position(2,10)
a2=10
if b22 == 6:
servos.position(2,20)
a2=20
if b23 == 6:
servos.position(2,30)
a2=30
if b24 == 6:
servos.position(2,40)
a2=40
if b25 == 6:
servos.position(2,50)
a2=50
if b26 == 6:
servos.position(2,60)
a2=60
if b27 == 6:
servos.position(2,70)
a2=70
if b28 == 6:
servos.position(2,80)
a2=80
if b29 == 6:
servos.position(2,90)
a2=90
if b2a == 6:
servos.position(2,100)
a2=100
if b2b == 6:
servos.position(2,110)
a2=110
if b2c == 6:
servos.position(2,120)
a2=120
if b2d == 6:
servos.position(2,130)
a2=130
if b2e == 6:
servos.position(2,140)
a2=140
if b2f == 6:
servos.position(2,150)
a2=150
if b2g == 6:
servos.position(2,160)
a2=160
if b2h == 6:
servos.position(2,170)
a2=170
if b2i == 6:
servos.position(2,180)
a2=180
if b30 == 6:
servos.position(3,0)
a3=0
if b31 == 6:
servos.position(3,10)
a3=10
if b32 == 6:
servos.position(3,20)
a3=20
if b33 == 6:
servos.position(3,30)
a3=30
if b34 == 6:
servos.position(3,40)
a3=40
if b35 == 6:
servos.position(3,50)
a3=50
if b36 == 6:
servos.position(3,60)
a3=60
if b37 == 6:
servos.position(3,70)
a3=70
if b38 == 6:
servos.position(3,80)
a3=80
if b39 == 6:
servos.position(3,90)
a3=90
if b3a == 6:
servos.position(3,100)
a3=100
if b3b == 6:
servos.position(3,110)
a3=110
if b3c == 6:
servos.position(3,120)
a3=120
if b3d == 6:
servos.position(3,130)
a3=130
if b3e == 6:
servos.position(3,140)
a3=140
if b3f == 6:
servos.position(3,150)
a3=150
if b3g == 6:
servos.position(3,160)
a3=160
if b3h == 6:
servos.position(3,170)
a3=170
if b3i == 6:
servos.position(3,180)
a3=180
if b40 == 6:
servos.position(4,0)
a4=0
if b41 == 6:
servos.position(4,10)
a4=10
if b42 == 6:
servos.position(4,20)
a4=20
if b43 == 6:
servos.position(4,30)
a4=30
if b44 == 6:
servos.position(4,40)
a4=40
if b45 == 6:
servos.position(4,50)
a4=50
if b46 == 6:
servos.position(4,60)
a4=60
if b47 == 6:
servos.position(4,70)
a4=70
if b48 == 6:
servos.position(4,80)
a4=80
if b49 == 6:
servos.position(4,90)
a4=90
if b4a == 6:
servos.position(4,100)
a4=100
if b4b == 6:
servos.position(4,110)
a4=110
if b4c == 6:
servos.position(4,120)
a4=120
if b4d == 6:
servos.position(4,130)
a4=130
if b4e == 6:
servos.position(4,140)
a4=140
if b4f == 6:
servos.position(4,150)
a4=150
if b4g == 6:
servos.position(4,160)
a4=160
if b4h == 6:
servos.position(4,170)
a4=170
if b4i == 6:
servos.position(4,180)
a4=180
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