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[IOT] D1 mini智能小車

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透過D1 mini的wifi功能或搭配紅外線遠端控制小車移動。

wifi功能實作

使用ESP8266WebServer模組，透過簡單的Python程式提供網站功能。

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import network
import time
import ubinascii
import ESP8266WebServer
from machine import Pin


a1b = Pin(15, Pin.OUT)  # A控制右輪
a1a = Pin(13, Pin.OUT)
b2a = Pin(12, Pin.OUT)  # B控制左輪
b1a = Pin(14, Pin.OUT)

def handleAction(socket, args):
    print(args)
    if 'action' in args:
        if args['action'] == 'stop':
            stop()
        elif args['action'] == 'forward':
            forward()
        elif args['action'] == 'backward':
            backward()
        elif args['action'] == 'turnLeft':
            turnLeft()
        elif args['action'] == 'turnRight':
            turnRight()
        ESP8266WebServer.ok(socket, '200', 'OK')
    else:
        ESP8266WebServer.err(socket, '400', 'ERR')

def stop():
    a1a.value(0)
    a1b.value(0)
    b1a.value(0)
    b2a.value(0)

def forward():
    a1b.value(1)
    a1a.value(0)
    b2a.value(1)
    b1a.value(0)
    
def backward():
    a1b.value(0)
    a1a.value(1)
    b2a.value(0)
    b1a.value(1)
    
def turnLeft():
    a1b.value(1)
    a1a.value(0)
    b2a.value(0)
    b1a.value(0)
    
def turnRight():
    a1b.value(0)
    a1a.value(0)
    b2a.value(1)
    b1a.value(0)

print('初始化', ubinascii.hexlify(network.WLAN().config('mac'), ':').decode())

sta_if = network.WLAN(network.STA_IF)
sta_if.active(True)
sta_if.connect('無線網路名稱', '密碼')
print('連線中...')
while not sta_if.isconnected():
    pass

ESP8266WebServer.begin(80)
ESP8266WebServer.onPath('/cmd', handleAction)
ESP8266WebServer.setDocPath("/car")
print('伺服器位置：', sta_if.ifconfig()[0])

stop()
# 測試用
# while True:
#     forward()
#     time.sleep(1)
#     backward()
#     time.sleep(1)
#     turnLeft()
#     time.sleep(1)
#     turnRight()
#     time.sleep(1)

while True:
    ESP8266WebServer.handleClient()

遠端遙控網頁，使用ajax技術，讓使用者點選連結後留在原頁面繼續操作。

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<!DOCTYPE html>
<html>
<head>
  <meta charset='UTF-8'>
  <meta name='viewport' content='width=device-width, initial-scale=1.0'>
  <title>智能小車</title>
  <script>
    var xhttp = new XMLHttpRequest();
    xhttp.onreadystatechange = function () {
      if (this.readyState == 4 && this.status == 200) {
        document.getElementById('status').innerHTML = xhttp.responseText;
      }
    };

    function testGet(cmd) {
      document.getElementById('status').innerHTML = '送出中...';
      xhttp.open('GET', '/cmd?action=' + cmd, true);
      xhttp.send();
    }
    </script>
</head>
<body>
  <table>
    <tr>
      <td/>
      <td><a href="#" onclick='testGet("forward")'>^</a></td>
      <td/>
    </tr>
    <tr>
      <td><a href="#" onclick='testGet("turnLeft")'><</a></td>
      <td><a href="#" onclick='testGet("stop")'>x</a></td>
      <td><a href="#" onclick='testGet("turnRight")'>></a></td>
    <tr>
      <td/>
      <td><a href="#" onclick='testGet("backward")'>v</a></td>
      <td/>
    </tr>
  </table>
  <p id='status'></p>
</body>
</html>

紅外線實作

使用ir_rx紅外線模組。

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import network
import time
import ubinascii
from machine import Pin
from ir_rx.nec import NEC_8


a1b = Pin(15, Pin.OUT)  # A控制右輪
a1a = Pin(13, Pin.OUT)
b2a = Pin(12, Pin.OUT)  # B控制左輪
b1a = Pin(14, Pin.OUT)

def callback(data, addr, ctrl):
    if data < 0:  # NEC protocol sends repeat codes.
        print('Repeat code.')
        return
    print('Data {:02x} Addr {:04x}'.format(data, addr))
    if data == 0x15:
        stop()
    elif data == 0x40:
        forward()
    elif data == 0x19:
        backward()
    elif data == 0x07:
        turnLeft()
    elif data == 0x09:
        turnRight()

def stop():
    a1a.value(0)
    a1b.value(0)
    b1a.value(0)
    b2a.value(0)

def forward():
    a1b.value(1)
    a1a.value(0)
    b2a.value(1)
    b1a.value(0)
    
def backward():
    a1b.value(0)
    a1a.value(1)
    b2a.value(0)
    b1a.value(1)
    
def turnLeft():
    a1b.value(1)
    a1a.value(0)
    b2a.value(0)
    b1a.value(0)
    
def turnRight():
    a1b.value(0)
    a1a.value(0)
    b2a.value(1)
    b1a.value(0)

stop()
# 測試用
# while True:
#     forward()
#     time.sleep(1)
#     backward()
#     time.sleep(1)
#     turnLeft()
#     time.sleep(1)
#     turnRight()
#     time.sleep(1)

ir = NEC_8(Pin(2, Pin.IN), callback)