遥控车

舵机

型号s3010

pin_duo = 8
pwm.setup(pin_duo,100,100)
pwm.start(pin_duo)

uart.on("data",function(msg)
  print(msg)
  pwm.setduty(pin_duo, msg)
end, 0)


--频率100HZ
---155最左
---125最右
--140中
左竖  右竖  左横  右横  L      M      R      K      
1500,1500,1500,1500,1000,1000,1000,0

local fx     =140
local sd     =0
local df_sd  =0
local df_fx  =0
local df_tsd =0
------------------------WIFI setting*----------------------------
wifi.setmode(wifi.SOFTAP)
cfg={}
cfg.ssid="ESP8266"
cfg.pwd="ESP8266_123"
wifi.ap.config(cfg)
print(wifi.ap.getip())
-----------------------duoji----------------------------
pin_duo = 8
pwm.setup(pin_duo,100,fx)
pwm.start(pin_duo)
-----------------------Fa dong ji----------------------------
pin_faDong_z1 = 7
pin_faDong_z2 = 6
pwm.setup(pin_faDong_z1,100,sd)
pwm.start(pin_faDong_z1)

pwm.setup(pin_faDong_z2,100,sd)
pwm.start(pin_faDong_z2)

pin_faDong_y1 = 5
pin_faDong_y2 = 3
pwm.setup(pin_faDong_y1,100,sd)
pwm.start(pin_faDong_y1)

pwm.setup(pin_faDong_y2,100,sd)
pwm.start(pin_faDong_y2)
-------------------------LED ------------------------------------
pin_led = 4
gpio.mode(pin_led, gpio.OUTPUT)
gpio.write(pin_led, gpio.HIGH) 
-------------------------server ------------------------------------

dog = 0      
sv=net.createServer(net.TCP, 200)
sv:listen(6000,function(c)
    c:on("receive", function(c, msg) 
        dog=1
        gpio.write(pin_led, gpio.LOW) 
       -- print(msg)


        fx    = tonumber(string.sub(msg,16,19))
        sd    = tonumber(string.sub(msg,1,4))       
        df_sd = tonumber(string.sub(msg,21,24))
        df_fx = tonumber(string.sub(msg,26,29))
        df_tsd= tonumber(string.sub(msg,31,34))
        
            
--        print(fx)
--        print(sd)
--        print(df_sd)
--        print(df_fx)
--        print(df_tsd)
--        print("----------------------------")
        function fun()      
            if fx >=1000 and fx <=2000 then
                local i=(fx/10-100)/10*3+125

                i=i-(i-140)*2
                --print(i)
                
                pwm.setduty(pin_duo, i)
            end
            if sd >=1500 and sd <=2000 then
                local i=(sd-1500)/5
                i=i*((df_sd-1000)/10)/100
               --print(i)
               --print("----------------------------")
                
                pwm.setduty(pin_faDong_z1, i*10)
                pwm.setduty(pin_faDong_y1, i*10)

                pwm.setduty(pin_faDong_z2, 0)
                pwm.setduty(pin_faDong_y2, 0)
            elseif sd >=1000 and sd <1500 then
                local i=(sd-1000)/5

                i=i-(i-50)*2
                i=i*((df_tsd-1000)/10)/100
                --print(i)
                --print("----------------------------")
                pwm.setduty(pin_faDong_z2, i*10)
                pwm.setduty(pin_faDong_y2, i*10)

                pwm.setduty(pin_faDong_z1, 0)
                pwm.setduty(pin_faDong_y1, 0)
            end
        end
        
       ok=pcall(fun,0)
    end)
  c:send("hello world") 
end)
tmr.alarm(0, 200,1, function()
    if dog == 1 then
        dog = 0
    elseif dog == 0 then
        pwm.setduty(pin_faDong_z1, 0)
        pwm.setduty(pin_faDong_y1, 0)
        pwm.setduty(pin_faDong_z2, 0)
        pwm.setduty(pin_faDong_y2, 0)
        --print("have man disconnection")
        gpio.write(pin_led, gpio.HIGH) 
    end
end)