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| //-----------------------------------------------------
// esp32_mouse2_move_to_4_direction_and_rolate.ino
//
// for XIAO ESP32C6
//
// 2025/09/28
//-----------------------------------------------------
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Ticker.h>
Ticker flipper;
float cm = 0;
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
// The pins for I2C are defined by the Wire-library.
// On an arduino UNO: A4(SDA), A5(SCL)
// On an arduino MEGA 2560: 20(SDA), 21(SCL)
// On an arduino LEONARDO: 2(SDA), 3(SCL), ...
#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
//0x3Cに変更した
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
// Pins
// const int TRIG_PIN = 7;
// const int ECHO_PIN = 8;
const int TRIG_PIN = 18;
const int ECHO_PIN = 20;
// Anything over 400 cm (23200 us pulse) is "out of range"
const unsigned int MAX_DIST = 23200;
/* XIAO ESP32C6
DRV ESP32
---------------
AIN1 --- GPIO0
AIN2 --- GPIO1
BIN1 --- GPIO2
BIN2 --- GPIO21
*/
int LP = 0; // AIN1 LEFT PLUS
int LM = 1; // AIN2 LEFT MINUS
int RP = 2; // BIN1 RIGHT MINUS
int RM = 21; // BIN2 RIGHT PLUS
void setup()
{
Serial.begin(9600);
// The Trigger pin will tell the sensor to range find
pinMode(TRIG_PIN, OUTPUT);
digitalWrite(TRIG_PIN, LOW);
//Set Echo pin as input to measure the duration of
//pulses coming back from the distance sensor
pinMode(ECHO_PIN, INPUT);
// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
Serial.println(F("SSD1306 allocation failed"));
for(;;); // Don't proceed, loop forever
}
// Show initial display buffer contents on the screen --
// the library initializes this with an Adafruit splash screen.
display.display();
delay(2000); // Pause for 2 seconds
// Clear the buffer
display.clearDisplay();
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0,0); // Start at top-left corner
display.println(F("Hello, world!"));
display.display();
delay(2000); // Pause for 2 seconds
analogWrite(LP,0);
analogWrite(LM,0);
analogWrite(RP,0);
analogWrite(RM,0);
// flip the pin every 0.3s
flipper.attach(0.3, flip);
}
void loop() //RUN ZIGZAG
{
TTL();
delay(1000);
TTR();
delay(1000);
FWD();
delay(1000);
BAK();
delay(1000);
RTL();
delay(1000);
RTR();
delay(1000);
STOP();
delay(1000);
}
void flip() {
cm = dest();
// ディスプレイをクリア
display.clearDisplay();
display.setTextSize(1);
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.println("Distance:");
// 距離の表示
display.setTextSize(2); // 少し大きなフォント
display.setCursor(0, 15);
if (cm == -1.0) {
display.println("Out of Range");
} else {
display.print(cm);
display.println(" cm");
// 距離に基づいて四角形（バー）を描画する例
// 0cmから200cmまでをOLEDの幅(128ピクセル)にマッピング
int bar_width = map(cm, 0, 200, 0, SCREEN_WIDTH);
if (bar_width > SCREEN_WIDTH) bar_width = SCREEN_WIDTH; // 最大値を超えないように制限
if (bar_width < 0) bar_width = 0; // 最小値を下回らないように制限
display.fillRect(0, 40, bar_width, 10, SSD1306_WHITE); // プログレスバー
}
display.display();
}
void FWD(void) // forward
{
analogWrite(LP,250);
analogWrite(LM,0);
analogWrite(RP,250);
analogWrite(RM,0);
}
void BAK(void) // back
{
analogWrite(LP,0);
analogWrite(LM,250);
analogWrite(RP,0);
analogWrite(RM,250);
}
void TTL(void) // trun to left
{
analogWrite(LP,100);
analogWrite(LM,0);
analogWrite(RP,250);
analogWrite(RM,0);
}
void TTR(void) // trun to right
{
analogWrite(LP,250);
analogWrite(LM,0);
analogWrite(RP,100);
analogWrite(RM,0);
}
void RTR(void) // rotate to right
{
analogWrite(LP,250);
analogWrite(LM,0);
analogWrite(RP,0);
analogWrite(RM,250);
}
void RTL(void) // rotate to left
{
analogWrite(LP,0);
analogWrite(LM,250);
analogWrite(RP,250);
analogWrite(RM,0);
}
void STOP(void) // stop
{
analogWrite(LP,0);
analogWrite(LM,0);
analogWrite(RP,0);
analogWrite(RM,0);
}
float dest() {
unsigned long t1;
unsigned long t2;
unsigned long pulse_width;
// float cm;
float inches;
// Hold the trigger pin high for at least 10 us
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
// Wait for pulse on echo pin
while ( digitalRead(ECHO_PIN) == 0 );
// Measure how long the echo pin was held high (pulse width)
// Note: the micros() counter will overflow after ~70 min
t1 = micros();
while ( digitalRead(ECHO_PIN) == 1);
t2 = micros();
pulse_width = t2 - t1;
// Calculate distance in centimeters and inches. The constants
// are found in the datasheet, and calculated from the assumed speed
//of sound in air at sea level (~340 m/s).
cm = pulse_width / 58.0;
return(cm);
}
|
