diff --git a/SR04_distance/SR04_distance.ino b/SR04_distance/SR04_distance.ino index f08911b..0d494c6 100644 --- a/SR04_distance/SR04_distance.ino +++ b/SR04_distance/SR04_distance.ino @@ -1,99 +1,249 @@ -//使用了SR04超声波传感器，可收发超声波，测距0~450cm -//通过串口显示距离 +// 使用了SR04超声波传感器、TRCT5000循迹传感器、SG90舵机和直流电机进行循迹避障测试 +// 逻辑: 第一次检测到障碍物后开始循迹，第二次检测到障碍物后停止。 + #include +// --- Pin Definitions --- + +// Servo Servo myServo; const int servoPin = 9; -//设定SR04连接的Arduino引脚 -const int TrigPin = 8; //C语言的基本数据类型中的一种，const int定义的是一个常量，它的值不可以更改。 -const int EchoPin = 6; -const int TrigPin2 = 2; -const int EchoPin2 = 3; -const int trct5000_01=A0; -float distance; //C语言的基本数据类型中的一种，表示单精度浮点数。 -float distance2; -int flag; -void setup() -{ - Serial.begin(9600); //初始化串口通信 - myServo.attach(servoPin,500, 2500); - pinMode(TrigPin, OUTPUT); //设置4（TrigPin）脚为输出状态 - // 要检测引脚上输入的脉冲宽度，需要先设置为输入状态 - pinMode(EchoPin, INPUT); //设置6（EchoPin）脚为输入状态 +// Ultrasonic Sensor - Front (for start/stop control) +const int frontTrigPin = 2; +const int frontEchoPin = 3; - pinMode(TrigPin2, OUTPUT); //设置4（TrigPin）脚为输出状态 - // 要检测引脚上输入的脉冲宽度，需要先设置为输入状态 - pinMode(EchoPin2, INPUT); //设置6（EchoPin）脚为输入状态 - Serial.println("Ultrasonic sensor:"); //串口监视器显示Ultrasonic sensor: - pinMode(A0,INPUT); +// Ultrasonic Sensor - Side (for pausing) +const int sideTrigPin = 8; +const int sideEchoPin = 6; - pinMode(4, OUTPUT); //EA - pinMode(7, OUTPUT); //EB - pinMode(10, OUTPUT); //A1 - pinMode(5, OUTPUT); //A1 - pinMode(11, OUTPUT); //B1 - pinMode(12, OUTPUT); //B2 - digitalWrite(4,HIGH); - digitalWrite(7,HIGH); - myServo.write(90); +// LED Pin +const int ledPin = A2; +// Line Following Sensors +const int trct5000_02 = A1; // 左循迹传感器 +const int trct5000_01 = A0; // 右循迹传感器 + +// Motor Control Pins (assuming L298N-like driver) +// Right Motor (User identified pin 5 as right motor) +const int ENA = 4; // 使能A +const int IN1 = 5; // 输入1 (速度) +const int IN2 = 10; // 输入2 (方向) +// Left Motor +const int ENB = 7; // 使能B +const int IN3 = 12; // 输入3 (速度) +const int IN4 = 11; // 输入4 (方向) + + +// --- Global Variables & Constants --- + +float frontDistance; +float sideDistance; +const int OBSTACLE_THRESHOLD = 20; // 障碍物检测阈值 (cm) +int obstacleDetections = 0; +bool obstaclePreviouslySeen = false; +bool ignoreSideSensor = false; // 新增：用于在恢复后忽略侧方传感器 +int sideObstacleCounter = 0; // 新增：用于过滤侧方传感器的抖动 +int frontStopCounter = 0; // 新增：用于最终停止的防抖 + +// 定义状态机 +enum State { + IDLE, + LINE_FOLLOWING, + PAUSED_BY_SIDE_OBSTACLE, // 新增：被侧方障碍物暂停的状态 + STOPPED +}; +State currentState = IDLE; + +// --- Function Prototypes --- +void motorStop(); +void motorForward(int speed); + + +void setup() { + Serial.begin(9600); + myServo.attach(servoPin, 500, 2500); + + // 初始化超声波传感器引脚 + pinMode(frontTrigPin, OUTPUT); + pinMode(frontEchoPin, INPUT); + pinMode(sideTrigPin, OUTPUT); + pinMode(sideEchoPin, INPUT); + + // 初始化LED引脚 + pinMode(ledPin, OUTPUT); + digitalWrite(ledPin, HIGH); // 初始为高电平，灯灭 + + // 初始化循迹传感器引脚 + pinMode(trct5000_01, INPUT); + pinMode(trct5000_02, INPUT); + + // 初始化电机控制引脚 + pinMode(ENA, OUTPUT); + pinMode(IN1, OUTPUT); + pinMode(IN2, OUTPUT); + pinMode(ENB, OUTPUT); + pinMode(IN3, OUTPUT); + pinMode(IN4, OUTPUT); + + // 设置初始状态 + motorStop(); + myServo.write(90); // 舵机居中 + Serial.println("System Initialized. State: IDLE"); + Serial.println("Waiting 3 seconds for sensors to stabilize..."); + delay(3000); // 增加延时以确保传感器稳定 } -void loop() -{ - analogWrite(5, 200); - analogWrite(10, 50); - Serial.println(digitalRead(trct5000_01)); - analogWrite(11, 50); - analogWrite(12, 200); - digitalWrite(TrigPin, LOW); //设置数字引脚4为低电平 - delayMicroseconds(2); //产生一个2us延迟，“delayMicroseconds();”为微秒级延时。 - digitalWrite(TrigPin, HIGH); //设置数字引脚4为高电平 - delayMicroseconds(10); //产生一个10us的高脉冲去触发TrigPin，至少10us的高电平信号才能触发模块的测距功能。 - digitalWrite(TrigPin, LOW); //设置数字引脚4为低电平 - distance = pulseIn(EchoPin, HIGH) / 58.00; //检测脉冲宽度，并计算出距离 +void loop() { + // 1. 读取前方传感器 (用于主流程控制) + digitalWrite(frontTrigPin, LOW); + delayMicroseconds(2); + digitalWrite(frontTrigPin, HIGH); + delayMicroseconds(10); + digitalWrite(frontTrigPin, LOW); + frontDistance = pulseIn(frontEchoPin, HIGH) / 58.00; - digitalWrite(TrigPin2, LOW); //设置数字引脚4为低电平 - delayMicroseconds(2); //产生一个2us延迟，“delayMicroseconds();”为微秒级延时。 - digitalWrite(TrigPin2, HIGH); //设置数字引脚4为高电平 - delayMicroseconds(10); //产生一个10us的高脉冲去触发TrigPin，至少10us的高电平信号才能触发模块的测距功能。 - digitalWrite(TrigPin2, LOW); //设置数字引脚4为低电平 - distance2 = pulseIn(EchoPin2, HIGH) / 58.00; //检测脉冲宽度，并计算出距离 + // 2. 状态机主要逻辑 + switch (currentState) { + case IDLE: + motorStop(); + Serial.println("State: IDLE"); + // 检测前方障碍物以启动 + if (frontDistance < OBSTACLE_THRESHOLD && frontDistance > 0 && !obstaclePreviouslySeen) { + obstacleDetections++; + Serial.print("Obstacle detected! Count: "); + Serial.println(obstacleDetections); + currentState = LINE_FOLLOWING; + Serial.println("State change -> LINE_FOLLOWING"); + } + break; + + case LINE_FOLLOWING: + // 检查前方障碍物以进入最终停止状态 (增加防抖逻辑) + if (frontDistance < OBSTACLE_THRESHOLD && frontDistance > 0) { + frontStopCounter++; + } else { + frontStopCounter = 0; + } - if(distance < 10) - { - flag = 1; - digitalWrite(4,LOW); - digitalWrite(7,LOW); + if (frontStopCounter >= 5) { // 要求连续5次检测到才触发最终停止 + currentState = STOPPED; + Serial.println("State change -> STOPPED"); + break; // 退出 switch 语句 + } + + // 检查侧方障碍物以进入暂停状态 (增加防抖逻辑) + if (!ignoreSideSensor) { + digitalWrite(sideTrigPin, LOW); + delayMicroseconds(2); + digitalWrite(sideTrigPin, HIGH); + delayMicroseconds(10); + digitalWrite(sideTrigPin, LOW); + sideDistance = pulseIn(sideEchoPin, HIGH) / 58.00; + + if (sideDistance < OBSTACLE_THRESHOLD && sideDistance > 0) { + sideObstacleCounter++; // 如果检测到，计数器加1 + } else { + sideObstacleCounter = 0; // 如果没检测到，计数器清零 + } + + if (sideObstacleCounter >= 3) { // 要求连续3次检测到才触发暂停 + currentState = PAUSED_BY_SIDE_OBSTACLE; + Serial.println("State change -> PAUSED_BY_SIDE_OBSTACLE"); + sideObstacleCounter = 0; // 重置计数器 + break; + } + } + + // 执行循迹 + motorForward(90); // 采用用户设定的速度 + + // 读取循迹传感器 + bool leftOnLine = digitalRead(trct5000_02); + bool rightOnLine = digitalRead(trct5000_01); + + // 使用舵机进行方向控制 (采用用户设定的角度) + if (leftOnLine && !rightOnLine) { + myServo.write(75); + } else if (!leftOnLine && rightOnLine) { + myServo.write(105); + } + break; + + case PAUSED_BY_SIDE_OBSTACLE: + motorStop(); + digitalWrite(ledPin, LOW); // 亮灯 + Serial.println("State: PAUSED"); + + // 在暂停状态下，只检测前方障碍物以恢复运动 + if (frontDistance < OBSTACLE_THRESHOLD && frontDistance > 0) { + digitalWrite(ledPin, HIGH); // 灭灯 + ignoreSideSensor = true; // 设置标志位，永久忽略侧方传感器 + currentState = LINE_FOLLOWING; + Serial.println("Resuming, ignoring side sensor from now on."); + // 为了防止这次检测被错误地计为第二次停止指令，短暂延时并重置检测标志 + delay(200); + obstaclePreviouslySeen = true; + } + break; + + case STOPPED: + motorStop(); + break; } - else - { - flag = 0; - } - if(flag == 0) - { - if(distance2 < 20) - { - myServo.write(110); - digitalWrite(4,LOW); - digitalWrite(7,LOW); - } - else - { - digitalWrite(4,HIGH); - digitalWrite(7,HIGH); - } - } -//注意！！！此语句中58.00前的“/”符号为算术运算符，表示除以。 - Serial.print(distance); //串口监视器显示distance（所测距离） - Serial.println(); //串口监视器打印一行回车 - Serial.print(distance2); //串口监视器显示distance（所测距离） - Serial.print("cm"); //串口监视器显示“cm” - Serial.println(); //串口监视器打印一行回车 - delay(100); //延迟1秒（1000毫秒） - - - + // 更新前方障碍物的检测标志位，用于识别"新"的障碍物事件 + obstaclePreviouslySeen = (frontDistance < OBSTACLE_THRESHOLD && frontDistance > 0); + + delay(10); // 采用用户设定的循环延时 +} + +// --- Motor Control Functions --- + +// 电机停止 (根据L298N标准，将输入引脚设为LOW实现刹车) +void motorStop() { + // 将方向控制引脚都设为LOW，使电机刹车 + digitalWrite(IN1, LOW); + digitalWrite(IN2, LOW); + digitalWrite(IN3, LOW); + digitalWrite(IN4, LOW); + + // 为保险起见，也将使能引脚的PWM输出设为0 + analogWrite(ENA, 0); + analogWrite(ENB, 0); +} + +// 电机前进 (实现"kick-start"以在低速下启动) +void motorForward(int speed) { + // 定义电机启动阈值和"kick"参数 + const int START_THRESHOLD = 140; // 电机启动的最小PWM值 + const int KICK_SPEED = 180; // 用于克服惯性的瞬时启动速度 + const int KICK_DURATION = 20; // 启动脉冲的持续时间 (ms) + + // 1. 设置电机方向为前进 (根据用户最新配置) + // 右电机 + digitalWrite(IN1, HIGH); + digitalWrite(IN2, LOW); + // 左电机 (用户已反转) + digitalWrite(IN3, LOW); + digitalWrite(IN4, HIGH); + + // 2. 使用PWM在Enable引脚上设置速度, 对低速进行"kick-start" + if (speed > 0 && speed < START_THRESHOLD) { + // 先用一个较高的速度"kick"一下来克服静摩擦力 + analogWrite(ENA, KICK_SPEED); + analogWrite(ENB, KICK_SPEED); + delay(KICK_DURATION); + + // 然后迅速降低到目标低速来维持运动 + analogWrite(ENA, speed); + analogWrite(ENB, speed); + } else if (speed >= START_THRESHOLD) { + // 对于高于阈值的速度，直接设置 + analogWrite(ENA, speed); + analogWrite(ENB, speed); + } else { // speed == 0 + // 如果目标速度为0，则调用刹车函数 + motorStop(); + } } diff --git a/charging_web_app/LogBook.md b/charging_web_app/LogBook.md new file mode 100644 index 0000000..30a6ccd --- /dev/null +++ b/charging_web_app/LogBook.md @@ -0,0 +1,6 @@ +## 2024-05-22 充电状态详情页跳转与参数修正 by AI助手 + +- 修正dashboard页面"查看详细状态"按钮，跳转链接由/charging-status改为/charging-status?id=activeSession.id，确保跳转时带上会话ID。 +- charging-status页面支持通过url参数id获取会话详情，优先用/session/get?id=xxx，否则用/session/my/active。 +- 这样用户可以直接查看当前活跃会话详情，也可以通过id参数查看历史会话详情。 +- 代码高内聚低耦合，未影响其他业务逻辑。 \ No newline at end of file diff --git a/springboot-init-main/target/classes/META-INF/spring-configuration-metadata.json b/springboot-init-main/target/classes/META-INF/spring-configuration-metadata.json deleted file mode 100644 index 9267002..0000000 --- a/springboot-init-main/target/classes/META-INF/spring-configuration-metadata.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "groups": [ - { - "name": "mqtt", - "type": "com.yupi.project.config.properties.MqttProperties", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - } - ], - "properties": [ - { - "name": "mqtt.broker-url", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.client-id-prefix", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.command-topic-base", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.connection-timeout", - "type": "java.lang.Integer", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.default-qos", - "type": "java.lang.Integer", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.keep-alive-interval", - "type": "java.lang.Integer", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.password", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.status-topic-base", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - }, - { - "name": "mqtt.username", - "type": "java.lang.String", - "sourceType": "com.yupi.project.config.properties.MqttProperties" - } - ], - "hints": [] -} \ No newline at end of file diff --git a/springboot-init-main/target/classes/TaskTimeoutHandler.class b/springboot-init-main/target/classes/TaskTimeoutHandler.class deleted file mode 100644 index a6a040a..0000000 Binary files a/springboot-init-main/target/classes/TaskTimeoutHandler.class and /dev/null differ diff --git a/springboot-init-main/target/classes/application-prod.yml b/springboot-init-main/target/classes/application-prod.yml deleted file mode 100644 index 876203b..0000000 --- a/springboot-init-main/target/classes/application-prod.yml +++ /dev/null @@ -1,6 +0,0 @@ -spring: - datasource: - driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://localhost:3306/my_db - username: root - password: 123456 \ No newline at end of file diff --git a/springboot-init-main/target/classes/application.yml b/springboot-init-main/target/classes/application.yml deleted file mode 100644 index a85d210..0000000 --- a/springboot-init-main/target/classes/application.yml +++ /dev/null @@ -1,65 +0,0 @@ -spring: - application: - name: mqtt-charging-system - # DataSource Config - datasource: - driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://yuyun-us1.stormrain.cn:3306/mqtt_power?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai - username: root - password: mysql_a4MQ4P - mvc: - pathmatch: - matching-strategy: ANT_PATH_MATCHER - # session 失效时间（秒） - session: - timeout: 86400 -server: - port: 7529 - servlet: - context-path: /api - session: - timeout: 86400 # 设置session的过期时间，单位为秒，这里设置为1天 -mybatis-plus: - configuration: - map-underscore-to-camel-case: true - log-impl: org.apache.ibatis.logging.stdout.StdOutImpl - global-config: - db-config: - logic-delete-field: isDelete # 全局逻辑删除的实体字段名(since 3.3.0,配置后可以忽略不配置步骤2) - logic-delete-value: 1 # 逻辑已删除值(默认为 1) - logic-not-delete-value: 0 # 逻辑未删除值(默认为 0) - -# Logging configuration -logging: - level: - # Set root logger level (e.g., INFO, WARN, ERROR, DEBUG) - root: INFO - # Set specific package levels - com.yupi.project: DEBUG # Example: Set your project's base package to DEBUG - org.springframework.web: INFO # Set Spring Web logging level - org.springframework.security: DEBUG # Enable Spring Security DEBUG logging - org.mybatis: INFO # Set MyBatis logging level - # ... other specific loggers - #file: - #name: logs/application.log # Log file name - #path: ./logs # Log file path - #pattern: - #console: "%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n" - #file: "%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n" - -# =================================================================== -# MQTT Configurations -# =================================================================== -mqtt: - broker-url: tcp://broker.emqx.io:1883 - username: # Public broker, no credentials specified for connection - password: # Public broker, no credentials specified for connection - client-id-prefix: backend-yupi-mqtt-power- # Unique client ID prefix for our project - default-qos: 1 # Default Quality of Service (0, 1, 2) - connection-timeout: 30 # Connection timeout in seconds - keep-alive-interval: 60 # Keep alive interval in seconds - command-topic-base: yupi_mqtt_power_project/robot/command # Prefixed base topic for sending commands - status-topic-base: yupi_mqtt_power_project/robot/status # Prefixed base topic for receiving status - task: # Task specific configurations - timeoutSeconds: 300 # Default 300 seconds (5 minutes) for a task to be considered timed out - timeoutCheckRateMs: 60000 # Default 60000 ms (1 minute) for how often to check for timed out tasks \ No newline at end of file diff --git a/springboot-init-main/target/classes/banner.txt b/springboot-init-main/target/classes/banner.txt deleted file mode 100644 index afa86fa..0000000 --- a/springboot-init-main/target/classes/banner.txt +++ /dev/null @@ -1 +0,0 @@ -我的项目 by 程序员鱼皮 https://github.com/liyupi \ No newline at end of file diff --git a/springboot-init-main/target/classes/com/yupi/project/MyApplication.class b/springboot-init-main/target/classes/com/yupi/project/MyApplication.class deleted file mode 100644 index 7563be2..0000000 Binary files a/springboot-init-main/target/classes/com/yupi/project/MyApplication.class and /dev/null differ diff --git a/springboot-init-main/target/classes/com/yupi/project/annotation/AuthCheck.class b/springboot-init-main/target/classes/com/yupi/project/annotation/AuthCheck.class deleted file mode 100644 index 1b4dce9..0000000 Binary files a/springboot-init-main/target/classes/com/yupi/project/annotation/AuthCheck.class and /dev/null differ diff --git a/springboot-init-main/target/classes/com/yupi/project/aop/AuthInterceptor.class 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/dev/null differ diff --git a/springboot-init-main/target/classes/com/yupi/project/service/impl/RobotTaskServiceImpl.class b/springboot-init-main/target/classes/com/yupi/project/service/impl/RobotTaskServiceImpl.class deleted file mode 100644 index c174560..0000000 Binary files a/springboot-init-main/target/classes/com/yupi/project/service/impl/RobotTaskServiceImpl.class and /dev/null differ diff --git a/springboot-init-main/target/classes/com/yupi/project/service/impl/TaskTimeoutHandler.class b/springboot-init-main/target/classes/com/yupi/project/service/impl/TaskTimeoutHandler.class deleted file mode 100644 index 8561153..0000000 Binary files a/springboot-init-main/target/classes/com/yupi/project/service/impl/TaskTimeoutHandler.class and /dev/null differ diff --git a/springboot-init-main/target/classes/com/yupi/project/service/impl/UserServiceImpl.class b/springboot-init-main/target/classes/com/yupi/project/service/impl/UserServiceImpl.class deleted file mode 100644 index 8ce5d9e..0000000 Binary files a/springboot-init-main/target/classes/com/yupi/project/service/impl/UserServiceImpl.class and /dev/null differ diff --git a/springboot-init-main/target/classes/mapper/UserMapper.xml b/springboot-init-main/target/classes/mapper/UserMapper.xml deleted file mode 100644 index e54cd5d..0000000 --- a/springboot-init-main/target/classes/mapper/UserMapper.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - id,userName,userAccount, - userAvatar,gender,userRole, - userPassword,createTime,updateTime, - isDelete - - - - UPDATE user - SET balance = balance + #{amountChange} - WHERE id = #{userId} - - AND balance >= #{amountChange.abs()} - - - diff --git a/文章/基于MQTT停车场自助充电机器人的设计.doc b/文章/基于MQTT停车场自助充电机器人的设计.doc index 27eaf78..3169d3e 100644 Binary files a/文章/基于MQTT停车场自助充电机器人的设计.doc and b/文章/基于MQTT停车场自助充电机器人的设计.doc differ