初次测试单片机循迹避障

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 <Servo.h>
 
+// --- 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;
     
-  if(distance < 10)
-  {
-    flag = 1;
-    digitalWrite(4,LOW);
-    digitalWrite(7,LOW);
+    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 (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();
+  }
 }

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。 

springboot-init-main/target/classes/META-INF/spring-configuration-metadata.json

@@ -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": []
-}

springboot-init-main/target/classes/application-prod.yml

@@ -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

springboot-init-main/target/classes/application.yml

@@ -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

springboot-init-main/target/classes/banner.txt

@@ -1 +0,0 @@
-我的项目 by 程序员鱼皮 https://github.com/liyupi

springboot-init-main/target/classes/mapper/UserMapper.xml

@@ -1,35 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE mapper
-        PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
-        "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.yupi.project.mapper.UserMapper">
-
-    <resultMap id="BaseResultMap" type="com.yupi.project.model.entity.User">
-        <id property="id" column="id" jdbcType="BIGINT"/>
-        <result property="userName" column="userName" jdbcType="VARCHAR"/>
-        <result property="userAccount" column="userAccount" jdbcType="VARCHAR"/>
-        <result property="userAvatar" column="userAvatar" jdbcType="VARCHAR"/>
-        <result property="gender" column="gender" jdbcType="TINYINT"/>
-        <result property="userRole" column="userRole" jdbcType="VARCHAR"/>
-        <result property="userPassword" column="userPassword" jdbcType="VARCHAR"/>
-        <result property="createTime" column="createTime" jdbcType="TIMESTAMP"/>
-        <result property="updateTime" column="updateTime" jdbcType="TIMESTAMP"/>
-        <result property="isDelete" column="isDelete" jdbcType="TINYINT"/>
-    </resultMap>
-
-    <sql id="Base_Column_List">
-        id,userName,userAccount,
-        userAvatar,gender,userRole,
-        userPassword,createTime,updateTime,
-        isDelete
-    </sql>
-
-    <update id="updateUserBalance">
-        UPDATE user
-        SET balance = balance + #{amountChange}
-        WHERE id = #{userId}
-        <if test="amountChange.signum() == -1">
-            AND balance >= #{amountChange.abs()}
-        </if>
-    </update>
-</mapper>