e770520f73
ESP32-CAM: eliminada handshakeTask (fragmentaba heap durante 30s con String objects, causando inestabilidad al manejar el coche) ESP8266: sustituido waitForReady() por delay fijo de 20s + flush de Serial + 2 pitidos. Sin WiFi, sin String, sin tareas extra. Arquitectura identica a v1 que funcionaba, mas watchdog 1.5s. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
128 lines
3.5 KiB
C++
128 lines
3.5 KiB
C++
// FW_VERSION informativo — no hace OTA, se flashea por USB
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#define FW_VERSION 20
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#include <Servo.h>
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// ==== Pines motores ====
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const int ENA = D1;
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const int ENB = D5;
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const int IN1 = D6;
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const int IN2 = D7;
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const int IN3 = D2;
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const int IN4 = D0;
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// ==== Pines servos ====
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const int SERVO_X_PIN = D3;
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const int SERVO_Y_PIN = D4;
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// ==== Pin buzzer ====
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const int buzzerPin = D8;
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Servo servoX;
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Servo servoY;
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int currentSpeed = 150;
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int posX = 90;
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int posY = 90;
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bool espReady = false;
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void setup() {
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// 1. Motores parados inmediatamente
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pinMode(ENA, OUTPUT); pinMode(ENB, OUTPUT);
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pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT);
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pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT);
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stopMotors();
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// 2. Serial
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Serial.begin(9600);
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// 3. Periféricos
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analogWriteRange(255);
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analogWriteFreq(1000);
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servoX.attach(SERVO_X_PIN);
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servoY.attach(SERVO_Y_PIN);
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pinMode(buzzerPin, OUTPUT);
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servoX.write(posX);
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servoY.write(posY);
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// 4. Esperar a que el ESP32-CAM termine de arrancar (~20s)
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// El ESP32 necesita: WiFiManager + OTA check + arrancar servidor
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unsigned long elapsed = millis();
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if (elapsed < 20000) delay(20000 - elapsed);
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// 5. Descartar cualquier basura que haya llegado por Serial durante el arranque
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while (Serial.available()) Serial.read();
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// 6. Listo — 2 pitidos
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for (int i = 0; i < 2; i++) {
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digitalWrite(buzzerPin, HIGH); delay(180);
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digitalWrite(buzzerPin, LOW); delay(180);
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}
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espReady = true;
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}
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// Watchdog: si no llega comando de movimiento en 1.5s → para motores
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unsigned long lastMoveMs = 0;
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bool motorRunning = false;
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void loop() {
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if (motorRunning && (millis() - lastMoveMs > 1500)) {
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stopMotors();
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motorRunning = false;
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}
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if (!Serial.available()) return;
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char c = Serial.read();
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if (!espReady) return;
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if (c == 'F') { forward(); lastMoveMs = millis(); motorRunning = true; }
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else if (c == 'B') { backward(); lastMoveMs = millis(); motorRunning = true; }
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else if (c == 'L') { left(); lastMoveMs = millis(); motorRunning = true; }
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else if (c == 'R') { right(); lastMoveMs = millis(); motorRunning = true; }
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else if (c == 'S') { stopMotors(); motorRunning = false; }
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else if (c == 'V') {
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int val = Serial.parseInt();
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if (val >= 0 && val <= 255) currentSpeed = val;
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}
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else if (c == 'X') {
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int val = Serial.parseInt();
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if (val >= 0 && val <= 180) { posX = val; servoX.write(posX); }
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}
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else if (c == 'Y') {
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int val = Serial.parseInt();
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if (val >= 0 && val <= 180) { posY = val; servoY.write(posY); }
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}
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else if (c == 'H') {
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int val = Serial.parseInt();
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digitalWrite(buzzerPin, val > 0 ? HIGH : LOW);
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}
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}
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// ==== Funciones de movimiento ====
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void forward() {
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analogWrite(ENA, currentSpeed); analogWrite(ENB, currentSpeed);
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digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH);
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digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH);
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}
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void backward() {
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analogWrite(ENA, currentSpeed); analogWrite(ENB, currentSpeed);
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digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);
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digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);
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}
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void left() {
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analogWrite(ENA, currentSpeed); analogWrite(ENB, currentSpeed);
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digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH);
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digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);
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}
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void right() {
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analogWrite(ENA, currentSpeed); analogWrite(ENB, currentSpeed);
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digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);
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digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH);
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}
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void stopMotors() {
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analogWrite(ENA, 0); analogWrite(ENB, 0);
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digitalWrite(IN1, LOW); digitalWrite(IN2, LOW);
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digitalWrite(IN3, LOW); digitalWrite(IN4, LOW);
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}
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