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ESP-WROOM-02 障害物回避スケッチを開発

https://blog.with2.net/link/?1965529

ESP-WROOM-02 障害物回避スケッチを開発

https://blog.with2.net/link/?1965529

引き続いて障害物回避のスケッチを作成します。測距センサそのものの動作確認は前回までに終了しているので、ここではスマホ画面にAUTOというボタンを追加します。

これが押されればオートモードとなります。ひたすら前進を続け障害物との距離が閾値を超えれば一定時間旋回し回避動作に入り、障害なしとなれば再度前進をつづけるという構想です。

試験回路です。前記事からは測距センサが追加されています。

AUTOボタンを追加したスマホ画面です。

手をかざせば旋回となり、障害物がなくなれば再度前進とうまく作動はしています。

しかしながら、問題があります。AUTOモードではループ文を書いていますがそのせいで、他のボタン操作を受け付けず電源を切らない限り脱出できないのです。

その部分のスケッチです。

// Auto
server.on(“/auto”, [](){
Serial.println(“auto”);
label1:
distance_from_object();
while ( distance > 25 ){
digitalWrite(14,LOW);
digitalWrite(5,HIGH); // Set Dir High → 回転方向をセット
digitalWrite(13,HIGH); // Set Dir High → 回転方向をセット
analogWrite(4,125);
analogWrite(12,125);
server.send(200, “text/html”, html);
delay(1); //これがないと途中でWiFi通信が停止する?
distance_from_object();
}
avoidance();
goto label1;
});

他のボタン操作で脱出するようなスケッチとすればいいのでしょうが、このあたりが筆者のプログラム能力の限界です。まあこれで良しとするかと妥協したい気分です。

弱気です。

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