１．BLEリモコン（リモコン側）
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// === ESP32 BLE Server sample skech ===
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#include <Ticker.h>
Ticker ticker;
BLEServer *pServer = NULL;
BLECharacteristic *pTxCharacteristic;
bool deviceConnected = false;
bool oldDeviceConnected = false;
// See the following for generating UUIDs: Access the link (Ctrl + click)
// https://www.uuidgenerator.net/
// Server and Client RX TX cross
#define SERVICE_UUID "7a00b9b5-23f3-4fd7-9271-96aee32da1a3"
#define CHARACTERISTIC_UUID_RX "8b165c5d-ce72-452f-af50-67cb23484128"
#define CHARACTERISTIC_UUID_TX "16da53f0-7116-4d54-b676-b81a86e3f407"
#define SERVER_NAME "esp32ble"
// I/O configuration
#define potX 14 // connect ESP32 Board 14 pin to joystick VRy
#define potY 12 // connect ESP32 Board 12 pin to joystick VRx
#define joyK 13 // connect ESP32 Board 13 pin to joystick Button
#define BuiltinLED 2
uint16_t neutral_potX;
uint16_t neutral_potY;
uint16_t potX_val;
uint16_t potY_val;
uint16_t potX_data;
uint16_t potY_data;
uint16_t Txflag_F;
uint16_t button_K;
uint16_t data0 = 0;
String rx_Data;
class MyServerCallbacks : public BLEServerCallbacks
{
void onConnect(BLEServer *pServer)
{
deviceConnected = true;
};
void onDisconnect(BLEServer *pServer)
{
deviceConnected = false;
}
};
class MyCallbacks : public BLECharacteristicCallbacks
{
void onWrite(BLECharacteristic *pCharacteristic)
{
String rxValue = pCharacteristic->getValue();
if (rxValue.length() > 0)
{
for (int i = 0; i & lt; rxValue.length(); i++)
rx_Data = rx_Data + rxValue[i];
}
}
}; // LED Blinker
void ledBlink()
{
volatile static int led = HIGH;
digitalWrite(BuiltinLED, led);
led = !led;
}
void setup()
{
Serial.begin(115200);
pinMode(potX, INPUT);
pinMode(potY, INPUT);
pinMode(joyK,
INPUT_PULLUP);
pinMode(BuiltinLED, OUTPUT);
analogReadResolution(12);
neutral_potX = map(analogRead(potX), 0, 4095, 0, 255);
neutral_potY = map(analogRead(potY), 0, 4095,
0, 255);
ticker.attach(0.1, ledBlink);
Serial.println("BLE_Server_start");
delay(1000); //
Create the BLE Device BLEDevice::init(SERVER_NAME); // Create the BLE Server BLEServer
*pServer = BLEDevice::createServer();
pServer->setCallbacks(new MyServerCallbacks());
// Create the BLE Service
BLEService *pService = pServer->createService(SERVICE_UUID);
// Create a BLE Characteristic
pTxCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_TX,
BLECharacteristic::PROPERTY_NOTIFY);
pTxCharacteristic->addDescriptor(new BLE2902());
BLECharacteristic *pRxCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_RX,
BLECharacteristic::PROPERTY_WRITE);
pRxCharacteristic->setCallbacks(new MyCallbacks());
// Start the service
pService->start();
// Start advertising
pServer->getAdvertising()->start();
Serial.println("Waiting a client connection to notify...");
}
void loop()
{
analogReadResolution(12);
Txflag_F = 1; // Flag data
potX_val = map(analogRead(potX), 0, 4095, 0, 255); // Pot_x data
potY_val = map(analogRead(potY), 0, 4095, 0, 255); // Pot_y data
button_K = !digitalRead(joyK); // Joystick Button data
// convert potX neutral value
if (neutral_potX >= potX_val)
{
potX_data = map(potX_val, neutral_potX, 0, 128, 0);
}
else if (neutral_potX & lt; potX_val)
{
potX_data = map(potX_val, neutral_potX, 255, 128, 255);
} //
convert potY neutral value if (neutral_potY >= potY_val)
{
potY_data = map(potY_val, neutral_potY, 0, 128, 0);
}
else if (neutral_potY & lt; potY_val)
{
potY_data = map(potY_val, neutral_potY, 255, 128, 255);
}
if (deviceConnected)
{ // char buffer[10]; char buffer[20]; // Send data write
sprintf(buffer, "F:%d,X:%03d,Y:%03d,K:%d", Txflag_F, potX_data, potY_data, button_K);
pTxCharacteristic->setValue(buffer);
pTxCharacteristic->notify();
Serial.printf("*** NOTIFY: F:%d,X:%03d,Y:%03d,K:%d ***\n", Txflag_F, potX_data, potY_data,
button_K);
// Receive data read
String Rxdata = rx_Data.c_str();
String str(Rxdata);
String subf = str.substring(0, 1);
data0 = subf.toInt(); // receive flag
// Serial.printf("%s", rx_Data.c_str());
// delay(1000);
}
else
{
data0 = 0;
}
// Connected LED
if (data0 == 1)
{
digitalWrite(BuiltinLED, HIGH);
}
// disconnecting
if (!deviceConnected && oldDeviceConnected)
{
delay(500); // give the bluetooth stack the chance to get things ready
pServer->startAdvertising(); // restart advertising
Serial.println("start advertising");
oldDeviceConnected = deviceConnected;
}
// connecting
if (deviceConnected && !oldDeviceConnected)
{
// do stuff here on connecting
oldDeviceConnected = deviceConnected;
}
// Serial monitor
// Serial.print(F("\n\rTxflag: "));
// Serial.print(Txflag_F);
// Serial.print(F("\tpotX_data: "));
// Serial.print(potX_val);
// Serial.print(F("\tpotY_data: "));
// Serial.print(potY_val);
// Serial.print(F("\tbutton_K: "));
// Serial.print(button_K);
}
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２．BLEリモコン（本体側）
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// === ESP32 BLE Client sample skech ===
#include <Arduino.h>
#include <BLEDevice.h>
#include <ESP32Servo.h>
#include <Ticker.h>
Ticker ticker;
Servo myServo;
// See the following for generating UUIDs: Access the link (Ctrl + click)
// https://www.uuidgenerator.net/
// Server and Client UUID TX RX cross
#define SERVICE_UUID "7a00b9b5-23f3-4fd7-9271-96aee32da1a3"
#define CHARACTERISTIC_UUID_TX "8b165c5d-ce72-452f-af50-67cb23484128"
#define CHARACTERISTIC_UUID_RX "16da53f0-7116-4d54-b676-b81a86e3f407"
#define SERVER_NAME "esp32ble"
#define Tx_value '1' // send to Server "1"
// Board Using pin
#define builtinLED 2 // Onboard Blue LED
#define SERVO_PIN 13 // Servo Orange Wire
#define LEDR 27 // Red LED
#define LEDG 17 // Green LED
#define LEDB 16 // Blue LED
#define LEDC_in1 25 // PWM pin
#define LEDC_in2 26 // PWM pin
#define LEDC_in3 32 // PWM pin
#define LEDC_in4 33 // PWM pin
#define LEDC_channel_0 5 // Channel 5
#define LEDC_channel_1 6 // Channel 6
#define LEDC_channel_2 7 // Channel 7
#define LEDC_channel_3 8 // Channel 8
#define LEDC_freq 1000.0 // Career frequency 8kHz
#define LEDC_resolution 8 // Resolution 8bit（0-255）
int Rx_flag = 0; // received flag
int Joystick_neutral; // Joystick neutral
int xAxis = 512; // Joystick X-Nutral Value
int yAxis = 512; // Joystick Y-Nutral Value
int speedLeft = 100; // inverted data Min:100 Max:0
int speedRight = 100;
int stop_speed = 255; // DC Motor Stop Value
int data0, data1, data2, data3; // Receive data 0-3
unsigned long previoustime0 = 0;
unsigned long previoustime1 = 0;
unsigned long previoustime2 = 0;
static BLEUUID serviceUUID(SERVICE_UUID);
static BLEUUID charUUID_RX(CHARACTERISTIC_UUID_RX);
static BLEUUID charUUID_TX(CHARACTERISTIC_UUID_TX);
static BLEAddress* pServerAddress;
static boolean doConnect = false;
static boolean connected = false;
static BLERemoteCharacteristic* pRemoteCharacteristicRX;
static BLERemoteCharacteristic* pRemoteCharacteristicTX;
static void notifyCallback(
BLERemoteCharacteristic* pBLERemoteCharacteristic,
uint8_t* pData,
size_t length,
bool isNotify) {
Serial.print("Notify callback for characteristic ");
Serial.print(pBLERemoteCharacteristic->getUUID().toString().c_str());
Serial.print(" of data length ");
Serial.println(length);
Serial.print("data: ");
Serial.println((char*)pData);
}
class MyClientCallback : public BLEClientCallbacks {
void onConnect(BLEClient* pclient) {
}
void onDisconnect(BLEClient* pclient) {
connected = false;
Serial.println("onDisconnect");
}
};
bool connectToServer(BLEAddress pAddress) {
Serial.print("Forming a connection to ");
Serial.println(pAddress.toString().c_str());
BLEClient* pClient = BLEDevice::createClient();
Serial.println(" - Created client");
pClient->setClientCallbacks(new MyClientCallback());
// Connect to the remove BLE Server
pClient->connect(pAddress);
Serial.println(" - Connected to server");
pClient->setMTU(517); //set client to request maximum MTU from server
BLERemoteService* pRemoteService = pClient->getService(serviceUUID);
Serial.print(" - Connected to server :");
Serial.println(serviceUUID.toString().c_str());
if (pRemoteService == nullptr) {
Serial.print("Failed to find our service UUID: ");
Serial.println(serviceUUID.toString().c_str());
pClient->disconnect();
return false;
}
// Get the reference of the characteristic for Receive
pRemoteCharacteristicRX = pRemoteService->getCharacteristic(charUUID_RX);
if (pRemoteCharacteristicRX == nullptr) {
Serial.print("Failed to find characteristic RX ID: ");
Serial.println(charUUID_RX.toString().c_str());
pClient->disconnect();
return false;
}
Serial.print(" - Found characteristic RX ID: ");
Serial.println(charUUID_RX.toString().c_str());
// Get the reference of the characteristic for Send
pRemoteCharacteristicTX = pRemoteService->getCharacteristic(charUUID_TX);
if (pRemoteCharacteristicTX == nullptr) {
Serial.print("Failed to find characteristic TX ID ");
Serial.println(charUUID_TX.toString().c_str());
pClient->disconnect();
return false;
}
Serial.print(" - Found characteristic TX ID: ");
Serial.println(charUUID_TX.toString().c_str());
// Read the value of the characteristic
if (pRemoteCharacteristicRX->canRead()) {
String value = pRemoteCharacteristicRX->readValue();
Serial.print("The characteristic value was: ");
Serial.println(value.c_str());
}
if (pRemoteCharacteristicRX->canNotify())
// pRemoteCharacteristicRX->registerForNotify(notifyCallback);
// Serial.println("End of notify");
return true;
}
class MyAdvertisedDeviceCallbacks : public BLEAdvertisedDeviceCallbacks {
void onResult(BLEAdvertisedDevice advertisedDevice) {
Serial.print("BLE Advertised Device found: ");
Serial.println(advertisedDevice.toString().c_str());
Serial.println(advertisedDevice.getName().c_str());
if (advertisedDevice.getName() == SERVER_NAME) {
Serial.println(advertisedDevice.getAddress().toString().c_str());
advertisedDevice.getScan()->stop();
pServerAddress = new BLEAddress(advertisedDevice.getAddress());
doConnect = true;
}
}
};
void get_scan() {
BLEScan* pBLEScan = BLEDevice::getScan();
Serial.println("getScan");
pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
Serial.println("setAdvertisedDeviceCallbacks");
pBLEScan->setActiveScan(true);
pBLEScan->start(10);
Serial.println("");
Serial.println("End of scan");
}
// LEDC Setup Attach Channel
void ledc_attach_channel() {
ledcAttachChannel(LEDC_in1, LEDC_freq, LEDC_resolution, LEDC_channel_0);
ledcAttachChannel(LEDC_in2, LEDC_freq, LEDC_resolution, LEDC_channel_1);
ledcAttachChannel(LEDC_in3, LEDC_freq, LEDC_resolution, LEDC_channel_2);
ledcAttachChannel(LEDC_in4, LEDC_freq, LEDC_resolution, LEDC_channel_3);
}
void ledBlink() {
volatile static int led = HIGH;
digitalWrite(builtinLED, led);
led = !led;
}
void setup() {
Serial.begin(115200);
pinMode(LEDR, OUTPUT);
pinMode(LEDG, OUTPUT);
pinMode(LEDB, OUTPUT);
pinMode(builtinLED, OUTPUT);
Serial.println("BLE_Cliant_start");
BLEDevice::init("");
get_scan();
Serial.println("BLE End of setup");
ticker.attach(0.1, ledBlink);
myServo.attach(SERVO_PIN);
ledc_attach_channel();
delay(500);
}
void loop() {
unsigned long currenttime = millis();
if (doConnect == true) {
if (connectToServer(*pServerAddress)) {
Serial.println("We are now connected to the BLE Server.");
connected = true;
} else {
Serial.println("We have failed to connect to the server; there is nothin more we will do.");
connected = false;
}
doConnect = false;
}
if (connected) {
// Connection Handling
ticker.detach();
digitalWrite(builtinLED, HIGH);
// Receive data read
String Rxvalue = pRemoteCharacteristicRX->readValue();
String Rxdata = Rxvalue.c_str(); // copy str(value)
String str(Rxdata);
String subf = str.substring(2, 3); // Flag
String subx = str.substring(6, 9); // potX data
String suby = str.substring(12, 15); // potY data
String subk = str.substring(18, 19); // buttonK data
// Convert int flag xyAxis and buttonK
data0 = subf.toInt(); // receive flag
data1 = subx.toInt(); // joystick X value
data2 = suby.toInt(); // joystick Y value
data3 = subk.toInt(); // joystick button
// Serial Monitor Received Data
char buffer[20];
sprintf(buffer, "F:%d X:%03d Y:%03d K:%d", data0, data1, data2, data3);
// Serial.println(buffer);
// to Server Send data
pRemoteCharacteristicTX->writeValue(Tx_value);
// Serial.println(Tx_value);
// delay(1000);
} else {
digitalWrite(builtinLED, LOW);
ticker.attach(0.1, ledBlink);
// reconnecting
Serial.println("Not connected");
doConnect = false;
get_scan();
}
// Connected Receive Flag
if (data0 == 1) {
// Pot data Numeric Replace
xAxis = map(data1, 0, 255, 0, 1023);
yAxis = map(data2, 0, 255, 0, 1023);
// Joystick neutral
if ((yAxis > 470 && yAxis < 550) && (xAxis > 470 && xAxis < 550)) {
Joystick_neutral = HIGH;
}else {
Joystick_neutral = LOW;
}
if (Joystick_neutral == HIGH) {
speedLeft = stop_speed;
speedRight = stop_speed;
ledcWrite(LEDC_in1, stop_speed);
ledcWrite(LEDC_in2, stop_speed);
ledcWrite(LEDC_in3, stop_speed);
ledcWrite(LEDC_in4, stop_speed);
}
// Without exept Joystick neutral
if (Joystick_neutral == LOW) {
// Forward
if (yAxis > 550) {
speedLeft = map(yAxis, 510, 1023, 100, 0);
speedRight = map(yAxis, 510, 1023, 100, 0);
if (xAxis > 470 && xAxis < 550) {
ledcWrite(LEDC_in1, speedLeft);
ledcWrite(LEDC_in2, stop_speed);
ledcWrite(LEDC_in3, speedRight);
ledcWrite(LEDC_in4, stop_speed);
}
}
// Backward
if (yAxis < 470) {
speedLeft = map(yAxis, 510, 0, 100, 0);
speedRight = map(yAxis, 510, 0, 100, 0);
if (xAxis > 470 && xAxis < 550) {
ledcWrite(LEDC_in1, stop_speed);
ledcWrite(LEDC_in2, speedLeft);
ledcWrite(LEDC_in3, stop_speed);
ledcWrite(LEDC_in4, speedRight);
}
}
// Pivot Left turn
if (yAxis > 470 && yAxis < 550 && xAxis < 470) {
speedLeft = map(xAxis, 510, 0, 100, 0);
speedRight = map(xAxis, 510, 0, 100, 0);
ledcWrite(LEDC_in1, stop_speed);
ledcWrite(LEDC_in2, speedLeft);
ledcWrite(LEDC_in3, speedRight);
ledcWrite(LEDC_in4, stop_speed);
}
// Left turn
else if (xAxis < 470) {
int xMapped = map(xAxis, 510, 0, 100, 0);
speedLeft = speedLeft - xMapped;
speedRight = speedRight + xMapped;
if (speedLeft < 0) { speedLeft = 0; }
if (speedRight > 100) { speedRight = 100; }
// Forward Left turn
if (yAxis > 550) {
ledcWrite(LEDC_in1, speedLeft);
ledcWrite(LEDC_in2, stop_speed);
ledcWrite(LEDC_in3, speedRight);
ledcWrite(LEDC_in4, stop_speed);
}
// Backward Left turn
if (yAxis < 470) {
ledcWrite(LEDC_in1, stop_speed);
ledcWrite(LEDC_in2, speedLeft);
ledcWrite(LEDC_in3, stop_speed);
ledcWrite(LEDC_in4, speedRight);
}
}
// Pivot Right turn
if (yAxis > 470 && yAxis < 550 && xAxis > 550) {
speedLeft = map(xAxis, 510, 1023, 100, 0);
speedRight = map(xAxis, 510, 1023, 100, 0);
ledcWrite(LEDC_in1, speedLeft);
ledcWrite(LEDC_in2, stop_speed);
ledcWrite(LEDC_in3, stop_speed);
ledcWrite(LEDC_in4, speedRight);
}
// Right turn
else if (xAxis > 550) {
int xMapped = map(xAxis, 510, 1023, 100, 0);
speedLeft = speedLeft + xMapped;
speedRight = speedRight - xMapped;
if (speedLeft > 100) { speedLeft = 100; }
if (speedRight < 0) { speedRight = 0; }
// Forward Right turn
if (yAxis > 550) {
ledcWrite(LEDC_in1, speedLeft);
ledcWrite(LEDC_in2, stop_speed);
ledcWrite(LEDC_in3, speedRight);
ledcWrite(LEDC_in4, stop_speed);
}
// Backward Right turn
if (yAxis < 470) {
ledcWrite(LEDC_in1, stop_speed);
ledcWrite(LEDC_in2, speedLeft);
ledcWrite(LEDC_in3, stop_speed);
ledcWrite(LEDC_in4, speedRight);
}
}
}
// joystick button pressed LED and Servo
if (data3 == 1) {
digitalWrite(LEDB, HIGH);
myServo.write(145);
} else {
digitalWrite(LEDB, LOW);
myServo.write(50);
}
// Motor Drive LED
if (speedLeft < 95 || speedRight < 95) {
digitalWrite(LEDG, HIGH);
} else {
digitalWrite(LEDG, LOW);
}
} else {
data0 = 0;
xAxis = 510;
yAxis = 510;
data3 = 0;
}
// Serial monitor
// ボードの処理速度に影響するためコメント化してある。
// Serial.print(F("\r\nconnect: "));
// Serial.print(data0);
// Serial.print(F("\txAxis: "));
// Serial.print(xAxis);
// Serial.print(F("\tyAxis: "));
// Serial.print(yAxis);
// Serial.print(F("\tJoystick_Button: "));
// Serial.print(data3);
// Serial.print(F("\tJoystick_neutral: "));
// Serial.print(Joystick_neutral);
// Serial.print(F("\tspeedLeft: "));
// Serial.print(speedLeft);
// Serial.print(F("\tspeedRight: "));
// Serial.print(speedRight);
}
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