Climbing Robot DPS code
We use the chip ESP8266 to connect the DSP with WIFI ESP8266
Starting for ESP8266
When you have a new ESP8266, you should configure it at first with AT commands. AT commands set
Firstly, you need a serial port debugging tool to configure, like this one.
Connecting the ESP with computer via an USB-232 port, and then you can operate the chip by AT commands. Such as set IP Address, check the connection.
code for ESP8266
//SCIC for debug ESP chip by computer
// Connect to the Router
msg = "AT+CWJAP=\"Robotics Lab 518a\",\"ccny10031\"\r\n\0"; // if you change a router, then change the name and password
scic_msg(msg); // connect scic with computer, you can see the feedback from ESP on computer
scib_msg(msg);
DELAY_US(5000000); //等待微妙 wait for some microseconds
//Set by TCP multiple connections
msg = "AT+CIPMUX=1\r\n\0";
scic_msg(msg);
scib_msg(msg);
DELAY_US(100000); //等待微妙 wait for some microseconds
//Set ESP as server, port=8888
msg = "AT+CIPSERVER=1,8888\r\n\0";
scic_msg(msg);
scib_msg(msg);
DELAY_US(100000); //等待微妙 wait for some microseconds
// Get IP Address, if you connect with computer and open scic, you will see the IP address on computer
msg = "AT+CIFSR\r\n\0";
scic_msg(msg);
scib_msg(msg);
| ESP8266 | DSP |
|---|---|
| TX | RX |
| GND | GND |
| CH_PD | 3.3V |
| VCC | 3.3V |
| RX | TX |
Firstly, we can the USB module to test ESP8266 and configure it.
The default baud rate of ESP is 115200.
FORWARD = 0xFF, 0x00, 0x01, 0x00, 0xFE
BACKWARD = 0xFF, 0x00, 0x02, 0x00, 0xFE
STOP = 0xFF, 0x00, 0x00, 0x00, 0xFE
LEFT = 0xFF, 0x00, 0x04, 0x00, 0xFE
RIGHT = 0xFF, 0x00, 0x08, 0x00, 0xFE
SUCTION_ON = 0xFF, 0x01, 0x01, 0x00, 0xFE
SUCTION_OFF = 0xFF, 0x01, 0x00, 0x00, 0xFE
SERVO = 0xFF, 0x04, 0x00, 0x01, 0xFE
motion_speed = 0xFF, 0x05, 0x01, 0x32, 0xFE
suction_speed = 0xFF, 0x05, 0x02, 0x32, 0xFE
1.Install CCS and controlSUITE
2.Downdload code form ClimbRobot
3.Import the project to CCS
4.Configure the project. Right click on the name of project and choose "Properties", configure “Include Options”. Find out "F2837xS_common\include" and "F2837xS_headers\include" in your installation directory of controlSUITE.
Set file search path "F2837xS_common\cmd" and "F2837xS_headers\cmd" to installation directory of controlSUITE.
5.Build and download, test the code
The JTAG emulator is XDS100v2
state 0: moving state
| sub-state | operation |
|---|---|
| 0 | halt |
| 1 | move forward |
| 2 | move backward |
| 4 | turn left |
| 8 | turn right |
state 1: suction motor operation
| sub-state | operation |
|---|---|
| sub | state: |
| 0 | stop |
| 1 | start |
state 4 : servo operation
| sub-state | operation |
|---|---|
| 0 | middle |
| 1 | low |
| 2 | high |
state 5 : setting speed
| sub-state | operation |
|---|---|
| 1 | set wheel speed |
| 2 | set suction motor speed |
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent