board

+[[ESP32-S3-dat]] - [[NWI1243-dat]]

+

+# servo-360-dat

+

+

+## servo 360 degree

+

+360° (continuous-rotation) servo

+A 360° servo is effectively a geared DC motor with continuous-variable speed and direction control — it does not provide absolute angle positioning. It uses the same PWM control signal as a regular hobby servo, but the pulse width controls motor speed and direction instead of shaft angle. (Commonly used as a power source for modified robots and drivetrains.)

+

+Control notes

+

+- Typical PWM time base: ~20 ms period (50 Hz). Pulse width (high time) is usually in the ~0.5–2.5 ms range; 1.5 ms is the neutral/stop point for many servos.

+- Behavior for continuous-rotation servos:

+ - Pulse < center (e.g., 0.5 ms → 1.5 ms): forward rotation. The smaller the pulse, the faster the forward speed (0.5 ms → fastest forward).

+ - ~1.5 ms: stop / neutral.

+ - Pulse > center (e.g., 1.5 ms → 2.5 ms): reverse rotation. The larger the pulse, the faster the reverse speed (2.5 ms → fastest reverse).

+- Some servos use narrower ranges (e.g., 1.0–2.0 ms). Always check with a servo-tester or measure the actual response for the specific model.

+

+Example mapping (typical)

+

+- 0.5 ms — fastest forward

+- 1.0 ms — moderate forward

+- 1.5 ms — stop

+- 2.0 ms — moderate reverse

+- 2.5 ms — fastest reverse

+

+Arduino tip: use Servo.writeMicroseconds(x) to send precise pulse widths (e.g., 1000–2000 µs) and calibrate the stop point for your servo.

+

+

+- [[N20-motor-dat]]

+

+| Pulse (ms) | Pulse (µs) | Angle (°) | degree |

+| ---------: | ---------: | ---------: | ---------------- |

+| 0.5 ms | 500 µs | 0 | fastest forward |

+| 1.0 ms | 1000 µs | 45 | moderate forward |

+| 1.5 ms | 1500 µs | 90 | stop |

+| 2.0 ms | 2000 µs | 135 | moderate reverse |

+| 2.5 ms | 2500 µs | 180 or -90 | fastest reverse |

+

+

+

+## ref

+

+- [[servo-dat]]

+- [[servo-360-dat]]

+| Pulse (ms) | Pulse (µs) | Angle (°) |

+| ---------: | ---------: | ---------: |

+| 0.5 ms | 500 µs | 0 |

+| 1.0 ms | 1000 µs | 45 |

+| 1.5 ms | 1500 µs | 90 |

+| 2.0 ms | 2000 µs | 135 |

+| 2.5 ms | 2500 µs | 180 or -90 |

+ <button class="sml-btn s180-btn" onclick="sendCmd('s180')">180°</button>

+ <button class="sml-btn stop-btn" onclick="sendCmd('s0')">0°</button>

+ // Simple command-based control: cmd=fw|rv|st|s90|s180|s0|rX_on|rX_off

+ } else if (c == "s180") {

+ // Servo4 to 180 degrees

+ servo4.write(180);

+ Serial.println("Servo14: 180°");

+ } else if (c == "s0") {

+ // Servo4 to 0 degrees (center/stop)

+ servo4.write(0);

+ Serial.println("Servo14: 0°");

+// add IO35 == LED, IO48 == WS2812 to code, and apply functions: LED for motors, IO48 for servos

+

+#include <WiFi.h>

+#include <WebServer.h>

+#include <ESP32Servo.h>

+#include <Adafruit_NeoPixel.h>

+

+// ===== WiFi 配置 =====

+const char* ssid = "motor_control";

+const char* password = "electrodragon";

+

+// ===== DRV8871 / GPIO 定义 (ESP32) =====

+// DRV8871 has two inputs IN1 and IN2. Set both to control direction.

+// Forward: IN1=HIGH, IN2=LOW

+// Reverse: IN1=LOW, IN2=HIGH

+// Stop: IN1=LOW, IN2=LOW (or both HIGH for brake)

+const int IN1_PIN = 15; // IN1 -> IO15

+const int IN2_PIN = 18; // IN2 -> IO18

+

+// Servo pins (GPIO numbers)

+const int SERVO1_PIN = 11;

+const int SERVO2_PIN = 12;

+const int SERVO3_PIN = 13;

+const int SERVO4_PIN = 14;

+

+// Relay pins (GPIO numbers) for ON/OFF control

+const int RELAY1_PIN = 5;

+const int RELAY2_PIN = 6;

+const int RELAY3_PIN = 19;

+const int RELAY4_PIN = 20;

+

+// New: motor status input (IO35 is input-only on many ESP32 boards)

+const int MOTOR_STATUS_PIN = 35; // read-only, used to observe motor/driver state

+

+// New: WS2812 (NeoPixel) for servo status

+const int WS2812_PIN = 48; // user requested IO48

+const int NUM_PIXELS = 1;

+Adafruit_NeoPixel pixels(NUM_PIXELS, WS2812_PIN, NEO_GRB + NEO_KHZ800);

+

+// ===== Web Server =====

+WebServer server(80);

+

+// Servo objects

+Servo servo1;

+Servo servo2;

+Servo servo3;

+Servo servo4;

+

+// ===== HTML Web 控制界面 =====

+const char html_page[] PROGMEM = R"rawliteral(

+<!DOCTYPE html><html>

+<head>

+<meta name="viewport" content="width=device-width, initial-scale=1.0">

+<title>ESP32 Motor & Relay Control</title>

+<style>

+body { font-family: Arial, sans-serif; max-width: 640px; margin: 0 auto; padding: 20px; background-color: #f0f0f0; }

+h2 { text-align:center; color:#333; }

+.container { display:flex; flex-direction:column; gap:14px; }

+.control-panel { background:white; padding:20px; border-radius:10px; box-shadow:0 2px 8px rgba(0,0,0,0.08); display:flex; gap:10px; justify-content:center; }

+.servo-panel { background:white; padding:14px; border-radius:10px; box-shadow:0 2px 8px rgba(0,0,0,0.04); display:flex; gap:8px; justify-content:center; }

+.relay-panel { background:white; padding:14px; border-radius:10px; box-shadow:0 2px 8px rgba(0,0,0,0.04); display:flex; gap:8px; flex-wrap:wrap; justify-content:center; }

+.dir-btn { padding:16px 22px; font-size:18px; font-weight:bold; border:none; border-radius:8px; cursor:pointer; }

+.sml-btn { padding:10px 14px; font-size:14px; font-weight:bold; border:none; border-radius:6px; cursor:pointer; }

+.relay-btn { padding:10px 12px; font-size:14px; font-weight:bold; border:none; border-radius:6px; cursor:pointer; }

+.forward-btn { background:#2196F3; color:white; }

+.reverse-btn { background:#FF9800; color:white; }

+.stop-btn { background:#f44336; color:white; }

+.s90-btn { background:#4CAF50; color:white; }

+.s180-btn { background:#9C27B0; color:white; }

+.on-btn { background:#4CAF50; color:white; }

+.off-btn { background:#f44336; color:white; }

+.dir-btn:active, .sml-btn:active, .relay-btn:active { transform:scale(0.97); opacity:0.9; }

+.relay-item { display:flex; gap:6px; align-items:center; }

+@media (max-width:420px){ .control-panel{flex-direction:column;} }

+</style>

+</head>

+<body>

+<h2>Motor & Relay Control</h2>

+<div class="container">

+ <div class="control-panel">

+ <button class="dir-btn forward-btn" onclick="sendCmd('fw')">Forward</button>

+ <button class="dir-btn stop-btn" onclick="sendCmd('st')">STOP</button>

+ <button class="dir-btn reverse-btn" onclick="sendCmd('rv')">Reverse</button>

+ </div>

+ <div class="servo-panel">

+ <div style="align-self:center;font-weight:bold">Servo14:</div>

+ <button class="sml-btn s90-btn" onclick="sendCmd('s90')">90°</button>

+ <button class="sml-btn s180-btn" onclick="sendCmd('s180')">180°</button>

+ <button class="sml-btn stop-btn" onclick="sendCmd('s0')">0°</button>

+ </div>

+ <div class="relay-panel">

+ <div class="relay-item"><div style="font-weight:bold">Relay1:</div><button class="relay-btn on-btn" onclick="sendCmd('r1_on')">ON</button><button class="relay-btn off-btn" onclick="sendCmd('r1_off')">OFF</button></div>

+ <div class="relay-item"><div style="font-weight:bold">Relay2:</div><button class="relay-btn on-btn" onclick="sendCmd('r2_on')">ON</button><button class="relay-btn off-btn" onclick="sendCmd('r2_off')">OFF</button></div>

+ <div class="relay-item"><div style="font-weight:bold">Relay3:</div><button class="relay-btn on-btn" onclick="sendCmd('r3_on')">ON</button><button class="relay-btn off-btn" onclick="sendCmd('r3_off')">OFF</button></div>

+ <div class="relay-item"><div style="font-weight:bold">Relay4:</div><button class="relay-btn on-btn" onclick="sendCmd('r4_on')">ON</button><button class="relay-btn off-btn" onclick="sendCmd('r4_off')">OFF</button></div>

+ </div>

+</div>

+<script>

+function sendCmd(cmd){

+ fetch('/control?cmd='+cmd)

+ .then(r=>{})

+ .catch(e=>console.error(e));

+}

+</script>

+</body></html>

+)rawliteral";

+

+// ===== 处理 Web 请求 =====

+void handleRoot() {

+ server.send(200, "text/html", html_page);

+}

+

+void handleControl() {

+ // Simple command-based control: cmd=fw|rv|st|s90|s180|s0|rX_on|rX_off

+ if (server.hasArg("cmd")) {

+ String c = server.arg("cmd");

+ if (c == "fw") {

+ // Forward: IN1=HIGH, IN2=LOW

+ digitalWrite(IN1_PIN, HIGH);

+ digitalWrite(IN2_PIN, LOW);

+ Serial.println("Motor: Forward");

+ // read motor status input and log

+ int mstat = digitalRead(MOTOR_STATUS_PIN);

+ Serial.print("MOTOR_STATUS (IO35): "); Serial.println(mstat==HIGH?"HIGH":"LOW");

+ } else if (c == "rv") {

+ // Reverse: IN1=LOW, IN2=HIGH

+ digitalWrite(IN1_PIN, LOW);

+ digitalWrite(IN2_PIN, HIGH);

+ Serial.println("Motor: Reverse");

+ int mstat = digitalRead(MOTOR_STATUS_PIN);

+ Serial.print("MOTOR_STATUS (IO35): "); Serial.println(mstat==HIGH?"HIGH":"LOW");

+ } else if (c == "st") {

+ // Stop: both LOW

+ digitalWrite(IN1_PIN, LOW);

+ digitalWrite(IN2_PIN, LOW);

+ Serial.println("Motor: Stop");

+ int mstat = digitalRead(MOTOR_STATUS_PIN);

+ Serial.print("MOTOR_STATUS (IO35): "); Serial.println(mstat==HIGH?"HIGH":"LOW");

+ } else if (c == "s90") {

+ // Servo4 to 90 degrees

+ servo4.write(90);

+ Serial.println("Servo14: 90°");

+ // indicate servo action on WS2812 (green)

+ setServoPixel(0, 200, 0);

+ } else if (c == "s180") {

+ // Servo4 to 180 degrees

+ servo4.write(180);

+ Serial.println("Servo14: 180°");

+ // indicate servo action on WS2812 (purple)

+ setServoPixel(150, 0, 150);

+ } else if (c == "s0") {

+ // Servo4 to 0 degrees (center/stop)

+ servo4.write(0);

+ Serial.println("Servo14: 0°");

+ // turn pixel off

+ setServoPixel(0, 0, 0);

+ } else if (c == "r1_on") {

+ digitalWrite(RELAY1_PIN, HIGH);

+ Serial.println("Relay1: ON");

+ } else if (c == "r1_off") {

+ digitalWrite(RELAY1_PIN, LOW);

+ Serial.println("Relay1: OFF");

+ } else if (c == "r2_on") {

+ digitalWrite(RELAY2_PIN, HIGH);

+ Serial.println("Relay2: ON");

+ } else if (c == "r2_off") {

+ digitalWrite(RELAY2_PIN, LOW);

+ Serial.println("Relay2: OFF");

+ } else if (c == "r3_on") {

+ digitalWrite(RELAY3_PIN, HIGH);

+ Serial.println("Relay3: ON");

+ } else if (c == "r3_off") {

+ digitalWrite(RELAY3_PIN, LOW);

+ Serial.println("Relay3: OFF");

+ } else if (c == "r4_on") {

+ digitalWrite(RELAY4_PIN, HIGH);

+ Serial.println("Relay4: ON");

+ } else if (c == "r4_off") {

+ digitalWrite(RELAY4_PIN, LOW);

+ Serial.println("Relay4: OFF");

+ }

+ }

+

+ server.send(200, "text/plain", "OK");

+}

+

+// helper: set single pixel color

+void setServoPixel(uint8_t r, uint8_t g, uint8_t b) {

+ pixels.setPixelColor(0, pixels.Color(r, g, b));

+ pixels.show();

+}

+

+// ===== 初始化 =====

+void setup() {

+ Serial.begin(115200);

+ delay(100);

+ Serial.println("ESP32 DRV8871 AP Motor Controller starting...");

+

+ // Configure GPIO pins as outputs

+ pinMode(IN1_PIN, OUTPUT);

+ pinMode(IN2_PIN, OUTPUT);

+

+ // Relay pins

+ pinMode(RELAY1_PIN, OUTPUT);

+ pinMode(RELAY2_PIN, OUTPUT);

+ pinMode(RELAY3_PIN, OUTPUT);

+ pinMode(RELAY4_PIN, OUTPUT);

+

+ // New: motor status pin as input

+ pinMode(MOTOR_STATUS_PIN, INPUT);

+

+ // New: init NeoPixel for servo status

+ pixels.begin();

+ pixels.show(); // clear

+

+ // Default: stop motor and relays OFF (LOW)

+ digitalWrite(IN1_PIN, LOW);

+ digitalWrite(IN2_PIN, LOW);

+ digitalWrite(RELAY1_PIN, LOW);

+ digitalWrite(RELAY2_PIN, LOW);

+ digitalWrite(RELAY3_PIN, LOW);

+ digitalWrite(RELAY4_PIN, LOW);

+

+ // Attach servos and set to center (0°)

+ servo1.attach(SERVO1_PIN);

+ servo2.attach(SERVO2_PIN);

+ servo3.attach(SERVO3_PIN);

+ servo4.attach(SERVO4_PIN);

+

+ servo1.write(0);

+ servo2.write(0);

+ servo3.write(0);

+ servo4.write(0);

+

+ // 启动为 WiFi AP 模式，使用固定 IP

+

+ bool apStarted = WiFi.softAP(ssid, password);

+ if (!apStarted) {

+ Serial.println("AP start failed! Retrying...");

+ delay(1000);

+ WiFi.softAP(ssid, password);

+ }

+

+ delay(1000);

+ IPAddress apIP(192, 168, 50, 1);

+ IPAddress apGateway(192, 168, 50, 1);

+ IPAddress apSubnet(255, 255, 255, 0);

+ if (!WiFi.softAPConfig(apIP, apGateway, apSubnet)) {

+ Serial.println("softAPConfig failed");

+ }

+

+ delay(500);

+ Serial.println("");

+ Serial.println("==========================");

+ Serial.print("AP SSID: ");

+ Serial.println(ssid);

+ Serial.print("AP Password: ");

+ Serial.println(password);

+ Serial.print("AP IP: ");

+ Serial.println(WiFi.softAPIP());

+ Serial.println("==========================");

+

+ // Web 服务

+ server.on("/", handleRoot);

+ server.on("/control", handleControl);

+ server.begin();

+}

+

+void loop() {

+ server.handleClient();

+}