/* HocLapTrinhRobot G2 16 - Capstone Robot cam nhan moi truong va IoT Board: ESP32-S3 DevKit Hardware: TB6612FNG 2WD, SHT31, LDR, MQ-135, battery divider, LED, buzzer, WiFi */ #include #include #include enum MissionState { IDLE, DRIVE, MEASURE, TURN, DONE, STOPPED }; const char *WIFI_SSID = "TenMangWiFi"; const char *WIFI_PASSWORD = "MatKhauWiFi"; const int PIN_I2C_SDA = 8; const int PIN_I2C_SCL = 9; const int PIN_LDR = 4; const int PIN_MQ135 = 6; const int PIN_BATTERY = 7; const int PIN_LED = 2; const int PIN_BUZZER = 15; const int PIN_STBY = 33; const int PIN_LEFT_PWM = 25; const int PIN_LEFT_IN1 = 26; const int PIN_LEFT_IN2 = 27; const int PIN_RIGHT_PWM = 14; const int PIN_RIGHT_IN1 = 12; const int PIN_RIGHT_IN2 = 13; const uint8_t SHT31_ADDR = 0x44; const float BATTERY_SCALE = 2.0f; const int PATROL_SPEED = 85; const int TURN_SPEED = 75; const unsigned long DRIVE_MS = 2000; const unsigned long MEASURE_MS = 2500; const unsigned long TURN_MS = 700; WebServer server(80); MissionState missionState = IDLE; unsigned long stateStartedMs = 0; int pointIndex = 0; int sampleCount = 0; int gasBaselineRaw = 1800; bool shtOk = false; float tempC = 0.0f; float humidity = 0.0f; float lightPercent = 0.0f; float airScore = 0.0f; float batteryV = 0.0f; uint8_t crc8(const uint8_t *data, int len) { uint8_t crc = 0xFF; for (int i = 0; i < len; i++) { crc ^= data[i]; for (int bit = 0; bit < 8; bit++) { crc = (crc & 0x80) ? (crc << 1) ^ 0x31 : (crc << 1); } } return crc; } bool readSht31(float &temperatureC, float &humidityPercent) { Wire.beginTransmission(SHT31_ADDR); Wire.write(0x24); Wire.write(0x00); if (Wire.endTransmission() != 0) return false; delay(20); if (Wire.requestFrom((int)SHT31_ADDR, 6) != 6) return false; uint8_t data[6]; for (int i = 0; i < 6; i++) data[i] = Wire.read(); if (crc8(data, 2) != data[2] || crc8(data + 3, 2) != data[5]) return false; uint16_t rawTemp = ((uint16_t)data[0] << 8) | data[1]; uint16_t rawHum = ((uint16_t)data[3] << 8) | data[4]; temperatureC = -45.0f + 175.0f * ((float)rawTemp / 65535.0f); humidityPercent = 100.0f * ((float)rawHum / 65535.0f); return true; } int readAnalogAverage(int pin, int sampleCountLocal) { long total = 0; for (int i = 0; i < sampleCountLocal; i++) { total += analogRead(pin); delay(2); } return total / sampleCountLocal; } float constrainFloat(float value, float low, float high) { if (value < low) return low; if (value > high) return high; return value; } void readAllData() { shtOk = readSht31(tempC, humidity); int ldrRaw = readAnalogAverage(PIN_LDR, 10); int mqRaw = readAnalogAverage(PIN_MQ135, 10); int batRaw = readAnalogAverage(PIN_BATTERY, 10); lightPercent = constrainFloat((ldrRaw / 4095.0f) * 100.0f, 0.0f, 100.0f); airScore = constrainFloat((mqRaw - gasBaselineRaw) / 12.0f, 0.0f, 100.0f); batteryV = (batRaw / 4095.0f) * 3.3f * BATTERY_SCALE; } const char *missionStateName(MissionState state) { if (state == DRIVE) return "DRIVE"; if (state == MEASURE) return "MEASURE"; if (state == TURN) return "TURN"; if (state == DONE) return "DONE"; if (state == STOPPED) return "STOPPED"; return "IDLE"; } String dataState() { if (batteryV < 6.8f || !shtOk || airScore > 60.0f || lightPercent < 15.0f) return "ALERT"; if (batteryV < 7.2f || airScore > 45.0f || lightPercent < 25.0f) return "WATCH"; return "NORMAL"; } void setOneMotor(int pwmPin, int in1Pin, int in2Pin, int speed) { int pwm = constrain(abs(speed), 0, 255); if (speed > 0) { digitalWrite(in1Pin, HIGH); digitalWrite(in2Pin, LOW); } else if (speed < 0) { digitalWrite(in1Pin, LOW); digitalWrite(in2Pin, HIGH); } else { digitalWrite(in1Pin, LOW); digitalWrite(in2Pin, LOW); } analogWrite(pwmPin, pwm); } void setMotors(int leftSpeed, int rightSpeed) { digitalWrite(PIN_STBY, HIGH); setOneMotor(PIN_LEFT_PWM, PIN_LEFT_IN1, PIN_LEFT_IN2, leftSpeed); setOneMotor(PIN_RIGHT_PWM, PIN_RIGHT_IN1, PIN_RIGHT_IN2, rightSpeed); } void stopMotors() { setOneMotor(PIN_LEFT_PWM, PIN_LEFT_IN1, PIN_LEFT_IN2, 0); setOneMotor(PIN_RIGHT_PWM, PIN_RIGHT_IN1, PIN_RIGHT_IN2, 0); } void changeState(MissionState nextState) { missionState = nextState; stateStartedMs = millis(); Serial.print("mission="); Serial.print(missionStateName(missionState)); Serial.print(" point="); Serial.println((char)('A' + pointIndex)); } void printSample() { sampleCount++; Serial.print("sample="); Serial.print(sampleCount); Serial.print(" point="); Serial.print((char)('A' + pointIndex)); Serial.print(" state="); Serial.print(dataState()); Serial.print(" sht="); Serial.print(shtOk ? "OK" : "ERR"); Serial.print(" temp="); Serial.print(tempC, 1); Serial.print(" hum="); Serial.print(humidity, 1); Serial.print(" light="); Serial.print(lightPercent, 1); Serial.print(" air="); Serial.print(airScore, 1); Serial.print(" battery="); Serial.println(batteryV, 2); } void startCapstone() { pointIndex = 0; sampleCount = 0; changeState(DRIVE); } void emergencyStop() { stopMotors(); digitalWrite(PIN_STBY, LOW); changeState(STOPPED); } void updateMission() { unsigned long elapsed = millis() - stateStartedMs; if (missionState == DRIVE) { setMotors(PATROL_SPEED, PATROL_SPEED); if (elapsed >= DRIVE_MS) { stopMotors(); changeState(MEASURE); } } else if (missionState == MEASURE) { stopMotors(); digitalWrite(PIN_LED, HIGH); if (elapsed >= MEASURE_MS) { readAllData(); printSample(); digitalWrite(PIN_BUZZER, HIGH); delay(80); digitalWrite(PIN_BUZZER, LOW); if (pointIndex >= 2) { changeState(DONE); } else { changeState(TURN); } } } else if (missionState == TURN) { setMotors(TURN_SPEED, -TURN_SPEED); if (elapsed >= TURN_MS) { pointIndex++; changeState(DRIVE); } } else { stopMotors(); } } String buildStatusJson() { String json = "{"; json += "\"mission\":\"" + String(missionStateName(missionState)) + "\","; json += "\"point\":\"" + String((char)('A' + pointIndex)) + "\","; json += "\"samples\":" + String(sampleCount) + ","; json += "\"state\":\"" + dataState() + "\","; json += "\"sht_ok\":" + String(shtOk ? "true" : "false") + ","; json += "\"temperature_c\":" + String(tempC, 2) + ","; json += "\"humidity_percent\":" + String(humidity, 2) + ","; json += "\"light_percent\":" + String(lightPercent, 2) + ","; json += "\"air_score\":" + String(airScore, 2) + ","; json += "\"battery_v\":" + String(batteryV, 2) + ","; json += "\"rssi\":" + String(WiFi.status() == WL_CONNECTED ? WiFi.RSSI() : 0); json += "}"; return json; } void handleRoot() { String html = ""; html += "G2 Capstone

G2 Capstone Robot

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"; html += ""; html += ""; server.send(200, "text/html", html); } void handleApiStatus() { server.send(200, "application/json", buildStatusJson()); } void setupWeb() { server.on("/", handleRoot); server.on("/api/status", handleApiStatus); server.begin(); } void connectWifi() { WiFi.mode(WIFI_STA); WiFi.begin(WIFI_SSID, WIFI_PASSWORD); unsigned long started = millis(); while (WiFi.status() != WL_CONNECTED && millis() - started < 12000) { delay(250); } if (WiFi.status() == WL_CONNECTED) { Serial.print("capstone url=http://"); Serial.print(WiFi.localIP()); Serial.println("/"); } else { Serial.println("wifi=WAIT capstone web unavailable until reconnect"); } } void handleSerialCommand() { if (!Serial.available()) return; String command = Serial.readStringUntil('\n'); command.trim(); command.toUpperCase(); if (command == "START CAPSTONE") { startCapstone(); } else if (command == "STOP") { emergencyStop(); } else if (command == "STATUS") { readAllData(); Serial.println(buildStatusJson()); } else if (command == "BASELINE GAS") { gasBaselineRaw = readAnalogAverage(PIN_MQ135, 40); Serial.print("baseline_gas_raw="); Serial.println(gasBaselineRaw); } else if (command.length() > 0) { Serial.println("commands: START CAPSTONE | STOP | STATUS | BASELINE GAS"); } } void updateAlertOutputs() { String state = dataState(); if (state == "ALERT") { digitalWrite(PIN_LED, HIGH); digitalWrite(PIN_BUZZER, (millis() / 250) % 2 == 0 ? HIGH : LOW); } else if (state == "WATCH") { digitalWrite(PIN_LED, (millis() / 600) % 2 == 0 ? HIGH : LOW); digitalWrite(PIN_BUZZER, LOW); } else if (missionState != MEASURE) { digitalWrite(PIN_LED, LOW); digitalWrite(PIN_BUZZER, LOW); } } void setup() { Serial.begin(115200); delay(400); pinMode(PIN_LED, OUTPUT); pinMode(PIN_BUZZER, OUTPUT); pinMode(PIN_STBY, OUTPUT); pinMode(PIN_LEFT_PWM, OUTPUT); pinMode(PIN_LEFT_IN1, OUTPUT); pinMode(PIN_LEFT_IN2, OUTPUT); pinMode(PIN_RIGHT_PWM, OUTPUT); pinMode(PIN_RIGHT_IN1, OUTPUT); pinMode(PIN_RIGHT_IN2, OUTPUT); digitalWrite(PIN_STBY, HIGH); stopMotors(); analogReadResolution(12); Wire.begin(PIN_I2C_SDA, PIN_I2C_SCL); WiFi.persistent(false); WiFi.setSleep(false); connectWifi(); setupWeb(); readAllData(); Serial.println("G2 16 capstone ready"); Serial.println("commands: START CAPSTONE | STOP | STATUS | BASELINE GAS"); } void loop() { server.handleClient(); handleSerialCommand(); updateMission(); updateAlertOutputs(); }

Capstone Robot cảm nhận môi trường và IoT

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