esp32 控制直流电机的arduino 代码

ESP32控制直流电机通常需要配合Arduino库（如DHT、PCA9685等）来实现，因为ESP32本身并不直接支持PWM信号来驱动电机，而电机控制往往需要精确的脉冲宽度调制。以下是一个基本的示例，展示了如何使用Arduino IDE和FastLED库来控制PCA9685 PWM电机控制器，并通过ESP32发送命令：

#include <FastLED.h>
#include "HardwareSerial.h"
#include "pca9685.h"

#define LED_PIN 0 // ESP32 GPIO pin connected to PCA9685's SDA line
#define PWM_FREQ 50Hz // Set the PWM frequency

// Initialize the PCA9685
PCA9685 pca(LEDPIN, PWM_FREQ);

// Define your motor pins on the PCA9685 (e.g., A0 and A1 for a bipolar stepper)
const int MOTOR_A = 4; // IN1
const int MOTOR_B = 5; // IN2
const int ENA_PIN = 6; // Enable A
const int IN1_PIN = 7; // IN1 A
const int IN2_PIN = 8; // IN2 A

FastLED.addLeds<NEOPIXEL, LED_PIN>(NUM_LEDS); // Adjust NUM_LEDS according to your setup

void setup() {
    FastLED.begin();
    Serial.begin(115200);
    pinMode(ENA_PIN, OUTPUT);
    pinMode(IN1_PIN, OUTPUT);
    pinMode(IN2_PIN, OUTPUT);
}

void loop() {
    char command[10]; // Buffer for incoming commands
    int dutyCycle; // Duty cycle value

    // Read from serial
    if (Serial.available()) {
        Serial.readBytes(command, sizeof(command));
        
        // Parse the command (e.g., "forward", "reverse", "stop")
        if (strcmp(command, "forward") == 0) {
            setMotorDirection(MOTOR_A, HIGH, LOW);
            setMotorDirection(MOTOR_B, LOW, HIGH);
        } else if (strcmp(command, "reverse") == 0) {
            setMotorDirection(MOTOR_A, LOW, HIGH);
            setMotorDirection(MOTOR_B, HIGH, LOW);
        } else if (strcmp(command, "stop") == 0) {
            digitalWrite(ENA_PIN, LOW);
        } else { // Handle unknown commands or errors
            Serial.println("Invalid command");
        }
    }

    // Function to set motor direction
    void setMotorDirection(int motorPinA, int motorPinB, int enablePin) {
        digitalWrite(enablePin, HIGH);
        digitalWrite(motorPinA, motorPinB ? HIGH : LOW);
        digitalWrite(motorPinB, motorPinA ? HIGH : LOW);
        int dutyCycleValue = map(analogRead(A0), 0, 1023, 0, 255); // Modify this mapping as needed
        pca.setPWM(motorPinA, 0, dutyCycleValue);
        pca.setPWM(motorPinB, 0, dutyCycleValue);
    }

    // Optional: Add code to vary duty cycle for speed control
    // dutyCycle = map(some_value, min_val, max_val, 0, 255);
    // pca.setPWM(motorPinA, 0, dutyCycle);
    // pca.setPWM(motorPinB, 0, dutyCycle);
}