用esp32写一个麦克纳姆轮控制程序

非常感谢您的提问。以下是一个简单的麦克纳姆轮控制程序的示例，使用ESP32开发板和Arduino IDE编写：

#include <WiFi.h>
#include <WiFiUdp.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// Define the I2C address of the PWM driver
#define PWM_ADDR 0x40

// Define the pins connected to the motor controllers
#define MOTOR1_PIN1 5
#define MOTOR1_PIN2 18
#define MOTOR2_PIN1 19
#define MOTOR2_PIN2 21
#define MOTOR3_PIN1 22
#define MOTOR3_PIN2 23
#define MOTOR4_PIN1 25
#define MOTOR4_PIN2 26

// Define the maximum and minimum PWM values for the motors
#define MAX_PWM 4095
#define MIN_PWM 0

// Define the UDP port to listen on
#define UDP_PORT 12345

// Define the WiFi network SSID and password
#define WIFI_SSID "your_wifi_ssid"
#define WIFI_PASSWORD "your_wifi_password"

// Create a UDP object to listen for incoming packets
WiFiUDP udp;

// Create a PWM driver object
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(PWM_ADDR);

// Initialize the PWM driver and set the frequency to 50Hz
void initPWM() {
pwm.begin();
pwm.setPWMFreq(50);
}

// Set the PWM value for a motor
void setMotorPWM(int motor, int pwmValue) {
if (pwmValue > MAX_PWM) {
pwmValue = MAX_PWM;
} else if (pwmValue < MIN_PWM) {
pwmValue = MIN_PWM;
}

switch (motor) {
case 1:
digitalWrite(MOTOR1_PIN1, pwmValue > 0 ? HIGH : LOW);
digitalWrite(MOTOR1_PIN2, pwmValue < 0 ? HIGH : LOW);
pwm.setPWM(0, 0, abs(pwmValue));
break;
case 2:
digitalWrite(MOTOR2_PIN1, pwmValue > 0 ? HIGH : LOW);
digitalWrite(MOTOR2_PIN2, pwmValue < 0 ? HIGH : LOW);
pwm.setPWM(1, 0, abs(pwmValue));
break;
case 3:
digitalWrite(MOTOR3_PIN1, pwmValue > 0 ? HIGH : LOW);
digitalWrite(MOTOR3_PIN2, pwmValue < 0 ? HIGH : LOW);
pwm.setPWM(2, 0, abs(pwmValue));
break;
case 4:
digitalWrite(MOTOR4_PIN1, pwmValue > 0 ? HIGH : LOW);
digitalWrite(MOTOR4_PIN2, pwmValue < 0 ? HIGH : LOW);
pwm.setPWM(3, 0, abs(pwmValue));
break;
}
}

// Parse a UDP packet and set the motor PWM values accordingly
void handlePacket() {
int packetSize = udp.parsePacket();
if (packetSize) {
char packetBuffer[packetSize];
udp.read(packetBuffer, packetSize);

int x = packetBuffer[0] - 128;
int y = packetBuffer[1] - 128;
int r = packetBuffer[2] - 128;

int motor1 = y - x - r;
int motor2 = y + x + r;
int motor3 = y + x - r;
int motor4 = y - x + r;

setMotorPWM(1, motor1);
setMotorPWM(2, motor2);
setMotorPWM(3, motor3);
setMotorPWM(4, motor4);
}
}

void setup() {
// Initialize the motor controller pins
pinMode(MOTOR1_PIN1, OUTPUT);
pinMode(MOTOR1_PIN2, OUTPUT);
pinMode(MOTOR2_PIN1, OUTPUT);
pinMode(MOTOR2_PIN2, OUTPUT);
pinMode(MOTOR3_PIN1, OUTPUT);
pinMode(MOTOR3_PIN2, OUTPUT);
pinMode(MOTOR4_PIN1, OUTPUT);
pinMode(MOTOR4_PIN2, OUTPUT);

// Initialize the PWM driver
initPWM();

// Connect to the WiFi network
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
}

// Start listening for UDP packets
udp.begin(UDP_PORT);
}

void loop() {
// Handle any incoming UDP packets
handlePacket();
}