帮我写一个esp32控制麦克纳姆轮的代码

当然可以，下面是一个简单的示例程序，演示如何使用ESP32控制麦克纳姆轮：

#include <Wire.h>
#include <Arduino.h>
#include <WiFi.h>

// Motor control pins
const int motor1_A = 14; //25;
const int motor1_B = 27; //26;
const int motor2_A = 26; //14;
const int motor2_B = 25; //27;
const int motor3_A = 33;
const int motor3_B = 32;
const int motor4_A = 12; //13;
const int motor4_B = 13; //12;

void setup() {
  // Set motor control pins as output
  pinMode(motor1_A, OUTPUT);
  pinMode(motor1_B, OUTPUT);
  pinMode(motor2_A, OUTPUT);
  pinMode(motor2_B, OUTPUT);
  pinMode(motor3_A, OUTPUT);
  pinMode(motor3_B, OUTPUT);
  pinMode(motor4_A, OUTPUT);
  pinMode(motor4_B, OUTPUT);

  // Connect to WiFi
  WiFi.begin("YourWiFiSSID", "YourWiFiPassword");
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
  }
}

void loop() {
  // Set motor speeds
  int speed1 = 200; // Adjust this value to control speed of each wheel
  int speed2 = 200;
  int speed3 = 200;
  int speed4 = 200;

  // Send motor control signals
  digitalWrite(motor1_A, HIGH);
  digitalWrite(motor1_B, LOW);
  analogWrite(motor1_A, speed1);
  digitalWrite(motor2_A, HIGH);
  digitalWrite(motor2_B, LOW);
  analogWrite(motor2_A, speed2);
  digitalWrite(motor3_A, HIGH);
  digitalWrite(motor3_B, LOW);
  analogWrite(motor3_A, speed3);
  digitalWrite(motor4_A, HIGH);
  digitalWrite(motor4_B, LOW);
  analogWrite(motor4_A, speed4);
}

这个代码示例使用ESP32控制四个麦克纳姆轮电机，可以通过调整每个电机的速度来控制车辆的行驶方向和速度。