想要更多項目私wo!!!

一、電路設(shè)計

?硬件組成：? ?

• Arduini Nan
• ESP8266
• MPU6050 模塊
• 有刷電機
• 螺旋槳
• 電池包
• Si2302場效應(yīng)管
• 無人機架

ESP8266模塊

????????為了與無人機通信，我們需要藍牙或WIFI連接，所以我們使用ESP8266 Wi-Fi模塊，因為它有內(nèi)置的Wi-Fi，我們可以使用它進行通信。

ESP8266開源、互動、可編程、低成本、簡單、智能、最低成本的Wi-Fi硬件。

至于無人機的飛行范圍。測試已經(jīng)得到了范圍大約是70米，使用三星手機充當WiFi熱點和遠程控制器。

MPU6050

????????MPU6050 IMU，一個低成本的設(shè)備，包含陀螺儀和加速計。

我們將使用MPU-6050和ESP8266模塊來做一個無人機。

二、效果圖

?

文章來源地址http://www.zghlxwxcb.cn/news/detail-529690.html

三、部分代碼

#include<Wire.h>
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>
WiFiUDP UDP;
char packet[4];
//IPAddress local_IP(192, 168, 203, 158);
//IPAddress gateway(192, 168, 1, 158);
//IPAddress subnet(255, 255, 0, 0);
//_________________________________________//  
int ESCout_1 ,ESCout_2 ,ESCout_3 ,ESCout_4;
int input_PITCH = 50;
int input_ROLL = 50;
int input_YAW = 50;
volatile int input_THROTTLE = 0;
int Mode = 0;

boolean wall_car_init = false;
boolean set_motor_const_speed = false;
int8_t target_axis=0;
int8_t target_dirr=0;
boolean wheal_state = false;

uint8_t pwm_stops;
int arr[] = {20,10,20,10};
volatile int order[] = {0,0,0,0}; //volatile key
int temp_arr[] = {0,0,0,0};
int pulldown_time_temp[] = {0,0,0,0,0};
int pulldown_time[] = {0,0,0,0,0};
volatile int pulldown_time_temp_loop[] = {0,0,0,0,0}; //volatile key
uint8_t pin[] = {14,12,13,15};
int i,j,temp_i,temp;
boolean orderState1,orderState2,orderState3,orderState4,Timer_Init;

int16_t gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temperature, acc_total_vector;
float angle_pitch, angle_roll,angle_yaw,prev_roll,prev_pitch,prev_yaw;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output, angle_yaw_output;
long Time, timePrev;
float elapsedTime,P_factor;
float acceleration_x,acceleration_y,acceleration_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
float pitch_PID,roll_PID,yaw_PID;
float roll_error, roll_previous_error, pitch_error, pitch_previous_error, yaw_error, yaw_previous_error;
float roll_pid_p, roll_pid_d, roll_pid_i, pitch_pid_p, pitch_pid_i, pitch_pid_d, yaw_pid_p, yaw_pid_i, yaw_pid_d;
float roll_desired_angle, pitch_desired_angle, yaw_desired_angle; 
double twoX_kp=5;      //5
double twoX_ki=0.003;   //0.003   
double twoX_kd=1.4;     //1.4
double yaw_kp=8;      //5
double yaw_ki=0;  //0.005
double yaw_kd=4;      //2.8



void ICACHE_RAM_ATTR PWM_callback() {
  switch (pwm_stops){
    case 0:
      pulldown_time_temp[0] = pulldown_time_temp_loop[0];
      pulldown_time_temp[1] = pulldown_time_temp_loop[1];
      pulldown_time_temp[2] = pulldown_time_temp_loop[2];
      pulldown_time_temp[3] = pulldown_time_temp_loop[3];
      pulldown_time_temp[4] = pulldown_time_temp_loop[4];
      pwm_stops = 1;
      if(input_THROTTLE!=0){GPOS = (1 << 14);GPOS = (1 << 12);GPOS = (1 << 15);GPOS = (1 << 13);}
      timer1_write(80*pulldown_time_temp[0]);
      break;
    case 1:
      pwm_stops = 2;
      GPOC = (1 << pin[order[0]]);
      timer1_write(80*pulldown_time_temp[1]);
      break;   
    case 2:
      pwm_stops = 3;
      GPOC = (1 << pin[order[1]]);
      timer1_write(80*pulldown_time_temp[2]);
      break;
    case 3:
      pwm_stops = 4;
      GPOC = (1 << pin[order[2]]);
      timer1_write(80*pulldown_time_temp[3]);
      break;
    case 4:
      pwm_stops = 0;
      GPOC = (1 << pin[order[3]]);
      timer1_write(80*pulldown_time_temp[4]);
      break;             
  }
}

到了這里，關(guān)于Arduino無人機四軸飛行器（esp8266）的文章就介紹完了。如果您還想了解更多內(nèi)容，請在右上角搜索TOY模板網(wǎng)以前的文章或繼續(xù)瀏覽下面的相關(guān)文章，希望大家以后多多支持TOY模板網(wǎng)！