1. ets Jul 29 2019 12:21:46

2. 
   

3. rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)

4. configsip: 0, SPIWP:0xee

5. clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00

6. mode:DIO, clock div:2

7. load:0x3fff0030,len:4

8. load:0x3fff0034,len:6968

9. load:0x40078000,len:13072

10. ho 0 tail 12 room 4

11. load:0x40080400,len:3896

12. entry 0x40080688

13. [0;32mI (31) boot: ESP-IDF v4.1-dirty 2nd stage bootloader[0m

14. [0;32mI (31) boot: compile time 16:15:01[0m

15. [0;32mI (31) boot: chip revision: 3[0m

16. [0;32mI (34) boot_comm: chip revision: 3, min. bootloader chip revision: 0[0m

17. [0;32mI (42) boot.esp32: SPI Speed      : 40MHz[0m

18. [0;32mI (46) boot.esp32: SPI Mode       : DIO[0m

19. [0;32mI (51) boot.esp32: SPI Flash Size : 4MB[0m

20. [0;32mI (55) boot: Enabling RNG early entropy source...[0m

21. [0;32mI (60) boot: Partition Table:[0m

22. [0;32mI (64) boot: ## Label            Usage          Type ST Offset   Length[0m

23. [0;32mI (71) boot:  0 nvs              WiFi data        01 02 00009000 00005000[0m

24. [0;32mI (79) boot:  1 otadata          OTA data         01 00 0000e000 00002000[0m

25. [0;32mI (86) boot:  2 app0             OTA app          00 10 00010000 00300000[0m

26. [0;32mI (94) boot:  3 spiffs           Unknown data     01 82 00310000 000f0000[0m

27. [0;32mI (101) boot: End of partition table[0m

28. [0;32mI (106) boot_comm: chip revision: 3, min. application chip revision: 0[0m

29. [0;32mI (113) esp_image: segment 0: paddr=0x00010020 vaddr=0x3f400020 size=0x1d2048 (1908808) map[0m

30. [0;32mI (849) esp_image: segment 1: paddr=0x001e2070 vaddr=0x3ffbdb60 size=0x04d3c ( 19772) load[0m

31. [0;32mI (857) esp_image: segment 2: paddr=0x001e6db4 vaddr=0x40080000 size=0x00400 (  1024) load[0m

32. [0;32mI (858) esp_image: segment 3: paddr=0x001e71bc vaddr=0x40080400 size=0x08e54 ( 36436) load[0m

33. [0;32mI (880) esp_image: segment 4: paddr=0x001f0018 vaddr=0x400d0018 size=0x9df74 (647028) map[0m

34. [0;32mI (1127) esp_image: segment 5: paddr=0x0028df94 vaddr=0x40089254 size=0x0b6a0 ( 46752) load[0m

35. [0;32mI (1159) boot: Loaded app from partition at offset 0x10000[0m

36. [0;32mI (1159) boot: Disabling RNG early entropy source...[0m

37. ⸮

38. E (911) sdmmc_common: sdmmc_init_ocr: send_op_cond (1) returned 0x107

39. Card Mount Failed

40. PSRAM OK 

41. ESP32-CAM-MB

42. 
    

ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)

configsip: 0, SPIWP:0xee

clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00

mode:DIO, clock div:2

load:0x3fff0018,len:4

load:0x3fff001c,len:5656

load:0x40078000,len:0

ho 12 tail 0 room 4

load:0x40078000,len:13920

entry 0x40078fd8

[0;32mI (30) boot: ESP-IDF v3.1-dev-463-g77eae33a-dirty 2nd stage bootloader[0m

[0;32mI (30) boot: compile time 10:52:13[0m

[0;32mI (31) boot: Enabling RNG early entropy source...[0m

[0;32mI (37) boot: SPI Speed      : 40MHz[0m

[0;32mI (41) boot: SPI Mode       : DIO[0m

[0;32mI (45) boot: SPI Flash Size : 4MB[0m

[0;32mI (49) boot: Partition Table:[0m

[0;32mI (52) boot: ## Label            Usage          Type ST Offset   Length[0m

[0;32mI (60) boot:  0 nvs              WiFi data        01 02 00009000 00004000[0m

[0;32mI (67) boot:  1 otadata          OTA data         01 00 0000d000 00002000[0m

[0;32mI (75) boot:  2 phy_init         RF data          01 01 0000f000 00001000[0m

[0;32mI (82) boot:  3 factory          factory app      00 00 00010000 00100000[0m

[0;32mI (90) boot:  4 ota_0            OTA app          00 10 00110000 00100000[0m

[0;32mI (97) boot:  5 ota_1            OTA app          00 11 00210000 00100000[0m

[0;32mI (105) boot: End of partition table[0m

[0;32mI (109) boot: Defaulting to factory image[0m

[0;32mI (113) esp_image: segment 0: paddr=0x00010020 vaddr=0x3f400020 size=0x17178 ( 94584) map[0m

[0;32mI (155) esp_image: segment 1: paddr=0x000271a0 vaddr=0x3ffb0000 size=0x031d8 ( 12760) load[0m

[0;32mI (161) esp_image: segment 2: paddr=0x0002a380 vaddr=0x40080000 size=0x00400 (  1024) load[0m

[0;32mI (162) esp_image: segment 3: paddr=0x0002a788 vaddr=0x40080400 size=0x05888 ( 22664) load[0m

[0;32mI (180) esp_image: segment 4: paddr=0x00030018 vaddr=0x400d0018 size=0x6fcf0 (457968) map[0m

[0;32mI (340) esp_image: segment 5: paddr=0x0009fd10 vaddr=0x40085c88 size=0x053e0 ( 21472) load[0m

[0;32mI (349) esp_image: segment 6: paddr=0x000a50f8 vaddr=0x400c0000 size=0x00000 (     0) load[0m

[0;32mI (356) boot: Loaded app from partition at offset 0x10000[0m

[0;32mI (356) boot: Disabling RNG early entropy source...[0m

[0;32mI (360) cpu_start: Pro cpu up.[0m

[0;32mI (364) cpu_start: Starting app cpu, entry point is 0x4008122c[0m

[0;32mI (0) cpu_start: App cpu up.[0m

[0;32mI (374) heap_init: Initializing. RAM available for dynamic allocation:[0m

[0;32mI (381) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM[0m

[0;32mI (387) heap_init: At 3FFB9980 len 00026680 (153 KiB): DRAM[0m

[0;32mI (393) heap_init: At 3FFE0440 len 00003BC0 (14 KiB): D/IRAM[0m

[0;32mI (400) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM[0m

[0;32mI (406) heap_init: At 4008B068 len 00014F98 (83 KiB): IRAM[0m

[0;32mI (412) cpu_start: Pro cpu start user code[0m

[0;32mI (207) cpu_start: Starting scheduler on PRO CPU.[0m

[0;32mI (0) cpu_start: Starting scheduler on APP CPU.[0m

[0;32mI (270) I2S: DMA Malloc info, datalen=blocksize=256, dma_buf_count=8[0m

[0;32mI (270) I2S: PLL_D2: Req RATE: 78125, real rate: 78125.000, BITS: 16, CLKM: 8, BCK: 8, MCLK: 20000000.000, SCLK: 2500000.000000, diva: 64, divb: 0[0m

[0;32mI (280) camera_xclk: PIN_CTRL before:3ff[0m

[0;32mI (280) camera_xclk: PIN_CTRL after:7fff[0m

[0;32mI (4350) camera_demo: Detected OV2640 camera, using JPEG format[0m

[0;32mI (4570) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE[0m

[0;32mI (4570) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE[0m

[0;32mI (4630) phy: phy_version: 366.0, ba9923d, Dec 29 2017, 14:25:06, 0, 0[0m

wifi AP:  Xiaomi_5E83    password

使用 IOS 需自備 訊號連接線

相關主題內容 不斷跟新中
參考來源網站：

1. https://randomnerdtutorials.com/esp32-cam-car-robot-web-server/<esp32cam檔案1版位置>

2. https://dronebotworkshop.com/esp32cam-robot-car/  <esp32cam檔案2版位置>

3.  https://www.instructables.com/ESP32-CAM-Surveillance-Car-1/

4. 
   
   
   

ESP32car_不是Cam

1. https://esp32io.com/tutorials/esp32-car

2. https://esp32io.com/tutorials/esp32-controls-car-via-web

3. 
   

HTTP Server：https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/protocols/esp_http_server.html

https://dl.espressif.com/dl/package_esp32_index.json

#include "esp_wifi.h"

#include "esp_camera.h"

#include <WiFi.h>

#include "soc/soc.h"

#include "soc/rtc_cntl_reg.h"

// Setup Access Point Credentials

//*/切換微處理機工場AP

const char* ssid1 = "car";

const char* password1 = "car1234";

/*/

const char* ssid1 = "AX";

const char* password1 = "CPSHScpshs";

//*/

extern volatile unsigned int  motor_speed;

extern void robot_stop();

extern void robot_setup();

extern uint8_t robo;

extern volatile unsigned long previous_time;        

extern volatile unsigned long move_interval;

#define CAMERA_MODEL_AI_THINKER

#define PWDN_GPIO_NUM     32

#define RESET_GPIO_NUM    -1

#define XCLK_GPIO_NUM      0

#define SIOD_GPIO_NUM     26

#define SIOC_GPIO_NUM     27

#define Y9_GPIO_NUM       35

#define Y8_GPIO_NUM       34

#define Y7_GPIO_NUM       39

#define Y6_GPIO_NUM       36

#define Y5_GPIO_NUM       21

#define Y4_GPIO_NUM       19

#define Y3_GPIO_NUM       18

#define Y2_GPIO_NUM        5

#define VSYNC_GPIO_NUM    25

#define HREF_GPIO_NUM     23

#define PCLK_GPIO_NUM     22

void startCameraServer();

void setup()

{

  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // prevent brownouts by silencing them

  Serial.begin(115200);

  Serial.setDebugOutput(true);

  Serial.println();

  camera_config_t config;

  config.ledc_channel = LEDC_CHANNEL_0;

  config.ledc_timer = LEDC_TIMER_0;

  config.pin_d0 = Y2_GPIO_NUM;

  config.pin_d1 = Y3_GPIO_NUM;

  config.pin_d2 = Y4_GPIO_NUM;

  config.pin_d3 = Y5_GPIO_NUM;

  config.pin_d4 = Y6_GPIO_NUM;

  config.pin_d5 = Y7_GPIO_NUM;

  config.pin_d6 = Y8_GPIO_NUM;

  config.pin_d7 = Y9_GPIO_NUM;

  config.pin_xclk = XCLK_GPIO_NUM;

  config.pin_pclk = PCLK_GPIO_NUM;

  config.pin_vsync = VSYNC_GPIO_NUM;

  config.pin_href = HREF_GPIO_NUM;

  config.pin_sscb_sda = SIOD_GPIO_NUM;

  config.pin_sscb_scl = SIOC_GPIO_NUM;

  config.pin_pwdn = PWDN_GPIO_NUM;

  config.pin_reset = RESET_GPIO_NUM;

  config.xclk_freq_hz = 20000000;

  config.pixel_format = PIXFORMAT_JPEG;

  //init with high specs to pre-allocate larger buffers

  if(psramFound()){

    config.frame_size = FRAMESIZE_QVGA;

    config.jpeg_quality = 10;

    config.fb_count = 2;

  } else {

    config.frame_size = FRAMESIZE_QVGA;

    config.jpeg_quality = 12;

    config.fb_count = 1;

  }

  // camera init

  esp_err_t err = esp_camera_init(&config);

  if (err != ESP_OK) {

    Serial.printf("Camera init failed with error 0x%x", err);

    return;

  }

  //drop down frame size for higher initial frame rate

  sensor_t * s = esp_camera_sensor_get();

  s->set_framesize(s, FRAMESIZE_QVGA);

  s->set_vflip(s, 1);

  s->set_hmirror(s, 1);

  WiFi.softAP(ssid1, password1);

  IPAddress myIP = WiFi.softAPIP();

  Serial.print("AP IP address: ");

  Serial.println(myIP);

  startCameraServer();

  ledcSetup(7, 5000, 8);

  ledcAttachPin(4, 7);  //pin4 is LED

  robot_setup();

  for (int i=0;i<5;i++)

  {

    ledcWrite(7,10);  // flash led

    delay(50);

    ledcWrite(7,0);

    delay(50);    

  }

  previous_time = millis();

}

void loop() {

  if(robo)

  {

    unsigned long currentMillis = millis();

    if (currentMillis - previous_time >= move_interval) {

      previous_time = currentMillis;

      robot_stop();

      char rsp[32];

      sprintf(rsp,"SPPED: %d",motor_speed);

      Serial.println("Stop");

      robo=0;

    }

  }

  delay(1);

  yield();

}

#include "dl_lib_matrix3d.h"

#include <esp32-hal-ledc.h>

#include "esp_http_server.h"

#include "esp_timer.h"

#include "esp_camera.h"

#include "img_converters.h"

#include "Arduino.h"

// TB6612FNG H-Bridge Connections (both PWM inputs driven by GPIO 12)

#define MTR_PWM   12

#define LEFT_M0    13// 15

#define LEFT_M1    15// 14

#define RIGHT_M0   14// 13

#define RIGHT_M1    2

// Define Speed variables

int speed = 255;

int noStop = 0;

//Setting Motor PWM properties

const int freq = 2000;

const int motorPWMChannnel = 8;

const int lresolution = 8;

volatile unsigned int  motor_speed   = 200;

volatile unsigned long previous_time = 0;

volatile unsigned long move_interval = 250;

// Placeholder for functions

void robot_setup();

void robot_stop();

void robot_fwd();

void robot_back();

void robot_left();

void robot_right();

uint8_t robo = 0;

typedef struct {

  httpd_req_t *req;

  size_t len;

} jpg_chunking_t;

#define PART_BOUNDARY "123456789000000000000987654321"

static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;

static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";

static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

httpd_handle_t stream_httpd = NULL;

httpd_handle_t camera_httpd = NULL;

static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len) {

  jpg_chunking_t *j = (jpg_chunking_t *)arg;

  if (!index) {

    j->len = 0;

  }

  if (httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK) {

    return 0;

  }

  j->len += len;

  return len;

}

static esp_err_t capture_handler(httpd_req_t *req) {

  camera_fb_t * fb = NULL;

  esp_err_t res = ESP_OK;

  int64_t fr_start = esp_timer_get_time();

  fb = esp_camera_fb_get();

  if (!fb) {

    Serial.println("Camera capture failed");

    httpd_resp_send_500(req);

    return ESP_FAIL;

  }

  httpd_resp_set_type(req, "image/jpeg");

  httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");

  size_t out_len, out_width, out_height;

  uint8_t * out_buf;

  bool s;

  {

    size_t fb_len = 0;

    if (fb->format == PIXFORMAT_JPEG) {

      fb_len = fb->len;

      res = httpd_resp_send(req, (const char *)fb->buf, fb->len);

    } else {

      jpg_chunking_t jchunk = {req, 0};

      res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk) ? ESP_OK : ESP_FAIL;

      httpd_resp_send_chunk(req, NULL, 0);

      fb_len = jchunk.len;

    }

    esp_camera_fb_return(fb);

    int64_t fr_end = esp_timer_get_time();

    Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start) / 1000));

    return res;

  }

  dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);

  if (!image_matrix) {

    esp_camera_fb_return(fb);

    Serial.println("dl_matrix3du_alloc failed");

    httpd_resp_send_500(req);

    return ESP_FAIL;

  }

  out_buf = image_matrix->item;

  out_len = fb->width * fb->height * 3;

  out_width = fb->width;

  out_height = fb->height;

  s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);

  esp_camera_fb_return(fb);

  if (!s) {

    dl_matrix3du_free(image_matrix);

    Serial.println("to rgb888 failed");

    httpd_resp_send_500(req);

    return ESP_FAIL;

  }

  jpg_chunking_t jchunk = {req, 0};

  s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);

  dl_matrix3du_free(image_matrix);

  if (!s) {

    Serial.println("JPEG compression failed");

    return ESP_FAIL;

  }

  int64_t fr_end = esp_timer_get_time();

  return res;

}

static esp_err_t stream_handler(httpd_req_t *req) {

  camera_fb_t * fb = NULL;

  esp_err_t res = ESP_OK;

  size_t _jpg_buf_len = 0;

  uint8_t * _jpg_buf = NULL;

  char * part_buf[64];

  dl_matrix3du_t *image_matrix = NULL;

  static int64_t last_frame = 0;

  if (!last_frame) {

    last_frame = esp_timer_get_time();

  }

  res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);

  if (res != ESP_OK) {

    return res;

  }

  while (true) {

    fb = esp_camera_fb_get();

    if (!fb) {

      Serial.println("Camera capture failed");

      res = ESP_FAIL;

    } else {

      {

        if (fb->format != PIXFORMAT_JPEG) {

          bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);

          esp_camera_fb_return(fb);

          fb = NULL;

          if (!jpeg_converted) {

            Serial.println("JPEG compression failed");

            res = ESP_FAIL;

          }

        } else {

          _jpg_buf_len = fb->len;

          _jpg_buf = fb->buf;

        }

      }

    }

    if (res == ESP_OK) {

      size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);

      res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);

    }

    if (res == ESP_OK) {

      res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);

    }

    if (res == ESP_OK) {

      res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));

    }

    if (fb) {

      esp_camera_fb_return(fb);

      fb = NULL;

      _jpg_buf = NULL;

    } else if (_jpg_buf) {

      free(_jpg_buf);

      _jpg_buf = NULL;

    }

    if (res != ESP_OK) {

      break;

    }

    int64_t fr_end = esp_timer_get_time();

    int64_t frame_time = fr_end - last_frame;

    last_frame = fr_end;

    frame_time /= 1000;

    Serial.printf("MJPG: %uB %ums (%.1ffps)\n",

                  (uint32_t)(_jpg_buf_len),

                  (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time

                 );

  }

  last_frame = 0;

  return res;

}

enum state {fwd, rev, stp};

state actstate = stp;

static esp_err_t cmd_handler(httpd_req_t *req)

{

  char*  buf;

  size_t buf_len;

  char variable[32] = {0,};

  char value[32] = {0,};

  buf_len = httpd_req_get_url_query_len(req) + 1;

  if (buf_len > 1) {

    buf = (char*)malloc(buf_len);

    if (!buf) {

      httpd_resp_send_500(req);

      return ESP_FAIL;

    }

    if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {

      if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&

          httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {

      } else {

        free(buf);

        httpd_resp_send_404(req);

        return ESP_FAIL;

      }

    } else {

      free(buf);

      httpd_resp_send_404(req);

      return ESP_FAIL;

    }

    free(buf);

  } else {

    httpd_resp_send_404(req);

    return ESP_FAIL;

  }

  int val = atoi(value);

  sensor_t * s = esp_camera_sensor_get();

  int res = 0;

// Look at values within URL to determine function

  if (!strcmp(variable, "framesize"))

  {

    Serial.println("framesize");

    if (s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);

  }

  else if (!strcmp(variable, "quality"))

  {

    Serial.println("quality");

    res = s->set_quality(s, val);

  }

  else if (!strcmp(variable, "flash"))

  {

    ledcWrite(7, val);

  }

  else if (!strcmp(variable, "flashoff"))

  {

    ledcWrite(7, val);

  }

  else if (!strcmp(variable, "speed"))

  {

    if      (val > 255) val = 255;

    else if (val <   0) val = 0;

    speed = val;

    ledcWrite(8, speed);

  }

  else if (!strcmp(variable, "nostop"))

  {

    noStop = val;

  }

  else if (!strcmp(variable, "car")) {

    if (val == 1) {

      Serial.println("Forward");

      robot_fwd();

      robo = 1;

    }

    else if (val == 2) {

      Serial.println("TurnLeft");

      robot_left();

      robo = 1;

    }

    else if (val == 3) {

      Serial.println("Stop");

      robot_stop();

    }

    else if (val == 4) {

      Serial.println("TurnRight");

      robot_right();

      robo = 1;

    }

    else if (val == 5) {

      Serial.println("Backward");

      robot_back();

      robo = 1;

    }

    if (noStop != 1)

    {

    }

  }

  else

  {

    Serial.println("variable");

    res = -1;

  }

  if (res) {

    return httpd_resp_send_500(req);

  }

  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

  return httpd_resp_send(req, NULL, 0);

}

static esp_err_t status_handler(httpd_req_t *req) {

  static char json_response[1024];

  sensor_t * s = esp_camera_sensor_get();

  char * p = json_response;

  *p++ = '{';

  p += sprintf(p, "\"framesize\":%u,", s->status.framesize);

  p += sprintf(p, "\"quality\":%u,", s->status.quality);

  *p++ = '}';

  *p++ = 0;

  httpd_resp_set_type(req, "application/json");

  httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");

  return httpd_resp_send(req, json_response, strlen(json_response));

}

static const char PROGMEM INDEX_HTML[] = R"rawliteral(

<!doctype html>

<html>

    <head>

        <meta charset="utf-8">

        <meta name="viewport" content="width=device-width,initial-scale=1">

        <title>ESP32 CAM Robot</title>

        <style>

    body{font-family:Arial,Helvetica,sans-serif;background:#181818;color:#efefef;font-size:16px}h2{font-size:18px}section.main{display:flex}#menu,section.main{flex-direction:column}#menu{display:none;flex-wrap:nowrap;min-width:340px;background:#363636;padding:8px;border-radius:4px;margin-top:-10px;margin-right:10px}#content{display:flex;flex-wrap:wrap;align-items:stretch}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}figure img{display:block;width:100%;height:auto;border-radius:4px;margin-top:8px}@media (min-width:800px) and (orientation:landscape){#content{display:flex;flex-wrap:nowrap;align-items:stretch}figure img{display:block;max-width:100%;max-height:calc(100vh - 40px);width:auto;height:auto}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}}section #buttons{display:flex;flex-wrap:nowrap;justify-content:space-between}#nav-toggle{cursor:pointer;display:block}#nav-toggle-cb{outline:0;opacity:0;width:0;height:0}#nav-toggle-cb:checked+#menu{display:flex}.input-group{display:flex;flex-wrap:nowrap;line-height:22px;margin:5px 0}.input-group>label{display:inline-block;padding-right:10px;min-width:47%}.input-group input,.input-group select{flex-grow:1}.range-max,.range-min{display:inline-block;padding:0 5px}button{display:block;margin:5px;padding:5px 12px;border:0;line-height:28px;cursor:pointer;color:#fff;background:#035806;border-radius:5px;font-size:16px;outline:0;width:100px}.button2{background-color:#008cba;width:100px}.button3{background-color:#f44336;width:100px}.button4{background-color:#e7e7e7;color:#000;width:120px}.button5{background-color:#555;width:100px}.button6{visibility:hidden;width:100px}button:hover{background:#ff494d}button:active{background:#f21c21}button.disabled{cursor:default;background:#a0a0a0}input[type=range]{-webkit-appearance:none;width:100%;height:22px;background:#363636;cursor:pointer;margin:0}input[type=range]:focus{outline:0}input[type=range]::-webkit-slider-runnable-track{width:100%;height:2px;cursor:pointer;background:#efefef;border-radius:0;border:0 solid #efefef}input[type=range]::-webkit-slider-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;-webkit-appearance:none;margin-top:-11.5px}input[type=range]:focus::-webkit-slider-runnable-track{background:#efefef}input[type=range]::-moz-range-track{width:100%;height:2px;cursor:pointer;background:#efefef;border-radius:0;border:0 solid #efefef}input[type=range]::-moz-range-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer}input[type=range]::-ms-track{width:100%;height:2px;cursor:pointer;background:0 0;border-color:transparent;color:transparent}input[type=range]::-ms-fill-lower{background:#efefef;border:0 solid #efefef;border-radius:0}input[type=range]::-ms-fill-upper{background:#efefef;border:0 solid #efefef;border-radius:0}input[type=range]::-ms-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;height:2px}input[type=range]:focus::-ms-fill-lower{background:#efefef}input[type=range]:focus::-ms-fill-upper{background:#363636}.switch{display:block;position:relative;line-height:22px;font-size:16px;height:22px}.switch input{outline:0;opacity:0;width:0;height:0}.slider{width:50px;height:22px;border-radius:22px;cursor:pointer;background-color:grey}.slider,.slider:before{display:inline-block;transition:.4s}.slider:before{position:relative;content:"";border-radius:50%;height:16px;width:16px;left:4px;top:3px;background-color:#fff}input:checked+.slider{background-color:#ff3034}input:checked+.slider:before{-webkit-transform:translateX(26px);transform:translateX(26px)}select{border:1px solid #363636;font-size:14px;height:22px;outline:0;border-radius:5px}.image-container{position:absolute;top:50px;left:50%;margin-right:-50%;transform:translate(-50%,-50%);min-width:160px}.control-container{position:relative;top:400px;left:50%;margin-right:-50%;transform:translate(-50%,-50%)}.slider-container{position:relative;top:750px;right:36%;margin-left:-50%;transform:translate(-50%,-50%)}.close{position:absolute;right:5px;top:5px;background:#ff3034;width:16px;height:16px;border-radius:100px;color:#fff;text-align:center;line-height:18px;cursor:pointer}.hidden{display:none}.rotate90{-webkit-transform:rotate(270deg);-moz-transform:rotate(270deg);-o-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg)}

</style>

    </head>

    <body>

    <br>

    <br>

        <section class="main">

        <figure>

      <div id="stream-container" class="image-container">

        <div class="close" id="close-stream">×</div>

        <img id="stream" src="" class="rotate90">

      </div>

    </figure>

    <br>

    <br>

            <section id="buttons">

                <div id="controls" class="control-container">

                  <table>

                  <tr><td align="center"><button class="button button6" id="get-still">Image</button></td><td align="center"><button id="toggle-stream">Start</button></td><td></td></tr>

                  <tr><td></td><td align="center"><button class="button button2" id="forward" onclick="fetch(document.location.origin+'/control?var=car&val=1');">FORWARD</button></td><td></td></tr>

                  <tr><td align="center"><button class="button button2" id="turnleft" onclick="fetch(document.location.origin+'/control?var=car&val=2');">LEFT</button></td><td align="center"></td><td align="center"><button class="button button2" id="turnright" onclick="fetch(document.location.origin+'/control?var=car&val=4');">RIGHT</button></td></tr>

                  <tr><td></td><td align="center"><button class="button button2" id="backward" onclick="fetch(document.location.origin+'/control?var=car&val=5');">REVERSE</button></td><td></td></tr>

                  <tr><td></td><td align="center"><button class="button button4" id="flash" onclick="fetch(document.location.origin+'/control?var=flash&val=1');">LIGHT ON</button></td><td></td></tr>

                  <tr><td></td><td align="center"><button class="button button4" id="flashoff" onclick="fetch(document.location.origin+'/control?var=flashoff&val=0');">LIGHT OFF</button></td><td></td></tr>

                  </table>

                </div>

               <br>

                <div id="sliders" class="slider-container">

                  <table>

                  <tr><td>Motor Speed:</td><td align="center" colspan="2"><input type="range" id="speed" min="0" max="255" value="200" onchange="try{fetch(document.location.origin+'/control?var=speed&val='+this.value);}catch(e){}"></td></tr>

                  <tr><td>Vid Quality:</td><td align="center" colspan="2"><input type="range" id="quality" min="10" max="63" value="10" onchange="try{fetch(document.location.origin+'/control?var=quality&val='+this.value);}catch(e){}"></td></tr>

                  <tr><td>Vid Size:</td><td align="center" colspan="2"><input type="range" id="framesize" min="0" max="6" value="5" onchange="try{fetch(document.location.origin+'/control?var=framesize&val='+this.value);}catch(e){}"></td></tr>

                  </table>

                </div>

            </section>        

        </section>

        <script>

          document.addEventListener('DOMContentLoaded',function(){function b(B){let C;switch(B.type){case'checkbox':C=B.checked?1:0;break;case'range':case'select-one':C=B.value;break;case'button':case'submit':C='1';break;default:return;}const D=`${c}/control?var=${B.id}&val=${C}`;fetch(D).then(E=>{console.log(`request to ${D} finished, status: ${E.status}`)})}var c=document.location.origin;const e=B=>{B.classList.add('hidden')},f=B=>{B.classList.remove('hidden')},g=B=>{B.classList.add('disabled'),B.disabled=!0},h=B=>{B.classList.remove('disabled'),B.disabled=!1},i=(B,C,D)=>{D=!(null!=D)||D;let E;'checkbox'===B.type?(E=B.checked,C=!!C,B.checked=C):(E=B.value,B.value=C),D&&E!==C?b(B):!D&&('aec'===B.id?C?e(v):f(v):'agc'===B.id?C?(f(t),e(s)):(e(t),f(s)):'awb_gain'===B.id?C?f(x):e(x):'face_recognize'===B.id&&(C?h(n):g(n)))};document.querySelectorAll('.close').forEach(B=>{B.onclick=()=>{e(B.parentNode)}}),fetch(`${c}/status`).then(function(B){return B.json()}).then(function(B){document.querySelectorAll('.default-action').forEach(C=>{i(C,B[C.id],!1)})});const j=document.getElementById('stream'),k=document.getElementById('stream-container'),l=document.getElementById('get-still'),m=document.getElementById('toggle-stream'),n=document.getElementById('face_enroll'),o=document.getElementById('close-stream'),p=()=>{window.stop(),m.innerHTML='Start'},q=()=>{j.src=`${c+':81'}/stream`,f(k),m.innerHTML='Stop'};l.onclick=()=>{p(),j.src=`${c}/capture?_cb=${Date.now()}`,f(k)},o.onclick=()=>{p(),e(k)},m.onclick=()=>{const B='Stop'===m.innerHTML;B?p():q()},n.onclick=()=>{b(n)},document.querySelectorAll('.default-action').forEach(B=>{B.onchange=()=>b(B)});const r=document.getElementById('agc'),s=document.getElementById('agc_gain-group'),t=document.getElementById('gainceiling-group');r.onchange=()=>{b(r),r.checked?(f(t),e(s)):(e(t),f(s))};const u=document.getElementById('aec'),v=document.getElementById('aec_value-group');u.onchange=()=>{b(u),u.checked?e(v):f(v)};const w=document.getElementById('awb_gain'),x=document.getElementById('wb_mode-group');w.onchange=()=>{b(w),w.checked?f(x):e(x)};const y=document.getElementById('face_detect'),z=document.getElementById('face_recognize'),A=document.getElementById('framesize');A.onchange=()=>{b(A),5<A.value&&(i(y,!1),i(z,!1))},y.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(y,!1)):void(b(y),!y.checked&&(g(n),i(z,!1)))},z.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(z,!1)):void(b(z),z.checked?(h(n),i(y,!0)):g(n))}});

        </script>

    </body>

</html>

)rawliteral";

static esp_err_t index_handler(httpd_req_t *req){

    httpd_resp_set_type(req, "text/html");

    return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));

}

void startCameraServer()

{

    httpd_config_t config = HTTPD_DEFAULT_CONFIG();

    httpd_uri_t index_uri = {

        .uri       = "/",

        .method    = HTTP_GET,

        .handler   = index_handler,

        .user_ctx  = NULL

    };

    httpd_uri_t status_uri = {

        .uri       = "/status",

        .method    = HTTP_GET,

        .handler   = status_handler,

        .user_ctx  = NULL

    };

    httpd_uri_t cmd_uri = {

        .uri       = "/control",

        .method    = HTTP_GET,

        .handler   = cmd_handler,

        .user_ctx  = NULL

    };

    httpd_uri_t capture_uri = {

        .uri       = "/capture",

        .method    = HTTP_GET,

        .handler   = capture_handler,

        .user_ctx  = NULL

    };

   httpd_uri_t stream_uri = {

        .uri       = "/stream",

        .method    = HTTP_GET,

        .handler   = stream_handler,

        .user_ctx  = NULL

    };

    Serial.printf("Starting web server on port: '%d'\n", config.server_port);

    if (httpd_start(&camera_httpd, &config) == ESP_OK) {

        httpd_register_uri_handler(camera_httpd, &index_uri);

        httpd_register_uri_handler(camera_httpd, &cmd_uri);

        httpd_register_uri_handler(camera_httpd, &status_uri);

        httpd_register_uri_handler(camera_httpd, &capture_uri);

    }

    config.server_port += 1;

    config.ctrl_port += 1;

    Serial.printf("Starting stream server on port: '%d'\n", config.server_port);

    if (httpd_start(&stream_httpd, &config) == ESP_OK) {

        httpd_register_uri_handler(stream_httpd, &stream_uri);

    }

}

unsigned int get_speed(unsigned int sp)

{

  return map(sp, 0, 100, 0, 255);

}

void robot_setup()

{

    // Pins for Motor Controller

    pinMode(LEFT_M0,OUTPUT);

    pinMode(LEFT_M1,OUTPUT);

    pinMode(RIGHT_M0,OUTPUT);

    pinMode(RIGHT_M1,OUTPUT);

    // Make sure we are stopped

    robot_stop();

    // Motor uses PWM Channel 8

    ledcAttachPin(MTR_PWM, 8);

    ledcSetup(8, 2000, 8);      

    ledcWrite(8, 130);

}

// Motor Control Functions

void update_speed()

{  

    ledcWrite(motorPWMChannnel, get_speed(motor_speed));

}

void robot_stop()

{

  digitalWrite(LEFT_M0,LOW);

  digitalWrite(LEFT_M1,LOW);

  digitalWrite(RIGHT_M0,LOW);

  digitalWrite(RIGHT_M1,LOW);

}

void robot_fwd()

{

  digitalWrite(LEFT_M0,HIGH);

  digitalWrite(LEFT_M1,LOW);

  digitalWrite(RIGHT_M0,HIGH);

  digitalWrite(RIGHT_M1,LOW);

  move_interval=250;

  previous_time = millis();  

}

void robot_back()

{

  digitalWrite(LEFT_M0,LOW);

  digitalWrite(LEFT_M1,HIGH);

  digitalWrite(RIGHT_M0,LOW);

  digitalWrite(RIGHT_M1,HIGH);

  move_interval=250;

   previous_time = millis();  

}

void robot_right()

{

  digitalWrite(LEFT_M0,LOW);

  digitalWrite(LEFT_M1,HIGH);

  digitalWrite(RIGHT_M0,HIGH);

  digitalWrite(RIGHT_M1,LOW);

  move_interval=100;

   previous_time = millis();

}

void robot_left()

{

  digitalWrite(LEFT_M0,HIGH);

  digitalWrite(LEFT_M1,LOW);

  digitalWrite(RIGHT_M0,LOW);

  digitalWrite(RIGHT_M1,HIGH);

  move_interval=100;

   previous_time = millis();

}

TT馬達自走車 (ZK-2WD組裝圖)

測試

電池介紹：https://www.youtube.com/watch?v=EvEMhOhPXz8
電池過充危險測試：https://www.youtube.com/watch?v=eZxDC-whz14