ESP8266使用记录（三）

通过udp把mpu6050数据发送到PC端

/**********************************************************************
项目名称/Project          : 零基础入门学用物联网
程序名称/Program name     : ESP8266WiFiUdp_12
团队/Team                : 太极创客团队 / Taichi-Maker (www.taichi-maker.com)
作者/Author              : 小凯
日期/Date（YYYYMMDD）     : 20200319
程序目的/Purpose          : 
用于演示ESP8266WiFiUdp库中print函数
-----------------------------------------------------------------------
本示例程序为太极创客团队制作的《零基础入门学用物联网》中示例程序。
该教程为对物联网开发感兴趣的朋友所设计和制作。如需了解更多该教程的信息，请参考以下网页：
http://www.taichi-maker.com/homepage/esp8266-nodemcu-iot/iot-c/esp8266-nodemcu-web-client/http-request/
***********************************************************************/
#include <Wire.h>
#include <ArduinoJson.h>
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>#define ssid      "TaichiMaker_WIFI" //这里改成你的设备当前环境下WIFI名字
#define password  "xxxxxxx"          //这里改成你的设备当前环境下WIFI密码#define BTN_1 D4       // 开关按钮
bool btn1_state = false;WiFiUDP Udp;//实例化WiFiUDP对象
unsigned int localUdpPort = 16651;  // 自定义本地监听端口
unsigned int remoteUdpPort = 16650;  // 自定义远程监听端口
char incomingPacket[255];  // 保存Udp工具发过来的消息
char replyPacket[2048];  //发送的消息,仅支持英文const int MPU6050_addr = 0x68;
int16_t AccX, AccY, AccZ, Temp, GyroX, GyroY, GyroZ;void setup()
{Wire.begin();Wire.beginTransmission(MPU6050_addr);Wire.write(0x6B);Wire.write(0);Wire.endTransmission(true);Serial.begin(9600);//打开串口Serial.println();Serial.printf("正在连接 %s ", ssid);WiFi.begin(ssid, password);//连接到wifiwhile (WiFi.status() != WL_CONNECTED)//等待连接{delay(500);Serial.print(".");}Serial.println("连接成功");//启动Udp监听服务if(Udp.begin(localUdpPort)){Serial.println("监听成功");//打印本地的ip地址，在UDP工具中会使用到//WiFi.localIP().toString().c_str()用于将获取的本地IP地址转化为字符串   Serial.printf("现在收听IP：%s, UDP端口：%d\n", WiFi.localIP().toString().c_str(), localUdpPort);}else{Serial.println("监听失败");}pinMode(BTN_1, INPUT_PULLUP);//开关按钮为输入开启上拉电阻
}void loop()
{Wire.beginTransmission(MPU6050_addr);Wire.write(0x3B);Wire.endTransmission(false);Wire.requestFrom(MPU6050_addr, 14, true);AccX = Wire.read() << 8 | Wire.read();AccY = Wire.read() << 8 | Wire.read();AccZ = Wire.read() << 8 | Wire.read();Temp = Wire.read() << 8 | Wire.read();GyroX = Wire.read() << 8 | Wire.read();GyroY = Wire.read() << 8 | Wire.read();GyroZ = Wire.read() << 8 | Wire.read();DynamicJsonDocument doc(2048);// 创建json根节点对象JsonObject obj  = doc.to<JsonObject>();obj ["AccX"] = AccX;obj ["AccY"] = AccY;obj ["AccZ"] = AccZ;obj ["Temp"] = Temp;obj ["GyroX"] = GyroX;obj ["GyroY"] = GyroY;obj ["GyroZ"] = GyroZ;  //向udp工具发送消息Udp.beginPacket(Udp.remoteIP(), remoteUdpPort);//配置远端ip地址和端口 if (digitalRead(BTN_1) == 0){obj ["Shoot"] = 1; }else{obj ["Shoot"] = 0; }String output;serializeJson(doc, replyPacket);    Udp.print(replyPacket);//把数据写入发送缓冲区Udp.endPacket();//发送数据 delay(16);//延时33毫秒
}

PC端Unity工程代码

using System;
using UnityEngine;public class MPU6050 : MonoBehaviour
{private UdpServer server;public Transform trans;private bool fire = false;public float fireRate = 0.5f;private float nextFire = 0.0f;public GameObject sphere;float AccX;float accAngleX;float AccY;float accAngleY;float AccZ;float GyroX;float GyroY;float GyroZ;float gyroAngleX;float gyroAngleY;float roll;float pitch;float yaw;float elapsedTime, currentTime, previousTime;// Start is called before the first frame updatevoid Start(){Application.targetFrameRate = 60;Loom.Initialize();EventCenter.AddListener<string>("Receive", OnMessage);EventCenter.AddListener<string>("Error", OnError);server = new UdpServer();server.Start(16650, "192.168.0.56", 16651);server.Send("192.168.0.105");}// Update is called once per framevoid Update(){//射个球if (fire && Time.time > nextFire){nextFire = Time.time + fireRate;GameObject go = Instantiate(sphere, trans.position, trans.rotation);go.SetActive(true);go.GetComponent<Rigidbody>().AddForce(trans.forward * 800);}}private void OnApplicationQuit(){server.Dispose();server = null;}int count = 0;float AccErrorX;float AccErrorY;float GyroErrorX;float GyroErrorY;float GyroErrorZ;void OnMessage(string msg){Loom.QueueOnMainThread(() =>{//previousTime = currentTime;        // Previous time is stored before the actual time read//currentTime = DateTime.Now.Millisecond;            // Current time actual time read//elapsedTime = (currentTime - previousTime) / 1000;elapsedTime = 0.016f;//Debug.Log("elapsedTime:" + elapsedTime);//ifReceive.text += msg+ "\r\n";MPUMSG mpumsg = new MPUMSG();try{JsonUtility.FromJsonOverwrite(msg, mpumsg);}catch (Exception ex){Debug.LogError(ex);return;}//射个球if (mpumsg.Shoot == 1){fire = true;}else{fire = false;}AccX = mpumsg.AccX / 16384.0f;AccY = mpumsg.AccY / 16384.0f;AccZ = mpumsg.AccZ / 16384.0f;accAngleX = (MathF.Atan(AccY / MathF.Sqrt(MathF.Pow(AccX, 2) + MathF.Pow(AccZ, 2))) * 180 / MathF.PI) - 0.58f;accAngleY = (MathF.Atan(-1 * AccX / MathF.Sqrt(MathF.Pow(AccY, 2) + MathF.Pow(AccZ, 2))) * 180 / MathF.PI) + 1.58f;accAngleX += 3.845675f;accAngleY += 1.984601f;GyroX = mpumsg.GyroX / 131.0f;GyroY = mpumsg.GyroY / 131.0f;GyroZ = mpumsg.GyroZ / 131.0f;GyroX += 1.553333f;GyroY += 3.210216f;GyroZ += 0.1432245f;if (count < 200){count++;AccErrorX += accAngleX;AccErrorY += accAngleY;GyroErrorX += GyroX;GyroErrorY += GyroY;GyroErrorZ += GyroZ;}if (count == 200){AccErrorX = AccErrorX / 200;AccErrorY = AccErrorY / 200;GyroErrorX = GyroErrorX / 200;GyroErrorY = GyroErrorY / 200;GyroErrorZ = GyroErrorZ / 200;Debug.LogWarning("AccErrorX:" + AccErrorX+ " AccErrorY:" + AccErrorY+ " GyroErrorX:" + GyroErrorX+ " GyroErrorY:" + GyroErrorY+ " GyroErrorZ:" + GyroErrorZ);//温度Debug.LogWarning("Temp:" + (mpumsg.Temp / 340.00 + 36.53));count = 0;}// Currently the raw values are in degrees per seconds, deg/s, so we need to multiply by sendonds (s) to get the angle in degreesgyroAngleX = gyroAngleX + GyroX * elapsedTime; // deg/s * s = deggyroAngleY = gyroAngleY + GyroY * elapsedTime;yaw = yaw + GyroZ * elapsedTime;// Complementary filter - combine acceleromter and gyro angle valuesroll = 0.96f * gyroAngleX + 0.04f * accAngleX;pitch = 0.96f * gyroAngleY + 0.04f * accAngleY;//Debug.Log("yaw:" + yaw + " roll:" + roll + " pitch:" + pitch);trans.eulerAngles = new Vector3(-roll, pitch, yaw);});}void OnError(string error){Loom.QueueOnMainThread(() =>{Debug.LogError(error);if (error.Equals("serverSocket == null")){fire = false;}});}
}[Serializable]
public class MPUMSG
{public float AccX;public float AccY;public float AccZ;public float Temp;public float GyroX;public float GyroY;public float GyroZ;public int Shoot;
}

相关链接
https://howtomechatronics.com/tutorials/arduino/arduino-and-mpu6050-accelerometer-and-gyroscope-tutorial/