/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-09-12 https://www.robotway.com/

  ------------------------------*/

/*将与主控板相连接的wifi模块使用“esp8266调试工具软件”设置为Station模式

  将其余三个模块设置为AP模式，并记录其NAME,存储在程序中*/

//#define DEBUG

#define ESP_AP_NUMBER 3

#include <SoftwareSerial.h>

#include <RssiPositionComputer.h>

#include <Wire.h>

#include <MultiLCD.h>

SoftwareSerial myESP(2,3);

RssiPositionComputer myPositionComputer;

Point2D master_point;

LCD_SSD1306 lcd;

char esp_ap_name[ESP_AP_NUMBER][10] = {"ESP826601","ESP826602","ESP826603"};

int   rssi[ESP_AP_NUMBER];

float distance[ESP_AP_NUMBER];

void setup()

{

delay(1000);

Serial.begin(115200);

myESP.begin(9600);

#ifdef DEBUG

Serial.println("begin");

#endif

while(myESP.available()&&myESP.read());

while(!myESP.available())

{

myESP.println("AT");

delay(1000);

}

while(myESP.available()&&myESP.read());

#ifdef DEBUG

Serial.println("Resonse ok");

#endif

lcd.begin();

    lcd.clear();

    lcd.setCursor(30,4);

    lcd.print("Hello, world!");

}

void loop()

{

int n = searchESPAP(esp_ap_name,rssi);

for(int i=0;i<ESP_AP_NUMBER;i++)

{

distance[i] = rssiToDistance(rssi[i]);

Serial.print(distance[i]);

Serial.print('\t');

}

Serial.print(n);

Serial.print('\t');

if(myPositionComputer.distanceToPoint(distance[0],distance[1],distance[2],&master_point)==true)

    {

      Serial.print(master_point.x);

      Serial.print('\t');

      Serial.print(master_point.y);

      Serial.print('\t');

      Serial.println("position okok");

      lcd.clear();

      lcd.setCursor(30,2);

      lcd.printLong(master_point.x*100,FONT_SIZE_LARGE);   //按厘米输出

      lcd.setCursor(30,5);

      lcd.printLong(master_point.y*100,FONT_SIZE_LARGE);

    }

    else

    {

    lcd.clear();

    lcd.setCursor(30,4);

    lcd.print("position ERROR!");

        Serial.println("position ERROR");   

    }

}

int nameToNumber(char in[],char name[][10])

{

for(int i=0;i<3;i++)

{

for(int j=0;j<9;j++)

{

if(in[j] != name[i][j])

break;

if(j==8)

return(i);

}

}

return(-1);

}

byte searchESPAP(char name[][10], int rs[])

{

byte search_result_number = 0;

int state = 0;

int n;

int ap_n;

char name_string[10];

char rssi_string[4];

while(myESP.available()&&myESP.read());

myESP.println("AT+CWLAP");

delay(100);

while(myESP.available()&&myESP.read());

unsigned long t = millis();

while(!myESP.available())

{

if(millis()-t<3000)

delay(5);

else

return(0);

}

#ifdef DEBUG

Serial.println("received........");

#endif

t = millis();

while(myESP.available()||(millis()-t<3000))

{

if(!myESP.available())

continue;

char in_char = myESP.read();

#ifdef DEBUG

Serial.print(in_char);

#endif

if( (state == 0)&&(in_char=='(') )

{

state = 1;

n = -4;

}

else if(state == 1)

{

n++;

if(n>=0)

name_string[n] = in_char;

if(n == 8)

{

n = -3;

ap_n = nameToNumber(name_string,name);

if(ap_n != -1)

{

state = 2;

#ifdef DEBUG

Serial.print('\n');

Serial.print("ap_n:");Serial.println(ap_n);

#endif

}

else

{

state = 0;

}

}

}

else if(state==2)

{

n++;

if(n>=0)

rssi_string[n] = in_char;

if(n == 2)

{

rs[ap_n] = atof(rssi_string);

state = 0;

search_result_number++;

#ifdef DEBUG

Serial.print('\n');

Serial.print("rssi["+String(ap_n)+"]:");Serial.println(rs[ap_n]);

#endif

}

}

}

return(search_result_number);

}

float rssiToDistance(int rssi)

{

float dis = 0;

dis = pow(10.0,((abs(rssi)-47)/10.0/2.212));

return dis;

}

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程序源代码

ESP8266调试工具

ESP8266相关学习资料