ESP32教程30/55——使用Adafruit IO服务通过MQTT在网页上控制舵机 | SunFounder的ESP32物联网学习套件

/***********************************************************************
 This is Arduino sketch for ESP32 to control Servo motor using MQTT service of Adafruit
 www.Robojax.com
 Written By Ahamd Shamshiri
 on Feb 2nd, 2024
Watch video instruction for this code on YouTube https://youtu.be/T4DhWNg2Rb8
  Adafruit MQTT Library ESP32 Adafruit IO SSL/TLS example
  this code can be downloaded from  https://robojax.com/RJT671

  

/// ref: https://www.electronicwings.com/esp32/esp32-mqtt-client
*/
#include <ESP32Servo.h>

// Define the servo and the pin it is connected to
Servo myServo;
const int servoPin = 25;
const int defaultServoAngle = 90;
int servoAngle =defaultServoAngle;

// Define the minimum and maximum pulse widths for the servo
const int minPulseWidth = 500; // 0.5 ms
const int maxPulseWidth = 2500; // 2.5 ms




#include <WiFi.h>
#include "WiFiClientSecure.h"
#include "Adafruit_MQTT.h"
#include "Adafruit_MQTT_Client.h"

/************************* WiFi Access Point *********************************/


#define WLAN_SSID "Barqasaa"
#define WLAN_PASS "wan9&Jang~5"

/************************* Adafruit.io Setup *********************************/

#define AIO_SERVER "io.adafruit.com"

// Using port 8883 for MQTTS
#define AIO_SERVERPORT 8883

// Adafruit IO Account Configuration
// (to obtain these values, visit https://io.adafruit.com and click on Active Key)
// #define AIO_USERNAME "YOUR_ADAFRUIT_IO_USERNAME"
// #define AIO_KEY      "YOUR_ADAFRUIT_IO_KEY"

#define AIO_USERNAME "robojax"
#define AIO_KEY "aio_xmIW58uNNsjJCSOqzZ9QoHyq29wu"

/************ Global State (you don't need to change this!) ******************/

// WiFiFlientSecure for SSL/TLS support
WiFiClientSecure client;

// Setup the MQTT client class by passing in the WiFi client and MQTT server and login details.
Adafruit_MQTT_Client mqtt(&client, AIO_SERVER, AIO_SERVERPORT, AIO_USERNAME, AIO_KEY);


// io.adafruit.com root CA
const char* adafruitio_root_ca = \
      "-----BEGIN CERTIFICATE-----\n"
      "MIIEjTCCA3WgAwIBAgIQDQd4KhM/xvmlcpbhMf/ReTANBgkqhkiG9w0BAQsFADBh\n"
      "MQswCQYDVQQGEwJVUzEVMBMGA1UEChMMRGlnaUNlcnQgSW5jMRkwFwYDVQQLExB3\n"
      "d3cuZGlnaWNlcnQuY29tMSAwHgYDVQQDExdEaWdpQ2VydCBHbG9iYWwgUm9vdCBH\n"
      "MjAeFw0xNzExMDIxMjIzMzdaFw0yNzExMDIxMjIzMzdaMGAxCzAJBgNVBAYTAlVT\n"
      "MRUwEwYDVQQKEwxEaWdpQ2VydCBJbmMxGTAXBgNVBAsTEHd3dy5kaWdpY2VydC5j\n"
      "b20xHzAdBgNVBAMTFkdlb1RydXN0IFRMUyBSU0EgQ0EgRzEwggEiMA0GCSqGSIb3\n"
      "DQEBAQUAA4IBDwAwggEKAoIBAQC+F+jsvikKy/65LWEx/TMkCDIuWegh1Ngwvm4Q\n"
      "yISgP7oU5d79eoySG3vOhC3w/3jEMuipoH1fBtp7m0tTpsYbAhch4XA7rfuD6whU\n"
      "gajeErLVxoiWMPkC/DnUvbgi74BJmdBiuGHQSd7LwsuXpTEGG9fYXcbTVN5SATYq\n"
      "DfbexbYxTMwVJWoVb6lrBEgM3gBBqiiAiy800xu1Nq07JdCIQkBsNpFtZbIZhsDS\n"
      "fzlGWP4wEmBQ3O67c+ZXkFr2DcrXBEtHam80Gp2SNhou2U5U7UesDL/xgLK6/0d7\n"
      "6TnEVMSUVJkZ8VeZr+IUIlvoLrtjLbqugb0T3OYXW+CQU0kBAgMBAAGjggFAMIIB\n"
      "PDAdBgNVHQ4EFgQUlE/UXYvkpOKmgP792PkA76O+AlcwHwYDVR0jBBgwFoAUTiJU\n"
      "IBiV5uNu5g/6+rkS7QYXjzkwDgYDVR0PAQH/BAQDAgGGMB0GA1UdJQQWMBQGCCsG\n"
      "AQUFBwMBBggrBgEFBQcDAjASBgNVHRMBAf8ECDAGAQH/AgEAMDQGCCsGAQUFBwEB\n"
      "BCgwJjAkBggrBgEFBQcwAYYYaHR0cDovL29jc3AuZGlnaWNlcnQuY29tMEIGA1Ud\n"
      "HwQ7MDkwN6A1oDOGMWh0dHA6Ly9jcmwzLmRpZ2ljZXJ0LmNvbS9EaWdpQ2VydEds\n"
      "b2JhbFJvb3RHMi5jcmwwPQYDVR0gBDYwNDAyBgRVHSAAMCowKAYIKwYBBQUHAgEW\n"
      "HGh0dHBzOi8vd3d3LmRpZ2ljZXJ0LmNvbS9DUFMwDQYJKoZIhvcNAQELBQADggEB\n"
      "AIIcBDqC6cWpyGUSXAjjAcYwsK4iiGF7KweG97i1RJz1kwZhRoo6orU1JtBYnjzB\n"
      "c4+/sXmnHJk3mlPyL1xuIAt9sMeC7+vreRIF5wFBC0MCN5sbHwhNN1JzKbifNeP5\n"
      "ozpZdQFmkCo+neBiKR6HqIA+LMTMCMMuv2khGGuPHmtDze4GmEGZtYLyF8EQpa5Y\n"
      "jPuV6k2Cr/N3XxFpT3hRpt/3usU/Zb9wfKPtWpoznZ4/44c1p9rzFcZYrWkj3A+7\n"
      "TNBJE0GmP2fhXhP1D/XVfIW/h0yCJGEiV9Glm/uGOa3DXHlmbAcxSyCRraG+ZBkA\n"
      "7h4SeM6Y8l/7MBRpPCz6l8Y=\n"
      "-----END CERTIFICATE-----\n";

/****************************** Feeds ***************************************/

// Setup a feed called 'test' for publishing and 'test2' for subscription.
// Notice MQTT paths for AIO follow the form: <username>/feeds/<feedname>
Adafruit_MQTT_Subscribe SERVO = Adafruit_MQTT_Subscribe(&mqtt, AIO_USERNAME "/feeds/servo-angle-1");


/*************************** Sketch Code ************************************/


void setup() {
    // Attach the servo to the specified pin and set its pulse width range
  myServo.attach(servoPin, minPulseWidth, maxPulseWidth);

  // Set the PWM frequency for the servo
  myServo.setPeriodHertz(50); // Standard 50Hz servo

  Serial.begin(115200);
  delay(10);

  Serial.println(F("Adafruit IO MQTTS (SSL/TLS) Example"));

  // Connect to WiFi access point.
  Serial.println();
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(WLAN_SSID);

  delay(1000);

  WiFi.begin(WLAN_SSID, WLAN_PASS);
  delay(2000);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println();

  Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

  // Set Adafruit IO's root CA
  client.setCACert(adafruitio_root_ca);

  // register callback for feed
  SERVO.setCallback(servoCallback);
  // Setup MQTT subscription for time feed.
  mqtt.subscribe(&SERVO);


}

// uint32_t x=0;


void loop() {

  // Ensure the connection to the MQTT server is alive (this will make the first
  // connection and automatically reconnect when disconnected).  See the MQTT_connect
  // function definition further below.
  MQTT_connect();

  Serial.print("Angle: ");
  Serial.println(servoAngle);

  // wait 0.5 seconds for subscription messages
  mqtt.processPackets(500);

  //from lesson 17
  int pulseWidth = map(servoAngle, 0, 180, minPulseWidth, maxPulseWidth);
  myServo.writeMicroseconds(pulseWidth);
  delay(15);
  // wait a couple seconds to avoid rate limit
  //delay(2000);
}

void servoCallback(char* message, uint16_t len) {
  char messageBuffer[40];
  snprintf(messageBuffer, sizeof(messageBuffer), "Servo status is :: %s, len :: %u", message, len);
  Serial.println(messageBuffer);
  Serial.println(message);
  String inString = message;//sotre the message to String
 
  servoAngle  =  inString.toInt();//convert the message to Integer
  if(servoAngle >180 || servoAngle < 0)
  {
    servoAngle =0;
  }

}




// Function to connect and reconnect as necessary to the MQTT server.
// Should be called in the loop function and it will take care if connecting.
void MQTT_connect() {
  int8_t ret;
  // Stop if already connected.
  if (mqtt.connected()) {
    return;
  }
  Serial.print("Connecting to MQTT... ");
  uint8_t retries = 3;
  while ((ret = mqtt.connect()) != 0) {  // connect will return 0 for connected
    Serial.println(mqtt.connectErrorString(ret));
    Serial.println("Retrying MQTT connection in 5 seconds...");
    mqtt.disconnect();
    delay(5000);  // wait 5 seconds
    retries--;
    if (retries == 0) {
      // basically die and wait for WDT to reset me
      while (1)
        ;
    }
  }
  Serial.println("MQTT Connected!");
}