呼和浩特企业网站排名优化上海站群优化
ESP32（MicroPython） 网页控制五自由度机械臂
本程序通过网页控制五自由度机械臂，驱动方案改用PCA9685。
代码如下
#导入Pin模块
from machine import Pin
import time
from machine import SoftI2C
from servo import Servos
import network
import socket#定义LED控制对象
led1=Pin(15,Pin.OUT,Pin.PULL_DOWN)
i2c=SoftI2C(sda=Pin(26),scl=Pin(27),freq=10000)
servos=Servos(i2c,address=0x40)#连接的WIFI账号和密码
ssid = " "
password = " "#舵机默认角度
servos.position(0,90)
servos.position(1,90)
servos.position(2,90)
servos.position(3,90)
servos.position(4,90)#WIFI连接
def wifi_connect():wlan=network.WLAN(network.STA_IF) #STA模式wlan.active(True) #激活if not wlan.isconnected():print("conneting to network...")wlan.connect(ssid,password) #输入 WIFI 账号密码while not wlan.isconnected():led1.value(1)time.sleep_ms(300)led1.value(0)time.sleep_ms(300)led1.value(0)return Falseelse:led1.value(0)print("network information:", wlan.ifconfig())return Truea0=90
a1=90
a2=90
a3=90
a4=90
#网页数据
def web_page():global a0global a1global a2global a3global a4html = """<html>
<head><meta name="viewport" content="width=device-width, initial-scale=1"><style>.button{display: inline-block; background-color: #971080; border: none; border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}a:active {text-decoration:none;} html {font-family: Arial;display: inline-block;margin: 0px auto;text-align: center;}h2 { font-size: 1.5rem; }p { font-size: 1.5rem; }.units { font-size: 1rem; }.dht-labels{font-size: 1rem;vertical-align:middle;padding-bottom: 7px;}</style>
</head>
<body><h2>ESP32 Servo Control</h2><p><a href="/?d0">Servo0: <strong>""" + str(a0) + """</strong></a></p><p><a href="/?b00"><button class="button">0</button></a><a href="/?b01"><button class="button">10</button></a><a href="/?b02"><button class="button">20</button></a><a href="/?b03"><button class="button">30</button></a><a href="/?b04"><button class="button">40</button></a><a href="/?b05"><button class="button">50</button></a><a href="/?b06"><button class="button">60</button></a><a href="/?b07"><button class="button">70</button></a><a href="/?b08"><button class="button">80</button></a><a href="/?b09"><button class="button">90</button></a><a href="/?b0a"><button class="button">100</button></a><a href="/?b0b"><button class="button">110</button></a><a href="/?b0c"><button class="button">120</button></a><a href="/?b0d"><button class="button">130</button></a><a href="/?b0e"><button class="button">140</button></a><a href="/?b0f"><button class="button">150</button></a><a href="/?b0g"><button class="button">160</button></a><a href="/?b0h"><button class="button">170</button></a><a href="/?b0i"><button class="button">180</button></a></p><p><a href="/?d1">Servo1: <strong>""" + str(a1) + """</strong></a></p><p><a href="/?b10"><button class="button">0</button></a><a href="/?b11"><button class="button">10</button></a><a href="/?b12"><button class="button">20</button></a><a href="/?b13"><button class="button">30</button></a><a href="/?b14"><button class="button">40</button></a><a href="/?b15"><button class="button">50</button></a><a href="/?b16"><button class="button">60</button></a><a href="/?b17"><button class="button">70</button></a><a href="/?b18"><button class="button">80</button></a><a href="/?b19"><button class="button">90</button></a><a href="/?b1a"><button class="button">100</button></a><a href="/?b1b"><button class="button">110</button></a><a href="/?b1c"><button class="button">120</button></a><a href="/?b1d"><button class="button">130</button></a><a href="/?b1e"><button class="button">140</button></a><a href="/?b1f"><button class="button">150</button></a><a href="/?b1g"><button class="button">160</button></a><a href="/?b1h"><button class="button">170</button></a><a href="/?b1i"><button class="button">180</button></a></p><p><a href="/?d2">Servo2: <strong>""" + str(a2) + """</strong></a></p><p><a href="/?b10"><button class="button">0</button></a><a href="/?b21"><button class="button">10</button></a><a href="/?b22"><button class="button">20</button></a><a href="/?b23"><button class="button">30</button></a><a href="/?b24"><button class="button">40</button></a><a href="/?b25"><button class="button">50</button></a><a href="/?b26"><button class="button">60</button></a><a href="/?b27"><button class="button">70</button></a><a href="/?b28"><button class="button">80</button></a><a href="/?b29"><button class="button">90</button></a><a href="/?b2a"><button class="button">100</button></a><a href="/?b2b"><button class="button">110</button></a><a href="/?b2c"><button class="button">120</button></a><a href="/?b2d"><button class="button">130</button></a><a href="/?b2e"><button class="button">140</button></a><a href="/?b2f"><button class="button">150</button></a><a href="/?b2g"><button class="button">160</button></a><a href="/?b2h"><button class="button">170</button></a><a href="/?b2i"><button class="button">180</button></a></p><p><a href="/?d3">Servo3: <strong>""" + str(a3) + """</strong></a></p><p><a href="/?b30"><button class="button">0</button></a><a href="/?b31"><button class="button">10</button></a><a href="/?b32"><button class="button">20</button></a><a href="/?b33"><button class="button">30</button></a><a href="/?b34"><button class="button">40</button></a><a href="/?b35"><button class="button">50</button></a><a href="/?b36"><button class="button">60</button></a><a href="/?b37"><button class="button">70</button></a><a href="/?b38"><button class="button">80</button></a><a href="/?b39"><button class="button">90</button></a><a href="/?b3a"><button class="button">100</button></a><a href="/?b3b"><button class="button">110</button></a><a href="/?b3c"><button class="button">120</button></a><a href="/?b3d"><button class="button">130</button></a><a href="/?b3e"><button class="button">140</button></a><a href="/?b3f"><button class="button">150</button></a><a href="/?b3g"><button class="button">160</button></a><a href="/?b3h"><button class="button">170</button></a><a href="/?b3i"><button class="button">180</button></a></p><p><a href="/?d4">Servo4: <strong>""" + str(a4) + """</strong></a></p><p><a href="/?b30"><button class="button">0</button></a><a href="/?b41"><button class="button">10</button></a><a href="/?b42"><button class="button">20</button></a><a href="/?b43"><button class="button">30</button></a><a href="/?b44"><button class="button">40</button></a><a href="/?b45"><button class="button">50</button></a><a href="/?b46"><button class="button">60</button></a><a href="/?b47"><button class="button">70</button></a><a href="/?b48"><button class="button">80</button></a><a href="/?b49"><button class="button">90</button></a><a href="/?b4a"><button class="button">100</button></a><a href="/?b4b"><button class="button">110</button></a><a href="/?b4c"><button class="button">120</button></a><a href="/?b4d"><button class="button">130</button></a><a href="/?b4e"><button class="button">140</button></a><a href="/?b4f"><button class="button">150</button></a><a href="/?b4g"><button class="button">160</button></a><a href="/?b4h"><button class="button">170</button></a><a href="/?b4i"><button class="button">180</button></a></p>
</body>
</html>"""return html#程序入口
if __name__=="__main__":wifi_connect()#SOCK_STREAM表示的是TCP协议，SOCK_DGRAM表示的是UDP协议my_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM) #创建socket连接# 将socket对象绑定ip地址和端口号my_socket.bind(('', 80))# 相当于电话的开机 括号里的参数表示可以同时接收5个请求my_socket.listen(5)while True:try: # 进入监听状态，等待别人链接过来，有两个返回值，#一个是对方的socket对象，一个是对方的ip以及端口client, addr = my_socket.accept()print('Got a connection from %s' % str(addr))# recv表示接收，括号里是最大接收字节request = client.recv(1024)request = str(request)print('Content = %s' % request)b00 = request.find('/?b00')b01 = request.find('/?b01')b02 = request.find('/?b02')b03 = request.find('/?b03')b04 = request.find('/?b04')b05 = request.find('/?b05')b06 = request.find('/?b06')b07 = request.find('/?b07')b08 = request.find('/?b08')b09 = request.find('/?b09')b0a = request.find('/?b0a')b0b = request.find('/?b0b')b0c = request.find('/?b0c')b0d = request.find('/?b0d')b0e = request.find('/?b0e')b0f = request.find('/?b0f')b0g = request.find('/?b0g')b0h = request.find('/?b0h')b0i = request.find('/?b0i')b10 = request.find('/?b10')b11 = request.find('/?b11')b12 = request.find('/?b12')b13 = request.find('/?b13')b14 = request.find('/?b14')b15 = request.find('/?b15')b16 = request.find('/?b16')b17 = request.find('/?b17')b18 = request.find('/?b18')b19 = request.find('/?b19')b1a = request.find('/?b1a')b1b = request.find('/?b1b')b1c = request.find('/?b1c')b1d = request.find('/?b1d')b1e = request.find('/?b1e')b1f = request.find('/?b1f')b1g = request.find('/?b1g')b1h = request.find('/?b1h')b1i = request.find('/?b1i')b20 = request.find('/?b10')b21 = request.find('/?b21')b22 = request.find('/?b22')b23 = request.find('/?b23')b24 = request.find('/?b24')b25 = request.find('/?b25')b26 = request.find('/?b26')b27 = request.find('/?b27')b28 = request.find('/?b28')b29 = request.find('/?b29')b2a = request.find('/?b2a')b2b = request.find('/?b2b')b2c = request.find('/?b2c')b2d = request.find('/?b2d')b2e = request.find('/?b2e')b2f = request.find('/?b2f')b2g = request.find('/?b2g')b2h = request.find('/?b2h')b2i = request.find('/?b2i')b30 = request.find('/?b30')b31 = request.find('/?b31')b32 = request.find('/?b32')b33 = request.find('/?b33')b34 = request.find('/?b34')b35 = request.find('/?b35')b36 = request.find('/?b36')b37 = request.find('/?b37')b38 = request.find('/?b38')b39 = request.find('/?b39')b3a = request.find('/?b3a')b3b = request.find('/?b3b')b3c = request.find('/?b3c')b3d = request.find('/?b3d')b3e = request.find('/?b3e')b3f = request.find('/?b3f')b3g = request.find('/?b3g')b3h = request.find('/?b3h')b3i = request.find('/?b3i')b40 = request.find('/?b40')b41 = request.find('/?b41')b42 = request.find('/?b42')b43 = request.find('/?b43')b44 = request.find('/?b44')b45 = request.find('/?b45')b46 = request.find('/?b46')b47 = request.find('/?b47')b48 = request.find('/?b48')b49 = request.find('/?b49')b4a = request.find('/?b4a')b4b = request.find('/?b4b')b4c = request.find('/?b4c')b4d = request.find('/?b4d')b4e = request.find('/?b4e')b4f = request.find('/?b4f')b4g = request.find('/?b4g')b4h = request.find('/?b4h')b4i = request.find('/?b4i')if b00 == 6:servos.position(0,0)a0=0if b11 == 6:servos.position(0,10)a0=10if b02 == 6:servos.position(0,20)a0=20if b03 == 6:servos.position(0,30)a0=30if b04 == 6:servos.position(0,40)a0=40if b05 == 6:servos.position(0,50)a0=50if b06 == 6:servos.position(0,60)a0=60if b07 == 6:servos.position(0,70)a0=70if b08 == 6:servos.position(0,80)a0=80if b09 == 6:servos.position(0,90)a0=90if b0a == 6:servos.position(0,100)a0=100if b0b == 6:servos.position(0,110)a0=110if b0c == 6:servos.position(0,120)a0=120if b0d == 6:servos.position(0,130)a0=130if b0e == 6:servos.position(0,140)a0=140if b0f == 6:servos.position(0,150)a0=150if b0g == 6:servos.position(0,160)a0=160if b0h == 6:servos.position(0,170)a0=170if b0i == 6:servos.position(0,180)a0=180if b10 == 6:servos.position(1,0)a1=0if b11 == 6:servos.position(1,10)a1=10if b12 == 6:servos.position(1,20)a1=20if b13 == 6:servos.position(1,30)a1=30if b14 == 6:servos.position(1,40)a1=40if b15 == 6:servos.position(1,50)a1=50if b16 == 6:servos.position(1,60)a1=60if b17 == 6:servos.position(1,70)a1=70if b18 == 6:servos.position(1,80)a1=80if b19 == 6:servos.position(1,90)a1=90if b1a == 6:servos.position(1,100)a1=100if b1b == 6:servos.position(1,110)a1=110if b1c == 6:servos.position(1,120)a1=120if b1d == 6:servos.position(1,130)a1=130if b1e == 6:servos.position(1,140)a1=140if b1f == 6:servos.position(1,150)a1=150if b1g == 6:servos.position(1,160)a1=160if b1h == 6:servos.position(1,170)a1=170if b1i == 6:servos.position(1,180)a1=180if b20 == 6:servos.position(2,0)a2=0if b21 == 6:servos.position(2,10)a2=10if b22 == 6:servos.position(2,20)a2=20if b23 == 6:servos.position(2,30)a2=30if b24 == 6:servos.position(2,40)a2=40if b25 == 6:servos.position(2,50)a2=50if b26 == 6:servos.position(2,60)a2=60if b27 == 6:servos.position(2,70)a2=70if b28 == 6:servos.position(2,80)a2=80if b29 == 6:servos.position(2,90)a2=90if b2a == 6:servos.position(2,100)a2=100if b2b == 6:servos.position(2,110)a2=110if b2c == 6:servos.position(2,120)a2=120if b2d == 6:servos.position(2,130)a2=130if b2e == 6:servos.position(2,140)a2=140if b2f == 6:servos.position(2,150)a2=150if b2g == 6:servos.position(2,160)a2=160if b2h == 6:servos.position(2,170)a2=170if b2i == 6:servos.position(2,180)a2=180if b30 == 6:servos.position(3,0)a3=0if b31 == 6:servos.position(3,10)a3=10if b32 == 6:servos.position(3,20)a3=20if b33 == 6:servos.position(3,30)a3=30if b34 == 6:servos.position(3,40)a3=40if b35 == 6:servos.position(3,50)a3=50if b36 == 6:servos.position(3,60)a3=60if b37 == 6:servos.position(3,70)a3=70if b38 == 6:servos.position(3,80)a3=80if b39 == 6:servos.position(3,90)a3=90if b3a == 6:servos.position(3,100)a3=100if b3b == 6:servos.position(3,110)a3=110if b3c == 6:servos.position(3,120)a3=120if b3d == 6:servos.position(3,130)a3=130if b3e == 6:servos.position(3,140)a3=140if b3f == 6:servos.position(3,150)a3=150if b3g == 6:servos.position(3,160)a3=160if b3h == 6:servos.position(3,170)a3=170if b3i == 6:servos.position(3,180)a3=180if b40 == 6:servos.position(4,0)a4=0if b41 == 6:servos.position(4,10)a4=10if b42 == 6:servos.position(4,20)a4=20if b43 == 6:servos.position(4,30)a4=30if b44 == 6:servos.position(4,40)a4=40if b45 == 6:servos.position(4,50)a4=50if b46 == 6:servos.position(4,60)a4=60if b47 == 6:servos.position(4,70)a4=70if b48 == 6:servos.position(4,80)a4=80if b49 == 6:servos.position(4,90)a4=90if b4a == 6:servos.position(4,100)a4=100if b4b == 6:servos.position(4,110)a4=110if b4c == 6:servos.position(4,120)a4=120if b4d == 6:servos.position(4,130)a4=130if b4e == 6:servos.position(4,140)a4=140if b4f == 6:servos.position(4,150)a4=150if b4g == 6:servos.position(4,160)a4=160if b4h == 6:servos.position(4,170)a4=170if b4i == 6:servos.position(4,180)a4=180 response = web_page()client.send('HTTP/1.1 200 OK\n')client.send('Content-Type: text/html\n')client.send('Connection: close\n\n')client.sendall(response)client.close()except:pass