{"id":6598,"date":"2022-07-16T16:44:39","date_gmt":"2022-07-16T08:44:39","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=6598"},"modified":"2022-07-27T19:30:17","modified_gmt":"2022-07-27T11:30:17","slug":"%e5%b0%8f%e7%8c%aa%e5%ad%a6arduino-esp32-cam%e6%a8%a1%e7%bb%84","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=6598","title":{"rendered":"\u5c0f\u732a\u5b66arduino\u2014ESP32-CAM\u8fdc\u7a0b\u89c6\u9891\u76d1\u63a7&#038;\u5e95\u76d8\u63a7\u5236"},"content":{"rendered":"<p>\u6253\u7b97\u505a\u4e2a\u8fdc\u7a0b\u56fe\u4f20+\u5e95\u76d8\u63a7\u5236\u7684\u7269\u8054\u7f51\u8bbe\u5907\uff0cuno\u7684\u677f\u5b50\u6ca1\u6709\u8054\u7f51\u529f\u80fd\uff0cesp8266\u3001esp32\u6210\u4e3a\u4e24\u4e2a\u6bd4\u8f83\u597d\u7684\u9009\u62e9\uff0c\u56e0\u4e3aesp32\u662f8266\u7684\u5347\u7ea7\u7248\uff0c\u6211\u4eec\u8fd9\u91cc\u5c31\u76f4\u63a5\u91c7\u7528esp32-cam\u677f\u8fdb\u884c\u6d4b\u8bd5\u3002<\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<p>\u5b89\u4fe1\u53ef\u63a8\u51fa\u7684ESP32\u4e13\u4e3a\u79fb\u52a8\u8bbe\u5907\u3001\u53ef\u7a7f\u6234\u7535\u5b50\u4ea7\u54c1\u548c\u7269\u8054\u7f51\u5e94\u7528\u800c\u8bbe\u8ba1\uff0c\u5177\u6709\u4e1a\u5185\u9ad8\u6c34\u5e73\u7684\u4f4e\u529f\u8017\u6027\u80fd\uff0c\u5305\u62ec\u7cbe\u7ec6\u5206\u8fa8\u65f6\u949f\u95e8\u63a7\u3001\u7701\u7535\u6a21\u5f0f\u548c\u52a8\u6001\u7535\u538b\u8c03\u6574\u7b49\u3002<\/p>\n<p>\u4f8b\u5982\u5728\u4f4e\u529f\u8017 IoT \u4f20\u611f\u5668 Hub \u5e94\u7528\u573a\u666f\u4e2d\uff0cESP32 \u53ea\u6709\u5728\u7279\u5b9a\u6761\u4ef6\u4e0b\u624d\u4f1a\u88ab\u5468\u671f\u6027\u5730\u5524\u9192\u3002\u4f4e\u5360\u7a7a\u6bd4\u53ef\u4ee5\u6781\u5927\u964d\u4f4e\u82af\u7247\u7684\u80fd\u8017\u3002\u5c04\u9891\u529f\u7387\u653e\u5927\u5668\u7684\u8f93\u51fa\u529f\u7387\u4e5f\u53ef\u8c03\u8282\uff0c\u4ee5\u5b9e\u73b0\u901a\u4fe1\u8ddd\u79bb\u3001\u6570\u636e\u7387\u548c\u529f\u8017\u4e4b\u95f4\u7684\u6700\u4f73\u5e73\u8861\u3002<\/p>\n<h3>1.ESP32-CAM\u6a21\u7ec4<\/h3>\n<ul>\n<li>\u6a21\u7ec4\u62e5\u6709\u4e1a\u5185\u6781\u5bcc\u7ade\u4e89\u529b\u7684\u5c0f\u5c3a\u5bf8\u6444\u50cf\u5934\u6a21\u7ec4,\u8be5\u6a21\u5757\u53ef\u4ee5\u4f5c\u4e3a\u6700\u5c0f\u7cfb\u7edf\u72ec\u7acb\u5de5\u4f5c,\u5c3a\u5bf8\u4ec5\u4e3a 27*40.5*4.5mm,\u6df1\u5ea6\u7761\u7720\u7535\u6d41\u6700\u4f4e\u8fbe\u5230 6mA\uff1b<\/li>\n<li>\u53ef\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5404\u79cd\u7269\u8054\u7f51\u573a\u5408,\u9002\u7528\u4e8e\u5bb6\u5ead\u667a\u80fd\u8bbe\u5907\u3001\u5de5\u4e1a\u65e0\u7ebf\u63a7\u5236\u3001\u65e0\u7ebf\u76d1\u65e0\u7ebf\u8bc6\u522b,\u65e0\u7ebf\u5b9a\u4f4d\u7cfb\u7edf\u4fe1\u53f7\u4ee5\u53ca\u5176\u5b83\u7269\u8054\u7f51\u5e94\u7528,\u662f\u7269\u8054\u7f51\u5e94\u7528\u7684\u7406\u60f3\u89e3\u51b3\u65b9\u6848\uff1b<\/li>\n<li>\u91c7\u7528 DIP \u5c01\u88c5,\u76f4\u63a5\u63d2\u4e0a\u5e95\u677f\u5373\u53ef\u4f7f\u7528,\u5b9e\u73b0\u4ea7\u54c1\u7684\u5feb\u901f\u751f\u4ea7,\u4e3a\u5ba2\u6237\u63d0\u4f9b\u9ad8\u53ef\u9760\u6027\u7684\u8fde\u63a5\u65b9\u5f0f,\u65b9\u4fbf\u5e94\u7528\u4e8e\u5404\u79cd\u7269\u8054\u7f51\u786c\u4ef6\u7ec8\u7aef\u573a\u5408\uff1b<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6603\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam.png\" alt=\"\" width=\"687\" height=\"361\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam.png 687w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-300x158.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-624x328.png 624w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/a><\/p>\n<h4>1.1.\u7279\u70b9<\/h4>\n<ul>\n<li>\u4f53\u79ef\u8d85\u5c0f\u7684 802.11b\/g\/n Wi-Fi + BT\/BLE SoC \u6a21\u5757<\/li>\n<li>\u91c7\u7528\u4f4e\u529f\u8017\u53cc\u6838 32 \u4f4d CPU,\u53ef\u4f5c\u5e94\u7528\u5904\u7406\u5668<\/li>\n<li>\u4e3b\u9891\u9ad8\u8fbe 240MHz,\u8fd0\u7b97\u80fd\u529b\u9ad8\u8fbe 600 DMIPS<\/li>\n<li>\u5185\u7f6e 520 KB SRAM,\u5916\u7f6e 4M PSRAM ESP-32CAM<\/li>\n<li>\u652f\u6301 UART\/SPI\/I2C\/PWM\/ADC\/DAC \u7b49\u63a5\u53e3<\/li>\n<li>\u652f\u6301 OV2640 \u548c OV7670 \u6444\u50cf\u5934,\u5185\u7f6e\u95ea\u5149\u706f\u63a7\u3001QR<\/li>\n<li>\u652f\u6301\u56fe\u7247 WiFI \u4e0a\u4f20<\/li>\n<li>\u652f\u6301 TF \u5361<\/li>\n<li>\u652f\u6301\u591a\u79cd\u4f11\u7720\u6a21\u5f0f<\/li>\n<li>\u5185\u5d4c Lwip \u548c FreeRTOS<\/li>\n<li>\u652f\u6301 STA\/AP\/STA+AP \u5de5\u4f5c\u6a21\u5f0f<\/li>\n<li>\u652f\u6301 Smart Config\/AirKiss \u4e00\u952e\u914d\u7f51<\/li>\n<li>\u652f\u6301\u4e32\u53e3\u672c\u5730\u5347\u7ea7\u548c\u8fdc\u7a0b\u56fa\u4ef6\u5347\u7ea7(FOTA)<\/li>\n<\/ul>\n<h3>1.2.\u529f\u80fd\u6846\u56fe<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-arch.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6607\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-arch.png\" alt=\"\" width=\"431\" height=\"359\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-arch.png 431w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-arch-300x250.png 300w\" sizes=\"(max-width: 431px) 100vw, 431px\" \/><\/a><\/p>\n<h3>1.3.\u5f15\u811a\u5b9a\u4e49<\/h3>\n<h4>1.3.1.ESP32-CAM\u5f15\u811a\uff1a<\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6713\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new.png\" alt=\"\" width=\"828\" height=\"368\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new.png 828w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new-300x133.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new-768x341.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP32-CAM-pinout-new-624x277.png 624w\" sizes=\"(max-width: 828px) 100vw, 828px\" \/><\/a><\/p>\n<p>CAM\u548cSD\u5361\u542f\u7528\u65f6\u4f1a\u5360\u7528ESP32\u7684\u4ee5\u4e0b\u7aef\u53e3\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-pin.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6604\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-pin.png\" alt=\"\" width=\"614\" height=\"557\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-pin.png 614w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-cam-pin-300x272.png 300w\" sizes=\"(max-width: 614px) 100vw, 614px\" \/><\/a><\/p>\n<h4>1.3.2.ESP32S\u5f15\u811a<\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6682\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-1024x600.png\" alt=\"\" width=\"625\" height=\"366\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-1024x600.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-300x176.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-768x450.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-1536x900.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin-624x366.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-pin.png 1747w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>1.3.3.ESP8266-12E\u5f15\u811a<\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6683\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E.png\" alt=\"\" width=\"867\" height=\"534\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E.png 867w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E-300x185.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E-768x473.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/ESP8266-12-E-624x384.png 624w\" sizes=\"(max-width: 867px) 100vw, 867px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5982\u679c\u63a5\u7535\u9a71\uff0c\u5efa\u8bae\u4f7f\u7528\u7684\u5f15\u811a\u4e3aD1-io5\u3001D2-io4\u3001D5-io14\u3001D6-io12\u3001D7-io13\u3002\u5176\u4ed6\u5f15\u811a\u8981\u4e48\u88ab\u5360\u7528\uff0c\u8981\u4e48\u5728\u4e0a\u7535\u542f\u52a8\u5f15\u5bfc\u8fc7\u7a0b\u4e2d\u65f6\u4f1a\u88ab\u62c9\u9ad8\u6216\u62c9\u4f4e\uff0c\u5982\u679c\u7528\u6765\u63a5\u7535\u9a71\uff0c\u5728\u4e0a\u7535\u3001reset\u3001\u8fde\u7ebf\u65ad\u5f00\u65f6\u4f1a\u51fa\u73b0\u8be1\u5f02\u7684\u8f6c\u52a8\u73b0\u8c61\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u5f00\u53d1\u73af\u5883<\/h1>\n<h3>1.\u6dfb\u52a0\u7ba1\u7406\u5730\u5740<\/h3>\n<p>\u6587\u4ef6-\u9996\u9009\u9879-\u5f00\u53d1\u677f\u7ba1\u7406URL\u8bbe\u7f6e\uff0c\u6dfb\u52a0\u4ee5\u4e0burl\u5730\u5740\uff1a<\/p>\n<p>https:\/\/dl.espressif.cn\/dl\/package_esp32_index.json<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6608\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install.png\" alt=\"\" width=\"796\" height=\"574\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install.png 796w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install-300x216.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install-768x554.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install-624x450.png 624w\" sizes=\"(max-width: 796px) 100vw, 796px\" \/><\/a><\/p>\n<h3>2.\u6dfb\u52a0esp32\u5f00\u53d1\u677f<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6609\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2.png\" alt=\"\" width=\"1000\" height=\"562\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2.png 1000w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2-300x169.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2-768x432.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-install2-624x351.png 624w\" sizes=\"(max-width: 1000px) 100vw, 1000px\" \/><\/a><\/p>\n<h3>3.\u9009\u62e9\u5f00\u53d1\u7248\u548c\u7aef\u53e3<\/h3>\n<p>\u5f00\u53d1\u677f\u9009\u62e9\u201cAI Thinker ESP32-CAM\u201d\uff0c\u7aef\u53e3\u6839\u636e\u63d2\u4e0a\u540e\u7684\u5b9e\u9645\u7aef\u53e3\u9009\u62e9\u5373\u53ef\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6615\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select-1024x882.png\" alt=\"\" width=\"625\" height=\"538\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select-1024x882.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select-300x258.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select-768x661.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select-624x537.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-select.png 1081w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h3>4.\u793a\u4f8b\u4ee3\u7801<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6613\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample.png\" alt=\"\" width=\"959\" height=\"845\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample.png 959w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample-300x264.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample-768x677.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-sample-624x550.png 624w\" sizes=\"(max-width: 959px) 100vw, 959px\" \/><\/a><\/p>\n<p>\u793a\u4f8b\u4ee3\u7801\u4e2d\u6444\u50cf\u5934\u6a21\u5f0f\u6539\u6210\u5b89\u4fe1\u53ef\u7684esp32-cam\uff0c\u5373\u653e\u5f00<span style=\"color: #ff0000;\">CAMERA_MODEL_AI_THINKER<\/span>\u7684\u5b9a\u4e49\uff0c\u6ce8\u91ca\u6389\u9ed8\u8ba4\u7684WROVER_KIT\u3002\u540c\u65f6\u9700\u8981\u4fee\u6539\u8fde\u63a5\u7684wifi\u7528\u6237\u540d\u548c\u5bc6\u7801\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"><span style=\"color: #ff0000;\">\/\/<\/span>#define CAMERA_MODEL_WROVER_KIT \/\/ Has PSRAM\r\n\/\/#define CAMERA_MODEL_ESP_EYE \/\/ Has PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_PSRAM \/\/ Has PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_V2_PSRAM \/\/ M5Camera version B Has PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_WIDE \/\/ Has PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_ESP32CAM \/\/ No PSRAM\r\n<span style=\"color: #ff0000;\">#define CAMERA_MODEL_AI_THINKER<\/span> \/\/ Has PSRAM\r\n\/\/#define CAMERA_MODEL_TTGO_T_JOURNAL \/\/ No PSRAM\r\n\r\n...\r\n\r\nconst char* ssid = \"<span style=\"color: #ff0000;\">MARS-4G<\/span>\";\r\nconst char* password = \"<span style=\"color: #ff0000;\">xxxx<\/span>\";\r\n\r\n...\r\n\r\nvoid setup() {\r\n  Serial.begin(<span style=\"color: #ff0000;\">115200<\/span>);\r\n...<\/code><\/pre>\n<h3>5.\u4ee3\u7801\u4e0a\u4f20<\/h3>\n<p>\u7b2c\u4e00\u6b21\u7528esp32\u70e7\u5199\u7684\u540c\u5b66\uff0c\u4e00\u5b9a\u4f1a\u9047\u5230\u8fd9\u4e2a\u9519\u8bef\uff1aFailed to connect to ESP32: Timed out waiting for packet header\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6617\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail.png\" alt=\"\" width=\"1024\" height=\"232\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail-300x68.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail-768x174.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-uploadfail-624x141.png 624w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><\/p>\n<p>\u539f\u56e0\u4e3a\u4e0a\u4f20\u65f6\uff0c\u5fc5\u987b\u628aIO0\u63a5\u5230GND\u4e0a\uff0c\u5e76\u6309\u4e0besp32\u7684\u590d\u4f4d\u6309\u952e\u3002\u5177\u4f53\u64cd\u4f5c\u6b65\u9aa4\u4e3a\uff1a\u70b9\u51fb\u4e0a\u4f20\uff0c<span style=\"color: #ff0000;\">\u5728\u51fa\u73b0connecting &#8230;&#8230;__\u7684\u65f6\u5019\uff0c\u5148\u957f\u6309\u4f4f\u70e7\u5f55\u5e95\u5ea7\u4e0a\u7684IO0\u952e\uff0c\u7136\u540e\u518d\u6309\u4e00\u6b21esp32-cam\u5361\u69fd\u80cc\u90e8\u7684RST\u952e<\/span>\uff0c\u7136\u540e\u677e\u5f00IO0\u952e\u7684\u6309\u538b\uff0c\u5373\u53ef\u6210\u529f\u5f00\u59cb\u70e7\u5f55\u3002<\/p>\n<p>\u6309\u952e\u4f4d\u7f6e\u5982\u4e0b\u56fe\uff1a\u5de6\u4e0a-\u70e7\u5f55\u5e95\u5ea7IO0\u6309\u952e\u3001\u53f3\u4e0a\u80cc\u9762\u4e3aESP32-CAM\u7684RST\u6309\u952e<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6622\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-1024x794.jpg\" alt=\"\" width=\"625\" height=\"485\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-1024x794.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-300x233.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-768x596.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-1536x1192.jpg 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process-624x484.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-process.jpg 1601w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u70e7\u5f55\u6210\u529f\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6620\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ-1024x882.png\" alt=\"\" width=\"625\" height=\"538\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ-1024x882.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ-300x258.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ-768x661.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ-624x537.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-band-upload-succ.png 1081w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h1>\u4e09\u3001WIFI\u56fe\u4f20<\/h1>\n<h3>1.\u56fe\u4f20\u6d4b\u8bd5<\/h3>\n<p>\u6253\u5f00\u4e32\u53e3\u76d1\u89c6\u5668\uff0c\u6ce2\u7279\u7387\u4fee\u6539\u4e3a\u4ee3\u7801\u91cc\u7684115200\uff0c\u6309\u4e00\u6b21esp32-cam\u7684RST\u590d\u4f4d\u952e\uff0c\u5373\u53ef\u6253\u5370\u51fawifi\u6444\u50cf\u5934\u7684url\u5730\u5740\uff0c\u53ef\u4ee5\u770b\u5230esp32\u4f7f\u752880\u7aef\u53e3\u542f\u52a8\u4e00\u4e2aweb\u670d\u52a1\uff0c\u4f7f\u752881\u7aef\u53e3\u4f20\u8f93\u89c6\u9891\u6d41\uff1a<\/p>\n<ul>\n<li>web\u670d\u52a1\uff08\u53c2\u6570\u8bbe\u7f6e\u3001\u89c6\u9891\u64ad\u653e\uff09\uff1ahttp:\/\/192.168.0.102<\/li>\n<li>\u89c6\u9891\u6d41\u5730\u5740\uff1ahttp:\/\/192.168.0.102:81\/stream<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6627\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url.png\" alt=\"\" width=\"928\" height=\"555\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url.png 928w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url-300x179.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url-768x459.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-url-624x373.png 624w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/a><\/p>\n<p>\u6253\u5f00web\u670d\u52a1url\uff0c\u70b9\u51fbStart Stream\u6309\u94ae\uff0c\u4fee\u6539\u50cf\u7d20\u7b49\u53c2\u6570\uff0c\u67e5\u770bcamera\u56fe\u50cf\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6628\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic-1024x861.png\" alt=\"\" width=\"625\" height=\"526\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic-1024x861.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic-300x252.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic-768x646.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic-624x525.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-tty-camer-pic.png 1101w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h3>2.\u81ea\u5b9a\u4e49\u89c6\u9891\u9875\u9762<\/h3>\n<p>\u5982\u679c\u60f3\u5355\u72ec\u663e\u793a\u89c6\u9891\uff0c\u6700\u7b80\u5355\u7684\u65b9\u6cd5\u5c31\u662f\u5efa\u4e2ahtml\u9875\u9762\uff0c\u91cc\u8fb9\u6dfb\u52a0\u4e00\u4e2aimg\u5373\u53ef\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">&lt;img id=\"stream\" src=\"http:\/\/192.168.0.102:81\/stream\"&gt;<\/code><\/pre>\n<p>\u4e5f\u53ef\u4ee5\u76f4\u63a5jpage\u538b\u7f29\u540e\u53d1\u9001\u4e8c\u8fdb\u5236\u6d41\u8fdb\u884c\u663e\u793a\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u56db\u3001\u5e95\u76d8\u63a7\u5236<\/h1>\n<h3>1.\u7535\u9a71\u8fde\u7ebf<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-l298n.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6632\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-l298n.png\" alt=\"\" width=\"638\" height=\"462\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-l298n.png 638w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-l298n-300x217.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-l298n-624x452.png 624w\" sizes=\"(max-width: 638px) 100vw, 638px\" \/><\/a><\/p>\n<h3>2.\u63a7\u5236\u5f15\u811a<\/h3>\n<p>l298n\u7684\u63a7\u5236\u903b\u8f91\u4e0d\u518d\u8d58\u8ff0\uff0c\u8fd9\u91cc\u53ea\u5bf9\u7167\u4e0a\u56fe\u8fde\u7ebf\u7ed9\u4e0b\u63a7\u5236\u5f15\u811a\u5b9a\u4e49\uff0c\u540e\u8fb9\u7528\u9ad8\u4f4e\u7535\u5e73\u63a7\u5236\u5c31\u53ef\u4ee5\u4e86<\/p>\n<p>\u6ce8\u610f\uff1aGPIO0\u7528\u4e8e\u70e7\u5f55\u65f6\u63a5\u5730\uff1bIO1\/3\u7528\u4e8eTX\/RX\u8f6cUSB\u901a\u4fe1\uff1bIO14\/15\/16\/1\u7aef\u53e3\u7a7a\u4ee3\u7801\u8fd0\u884c\u5c31\u4f1a\u9ad8\u7535\u5e73\uff0c\u50cf\u662f\u88ab\u4ec0\u4e48\u5360\u7528\u4e86\uff0c\u6ca1\u627e\u5230\u539f\u56e0\u524d\u5148\u7528\u5269\u4e0b\u7684io\u53e3\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ \u9a6c\u8fbe\u5f15\u811a\r\nint DC_LEFT1 = 3; \/\/ Left 1\r\nint DC_LEFT2 = 2; \/\/ Left 2\r\nint DC_RIGHT1 = 13; \/\/ Right 1\r\nint DC_RIGHT2 = 12; \/\/ Right 2\r\nint CAMERA_LED = 4; \/\/ Light\u706f\r\n\r\nvoid setup() {\r\n  ...\r\n  \/\/ \u521d\u59cb\u5316\u9a6c\u8fbe\u5f15\u811a\r\n  pinMode(DC_LEFT1, OUTPUT);\r\n  pinMode(DC_LEFT2, OUTPUT);\r\n  pinMode(DC_RIGHT1, OUTPUT);\r\n  pinMode(DC_RIGHT2, OUTPUT);\r\n}\r\n\r\nvoid loop() {\r\n  ...\r\n  digitalWrite(DC_LEFT1,HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n  \/\/analogWrite(DC_LEFT1, speed); \/\/pwm\u8c03\u901f\r\n  digitalWrite(DC_LEFT2,LOW); \/\/\u7ed9\u4f4e\u7535\u5e73\r\n  digitalWrite(DC_RIGHT1,HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n  \/\/analogWrite(DC_RIGHT1, speed); \/\/pwm\u8c03\u901f\r\n  digitalWrite(DC_RIGHT2,LOW); \/\/\u7ed9\u4f4e\u7535\u5e73\r\n  delay(10000);\r\n}<\/code><\/pre>\n<h3>3.\u8fdc\u7a0b\u6d4b\u8bd5<\/h3>\n<p>\u70e7\u5f55\u4ee3\u7801\uff0c\u6d4b\u8bd5\u5e95\u76d8\u7535\u673a\u8fd0\u884c\u662f\u5426\u6b63\u5e38\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e94\u30014G\/5G\u56fe\u4f20\u4e0e\u63a7\u5236<\/h1>\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u9700\u8981\u80fd\u901a\u8fc74G\/5G\u7f51\u7edc\u7ed9\u5e95\u76d8\u53d1\u63a7\u5236\u6307\u4ee4\uff0c\u6211\u4eec\u91c7\u7528mqtt\u7684\u65b9\u5f0f\u6765\u63a7\u5236\uff1a<\/p>\n<h3>1.MQTT\u901a\u8baf\u6253\u901a<\/h3>\n<h4>1.1.mqtt broker<\/h4>\n<p>\u9996\u5148\u8981\u51c6\u5907\u597d\u4e00\u4e2amqtt broker\uff0c\u4e3a\u4e86\u5feb\u901f\u8c03\u8bd5\uff0c\u6211\u8fd9\u91cc\u4f7f\u7528\u767e\u5ea6\u4e91\u7684iot core\uff08\u867d\u7136\u6211\u89c9\u5f97\u8fd9\u4e2aiot core\u4e00\u70b9\u4e5f\u4e0d\u597d\u7528\uff0c\u4e00\u5806\u9650\u5236\uff0c\u4e0d\u5982\u4e4b\u524d\u7684iot hub\u7075\u6d3b\uff09\u3002<\/p>\n<h4>1.2.mqtt client<\/h4>\n<p>\u5b89\u88c5\u5b98\u65b9mqtt client\u6269\u5c55\u548c\u793a\u4f8b\uff1ahttps:\/\/github.com\/arduino-libraries\/ArduinoMqttClient<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6645\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt.png\" alt=\"\" width=\"1000\" height=\"327\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt.png 1000w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-300x98.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-768x251.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-624x204.png 624w\" sizes=\"(max-width: 1000px) 100vw, 1000px\" \/><\/a><\/p>\n<p>\u6d4b\u8bd5pub\u3001sub topic\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/*\r\n  Arduino Mqtt Client\r\n*\/\r\n\r\n#include &lt;ArduinoMqttClient.h&gt;\r\n#include &lt;WiFi.h&gt;\r\n\r\n\/\/ wifi\u53c2\u6570\r\nchar ssid[] = \"MARS-4G\";\r\nchar pass[] = \"Lovezhu1314\";\r\n\r\n\r\nWiFiClient wifiClient;\r\nMqttClient mqttClient(wifiClient);\r\n\r\n\/\/ mqtt\u53c2\u6570\r\nconst char broker[] = \"amzvemj.iot.gz.baidubce.com\";\r\nint port = 1883;  \/\/baidu iot core\u7aef\u53e3\uff1aTCP 1883 \u975e\u52a0\u5bc6\u8fde\u63a5; TLS\/SSL 1884 \u57fa\u4e8eTLS\u52a0\u5bc6\u7684\u8fde\u63a5; WSS 443 \u57fa\u4e8eWebSocket\u53caTLS\u7684\u8fde\u63a5\r\nconst char pub_topic[]  = \"tank1\/cmd\";\r\nconst char sub_topic[]  = \"tank1\/cmd\"; \/\/ \u6ce8\u610f\uff1abaidu iotcore\u7684\u81ea\u5b9a\u4e49topic\u4e0d\u80fd\u4ee5'\/'\u5f00\u5934!\r\nconst long interval = 1000;\r\nunsigned long previousMillis = 0;\r\n\r\nint count = 0;\r\n\r\n\r\nvoid setup() {\r\n  Serial.begin(115200);\r\n  while (!Serial) {\r\n    ; \/\/ wait for serial port to connect. Needed for native USB port only\r\n  }\r\n\r\n  \/\/ \u8fde\u63a5wifi\r\n  Serial.print(\"connect to WPA SSID: \");\r\n  Serial.println(ssid);\r\n  while (WiFi.begin(ssid, pass) != WL_CONNECTED) {\r\n    Serial.print(\".\");  \/\/ retry\r\n    delay(5000);\r\n  }\r\n  Serial.println(\"connected wifi success!\\n\");\r\n  \r\n\r\n  \/\/ \u8fde\u63a5mqtt\r\n  Serial.print(\"connect to the MQTT broker: \");\r\n  Serial.println(broker);\r\n  \/\/ unique client ID\r\n  mqttClient.setId(\"esp32-tank1\");\r\n  \/\/ username and password for authentication\r\n  \/\/    username = {adp_type}@{IoTCoreId}|{DeviceKey}|{timestamp}|{algorithm_type}\r\n  \/\/    password = md5({device_key}&amp;{timestamp}&amp;{algorithm_type}{device_secret})\r\n  mqttClient.setUsernamePassword(\"thingidp@amzvemj|tank1|0|MD5\", \"password\");\r\n  if (!mqttClient.connect(broker, port)) {\r\n    Serial.print(\"MQTT connection failed! Error code = \");\r\n    Serial.println(mqttClient.connectError());\r\n    while (1);\r\n  }\r\n  Serial.println(\"connected MQTT broker success!\\n\");\r\n\r\n\r\n  \/\/ \u8ba2\u9605topic\r\n  Serial.print(\"Subscribing to topic: \");\r\n  Serial.println(sub_topic);\r\n  \/\/ message receive callback\r\n  mqttClient.onMessage(onReceiveMessage);\r\n  \/\/ subscribe to a topic\r\n  mqttClient.subscribe(sub_topic);\r\n  \/\/ mqttClient.unsubscribe(sub_topic);\r\n  Serial.print(\"Waiting for messages on topic: \");\r\n  Serial.println(sub_topic);\r\n}\r\n\r\nvoid loop() {\r\n  \/\/ \u63a5\u6536\u6d88\u606f\r\n  mqttClient.poll();\r\n  \r\n  \/\/ \u53d1\u9001topic\uff081\u79d2\u5b9a\u9891\uff09\r\n  unsigned long currentMillis = millis();\r\n  if (currentMillis - previousMillis &gt;= interval) {\r\n    previousMillis = currentMillis;\r\n\r\n    Serial.print(\"Sending message to topic: \");\r\n    Serial.println(pub_topic);\r\n    Serial.print(\"pub test \");\r\n    Serial.println(count);\r\n\r\n    \/\/ send message, the Print interface can be used to set the message contents\r\n    mqttClient.beginMessage(pub_topic);\r\n    mqttClient.print(\"pub test \");\r\n    mqttClient.print(count);\r\n    mqttClient.endMessage();\r\n\r\n    Serial.println();\r\n\r\n    count++;\r\n  }\r\n}\r\n\r\n\r\n\/\/ \u8ba2\u9605\u6d88\u606f\u7684\u56de\u8c03\r\nvoid onReceiveMessage(int messageSize) {\r\n  \/\/ we received a message, print out the topic and contents\r\n  Serial.print(\"Received a message with topic '\");\r\n  Serial.print(mqttClient.messageTopic());\r\n  Serial.print(\"', length \");\r\n  Serial.print(messageSize);\r\n  Serial.println(\" bytes:\");\r\n\r\n  \/\/ use the Stream interface to print the contents\r\n  while (mqttClient.available()) {\r\n    Serial.print((char)mqttClient.read());\r\n  }\r\n  Serial.println();\r\n\r\n  Serial.println();\r\n}\r\n<\/code><\/pre>\n<p>\u6267\u884c\u60c5\u51b5\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6646\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test.png\" alt=\"\" width=\"928\" height=\"559\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test.png 928w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test-300x181.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test-768x463.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-test-624x376.png 624w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/a><\/p>\n<h3>2.\u901a\u8fc7MQTT\u6307\u4ee4\u63a7\u5236\u5e95\u76d8<\/h3>\n<h4>2.1.\u5355\u7247\u673a\u8ba2\u9605\u6307\u4ee4<\/h4>\n<p>\u4e3a\u4e86\u65b9\u4fbf\u6536\u53d1json\u6570\u636e\uff0c\u9700\u8981\u5b89\u88c5<a href=\"https:\/\/github.com\/arduino-libraries\/Arduino_JSON\" target=\"_blank\" rel=\"noopener\">json\u5e93<\/a>\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6655\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json.png\" alt=\"\" width=\"999\" height=\"192\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json.png 999w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json-300x58.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json-768x148.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/arduino-json-624x120.png 624w\" sizes=\"(max-width: 999px) 100vw, 999px\" \/><\/a><\/p>\n<p>\u8ba2\u9605topic: tank1\/cmd\uff0c\u63a5\u6536\u63a7\u5236\u6307\u4ee4{&#8220;x&#8221;:128, &#8220;y&#8221;:130}\uff0c\u6839\u636e\u6307\u4ee4\u63a7\u5236\u5e95\u76d8\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">...\r\n#include &lt;Arduino_JSON.h&gt;\r\n...\r\n\r\n\/\/ \u8ba2\u9605\u6d88\u606f\u7684\u56de\u8c03\r\nvoid onReceiveMessage(int messageSize) {\r\n  \/\/ print topic and contents\r\n  Serial.print(\"sub msg: \");\r\n  Serial.print(mqttClient.messageTopic());\r\n  Serial.print(\", length \");\r\n  Serial.print(messageSize);\r\n  Serial.print(\" bytes, data: \");\r\n\r\n  \/\/ get msg\r\n  String msg = \"\";\r\n  while (mqttClient.available()) {\r\n    msg += (char)mqttClient.read();\r\n  }\r\n  Serial.println(msg);\r\n  \r\n  \/\/ json decode\r\n  JSONVar cmd = JSON.parse(msg);\r\n  \/\/Serial.println(cmd);\r\n  if (JSON.typeof(cmd) == \"undefined\") {\r\n    Serial.println(\"json parsing failed!\");\r\n    \/\/return;\r\n  }\r\n  int x = 128;\r\n  int y = 128;\r\n  if (cmd.hasOwnProperty(\"x\")) {\r\n    x = (int)cmd[\"x\"];\r\n  }\r\n  if (cmd.hasOwnProperty(\"y\")) {\r\n    y = (int)cmd[\"y\"];\r\n  }\r\n\r\n  \/\/ exec cmd\r\n  execCommand(x, y);\r\n}\r\n\r\n\r\n\/\/ \u6267\u884c\u5e95\u76d8\u79fb\u52a8\u6307\u4ee4\r\nvoid execCommand(int x, int y) {\r\n  Serial.print(\"execCommand :\");\r\n  Serial.print(x);\r\n  Serial.print(\" \");\r\n  Serial.println(y);\r\n\r\n  \/\/\u6307\u4ee4\u5904\u7406\r\n  \/\/  y \u524d\u8fdb130-255\uff0c\u540e\u9000126-0, \u4e0d\u52a8128+-1\r\n  \/\/  x \u5de6\u8f6c126-0\uff0c\u53f3\u8f6c130-255, \u4e0d\u52a8128+-1\r\n  if (y &gt;= 130 &amp;&amp; y &lt;= 255 &amp;&amp; x &gt;= 130 &amp;&amp; x &lt;= 255) { \/\/\u524d+\u53f3\r\n    \/\/Serial.println(\"UP RIGHT\");\r\n    \/\/forward + right \u5411\u524d\u53f3\u8f6c\r\n    \/\/analogWrite(DC_LEFT1, DC_SPEED_LEFT);   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_LEFT2, LOW);\r\n    \/\/analogWrite(DC_RIGHT1, DC_SPEED_RIGHT * (255 - x)\/(255-128));   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_RIGHT2, LOW);\r\n  }\r\n  else if (y &gt;= 130 &amp;&amp; y &lt;= 255 &amp;&amp; x &gt;= 0 &amp;&amp; x &lt;= 126) { \/\/\u524d+\u5de6\r\n    \/\/Serial.println(\"UP LEFT\");\r\n    \/\/forward + left \u5411\u524d\u5de6\u8f6c\r\n    \/\/analogWrite(DC_LEFT1, DC_SPEED_LEFT * (x - 0)\/(128-0));   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_LEFT2, LOW);\r\n    \/\/analogWrite(DC_RIGHT1, DC_SPEED_RIGHT);   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_RIGHT2, LOW);\r\n  }\r\n  else if (y &gt;= 0 &amp;&amp; y &lt;= 126 &amp;&amp; x &gt;= 0 &amp;&amp; x &lt;= 126) { \/\/\u540e+\u5de6\r\n    \/\/Serial.println(\"DOWN LEFT\");\r\n    \/\/back + left \u5411\u5de6\u540e\u8f6c\r\n    \/\/digitalWrite(DC_LEFT1, LOW);\r\n    \/\/analogWrite(DC_LEFT2, DC_SPEED_LEFT);\r\n    digitalWrite(DC_RIGHT1, LOW);\r\n    \/\/analogWrite(DC_RIGHT2, DC_SPEED_RIGHT * (x - 0)\/(128-0));\r\n  }\r\n  else if (y &gt;= 0 &amp;&amp; y &lt;= 126 &amp;&amp; x &gt;= 130 &amp;&amp; x &lt;= 255) { \/\/\u540e+\u53f3\r\n    \/\/Serial.println(\"DOWN RIGHT\");\r\n    \/\/back + right \u5411\u53f3\u540e\u8f6c\r\n    digitalWrite(DC_LEFT1, LOW);\r\n    \/\/analogWrite(DC_LEFT2, DC_SPEED_LEFT * (255 - x)\/(255-128));\r\n    digitalWrite(DC_RIGHT1, LOW);\r\n    \/\/analogWrite(DC_RIGHT2, DC_SPEED_RIGHT);\r\n  }\r\n  else if (y &gt;= 130 &amp;&amp; y &lt;= 255) { \/\/\u524d\r\n    Serial.println(\"Forward\");\r\n    \/\/analogWrite(DC_LEFT1, DC_SPEED_LEFT);   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_LEFT1, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    digitalWrite(DC_LEFT2, LOW);\r\n    \/\/analogWrite(DC_RIGHT1, DC_SPEED_RIGHT);   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_RIGHT1, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    digitalWrite(DC_RIGHT2, LOW);\r\n  }\r\n  else if (y &gt;= 0 &amp;&amp; y &lt;= 126) { \/\/\u540e\r\n    Serial.println(\"Backward\");\r\n    digitalWrite(DC_LEFT1, LOW);\r\n    digitalWrite(DC_LEFT2, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    \/\/analogWrite(DC_LEFT2, DC_SPEED_LEFT);\r\n    digitalWrite(DC_RIGHT1, LOW);\r\n    digitalWrite(DC_RIGHT2, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    \/\/analogWrite(DC_RIGHT2, DC_SPEED_RIGHT);\r\n  }\r\n  else if (x &gt;= 0 &amp;&amp; x &lt;= 126) { \/\/\u5de6\r\n    Serial.println(\"TurnLeft\");\r\n    digitalWrite(DC_LEFT1, LOW);\r\n    digitalWrite(DC_LEFT2, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    \/\/analogWrite(DC_LEFT2, DC_SPEED_LEFT);\r\n    \/\/analogWrite(DC_RIGHT1, DC_SPEED_RIGHT);\r\n    digitalWrite(DC_RIGHT1, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    digitalWrite(DC_RIGHT2, LOW);\r\n  }\r\n  else if (x &gt;= 130 &amp;&amp; x &lt;= 255) { \/\/\u53f3\r\n    Serial.println(\"TurnRight\");\r\n    \/\/analogWrite(DC_LEFT1, DC_SPEED_LEFT);   \/\/pwm\u8c03\u901f\r\n    digitalWrite(DC_LEFT1, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    digitalWrite(DC_LEFT2, LOW);\r\n    digitalWrite(DC_RIGHT1, LOW);\r\n    digitalWrite(DC_RIGHT2, HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n    \/\/analogWrite(DC_RIGHT2, DC_SPEED_RIGHT);\r\n  }\r\n  else if (y == 128 &amp;&amp; x == 128) {  \/\/\u505c\r\n    \/\/Serial.println(\"Stop\");\r\n    digitalWrite(DC_LEFT1,LOW);\r\n    digitalWrite(DC_LEFT2,LOW);\r\n    digitalWrite(DC_RIGHT1,LOW);\r\n    digitalWrite(DC_RIGHT2,LOW);\r\n  }\r\n}<\/code><\/pre>\n<p>\u8fdc\u7a0b\u6307\u4ee4\u63a5\u6536\u6d4b\u8bd5\uff08\u6682\u65f6\u5148\u7528web\u7aef\u53d1\u9001\u6307\u4ee4\u8fdb\u884c\u9a8c\u8bc1\uff09\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6657\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-1024x561.png\" alt=\"\" width=\"625\" height=\"342\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-1024x561.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-300x164.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-768x421.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-1536x842.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json-624x342.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mqtt-sub-json.png 1593w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>2.2.\u624b\u673a\u7aef\u53d1\u9001\u6307\u4ee4<\/h4>\n<p>\u8fd9\u90e8\u5206\u4ee3\u7801\u592a\u957f\u4e0d\u653e\u8fd9\u91cc\u4e86\uff0c\u5177\u4f53\u4ee3\u7801\u4f4d\u7f6e\uff1ahttps:\/\/github.com\/yanjingang\/study\/tree\/master\/iot\/mqtt\/iotcore\/ws-control<\/p>\n<p>\u8fd0\u884c\u6548\u679c\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mobile-camera-control.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6671\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mobile-camera-control.png\" alt=\"\" width=\"400\" height=\"644\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mobile-camera-control.png 400w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/07\/esp32-mobile-camera-control-186x300.png 186w\" sizes=\"(max-width: 400px) 100vw, 400px\" \/><\/a><\/p>\n<p>\u6ce8\uff1a\u901a\u8fc7\u62d6\u52a8\u4e0b\u65b9\u7684\u767d\u7403\u6765\u751f\u6210\u6a2a\u7eb5\u5411\u63a7\u5236\u6307\u4ee4\uff0c\u5706\u5fc3\u4e3a0,0\uff0c\u5706\u5fc3\u53f3\/\u4e0a\u65b9\u5411\u4e3a\u6b63\u503c\uff0c\u5de6\/\u4e0b\u65b9\u5411\u4e3a\u8d1f\u503c\u3002<\/p>\n<h3>3.\u901a\u8fc74G\/5G\u4f20\u8f93\u56fe\u50cf<\/h3>\n<p>\u8fd9\u91cc\u5176\u5b9e\u5c31\u662fjpage\u538b\u7f29\u56fe\u7247\u6d41\u53d1\u9001\u5230\u670d\u52a1\u5668\u8f6c\u53d1\u7ed9APP\u663e\u793a\u5373\u53ef\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0csend camera stream\u963b\u585e\u4f1a\u5f71\u54cd\u5230sub cmd data\u7684\u6267\u884c\uff0c\u5982\u679c\u7f51\u7edc\u5ef6\u8fdf\u4e25\u91cd\uff0c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6307\u4ee4\u6267\u884c\u5ef6\u8fdf\u3002\u56e0\u6b64\u8fd9\u4e9b\u975e\u63a7\u5236\u90e8\u5206\u5219\u9700\u8981\u6539\u4e3a\u5f02\u6b65\u7ebf\u7a0b\uff0c\u8fd9\u91cc\u6211\u4f7f\u7528\u4e86freeROTS\u7684xTaskCreate\u6765\u521b\u5efa\u5f02\u6b65\u7ebf\u7a0b\u4efb\u52a1\uff0c\u9700\u8981\u6ce8\u610f\u5171\u4eab\u8d44\u6e90\u7684\u4e92\u65a5\uff0c\u907f\u514d\u5e76\u884c\u8d44\u6e90\u62a2\u5360\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">void loop(){\r\n  \/\/\u66f4\u65b0websocket\u4fe1\u606f\r\n  webSocket.loop();\r\n  uint64_t now = millis();\r\n  if(now - lastSendStream &gt; 100 &amp;&amp; socketStatus &amp;&amp; taskStatus==0) { \/\/\u4ec5\u5728\u8fde\u63a5ws \u4e14 \u65e0\u5176\u4ed6\u5f02\u6b65\u4efb\u52a1\u6267\u884c\u65f6\u8fd0\u884c\r\n      lastSendStream = now;\r\n      \/*\/\/ \u540c\u6b65\u63a8\u6d41\r\n      camera_fb_t * fb = NULL;\r\n      \/\/ Take Picture with Camera\r\n      fb = esp_camera_fb_get();  \r\n      if(!fb) {\r\n        Serial.println(\"Camera capture failed\");\r\n        return;\r\n      }else{\r\n        webSocket.sendBIN(fb-&gt;buf, fb-&gt;len);\r\n        Serial.print(\"Send Image to WsServer: len \");\r\n        Serial.println(fb-&gt;len);\r\n        esp_camera_fb_return(fb);\r\n      }*\/\r\n      \/\/ \u5f02\u6b65\u63a8\u6d41\u4efb\u52a1\r\n      taskStatus = 1; \/\/\u4efb\u52a1\u6267\u884c\u4e2d\r\n      xTaskCreate(\r\n        &amp;sendStream,   \/\/ Task function.\r\n        \"sendStream\", \/\/ String with name of task.\r\n        10240,     \/\/ Stack size in bytes.\r\n        NULL,      \/\/ Parameter passed as input of the task\r\n        1,         \/\/ Priority of the task.\r\n        NULL);     \/\/ Task handle.\r\n  }\r\n}\r\n\r\n\r\n\/\/\u89c6\u9891\u6d41\u63a8\u9001\u670d\u52a1\u5668\u7ebf\u7a0b\r\nvoid sendStream(void *parameter){\r\n  camera_fb_t * fb = NULL;\r\n  \/\/ Take Picture with Camera\r\n  fb = esp_camera_fb_get();  \r\n  if(!fb) {\r\n    Serial.println(\"Camera capture failed\");\r\n  }else{\r\n    if(socketStatus){ \/\/ws\u5df2\u8fde\u63a5\r\n      webSocket.sendBIN(fb-&gt;buf, fb-&gt;len);\r\n      Serial.print(\"Send Image to WsServer: len \");\r\n      Serial.println(fb-&gt;len);\r\n    }\r\n    esp_camera_fb_return(fb);\r\n  }\r\n  \r\n  \/\/vTaskDelay(100 \/ portTICK_RATE_MS);\r\n\r\n  taskStatus=0; \/\/\u5f53\u524d\u4efb\u52a1\u7ed3\u675f\r\n  \r\n  vTaskDelete(NULL);\r\n  \r\n}<\/code><\/pre>\n<p>\u5b8c\u6574\u4ee3\u7801\u5df2\u4e0a\u4f20\uff1ahttps:\/\/github.com\/yanjingang\/robot_remote_monitoring\/<\/p>\n<ul>\n<li>\n<p dir=\"auto\">Esp32VideoTank\uff1aESP32-CAM\u5355\u7247\u673a\u7a0b\u5e8f\uff0c\u53ef\u4ee5\u8fde\u63a5\u5e95\u76d8\u6216\u8235\u673a\u8fdb\u884c\u63a7\u5236<\/p>\n<\/li>\n<li>\n<p dir=\"auto\">WebControlApp\uff1aJS\u5199\u7684\u89c6\u9891\u663e\u793a\u548c\u63a7\u5236\u754c\u9762\uff0c\u901a\u8fc74G\u7f51\u5740\u6216\u5185\u5d4c\u5230\u5fae\u4fe1\u5c0f\u7a0b\u5e8f\u91cc\u4f7f\u7528<\/p>\n<\/li>\n<li>\n<p dir=\"auto\">VideoStreamServer\uff1a\u89c6\u9891\u6d41\u670d\u52a1\u7aef\uff0c\u5728\u4e91\u7aef\u670d\u52a1\u5668\u8fd0\u884c<\/p>\n<\/li>\n<\/ul>\n<p>\u8fd0\u884c\u6548\u679c\uff1a<\/p>\n<ul>\n<li>\u754c\u9762\u6548\u679c\u8ddf\u4e0a\u4e00\u6b65\u4e00\u6837\uff0c\u53ea\u662f\u89c6\u9891\u4ece\u5c40\u57df\u7f51\u6539\u4e3a\u4e86\u4e91\u7aef\u670d\u52a1\u5668\u83b7\u53d6\u3002<\/li>\n<li>\u89c6\u9891\u50cf\u7d20\u548c\u5e27\u7387\u3001\u6307\u4ee4\u53d1\u9001\u9891\u7387\u7b49\u8981\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u8c03\u8bd5\uff0c\u8c03\u6574\u52304G\u4fe1\u53f7\u6ee1\u683c\u65f6\uff0c\u63a7\u5236\u548c\u89c6\u9891\u6d41\u7545\u4e0d\u5361\u987f<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>yan 22.7.16<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/www.bilibili.com\/read\/cv16644311\" target=\"_blank\" rel=\"noopener\">\u5229\u7528ESP32-CAM\u82af\u7247\u5236\u4f5c\u901a\u8fc7\u7f51\u9875\u8fdc\u7a0b\u83b7\u53d6\u56fe\u50cf\u5e76\u5b9e\u65f6\u64cd\u63a7\u65b9\u5411\u7684\u5c0f\u8f66<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/SUMPLUSS\/article\/details\/121525148\" target=\"_blank\" rel=\"noopener\">esp32cam\u76d1\u63a7\u5c0f\u8f66\u4ee3\u7801\u4ee5\u53ca\u8fde\u7ebf<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/weixin_53483257\/article\/details\/120905367\" target=\"_blank\" rel=\"noopener\">JS\u5236\u4f5c\u6e38\u620f\u6447\u6746\u65b9\u5411\u76d8<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/limingnanhai\/article\/details\/120690290\" target=\"_blank\" rel=\"noopener\">esp32 \u7684PWM\u5b9e\u73b0<\/a><\/p>\n<p><a href=\"http:\/\/www.qutaojiao.com\/24272.html\" target=\"_blank\" rel=\"noopener\">ESP32-CAM AI-Thinker\u5f15\u811a\u6307\u5357\uff1aGPIO\u4f7f\u7528\u8bf4\u660e<\/a><\/p>\n<p><a href=\"https:\/\/www.csdn.net\/tags\/MtTaIgxsNDcwMjc0LWJsb2cO0O0O.html\" target=\"_blank\" rel=\"noopener\">esp32\u63a8\u89c6\u9891\u6d41\u5230\u670d\u52a1\u5668<\/a><\/p>\n<p><a href=\"https:\/\/wenku.baidu.com\/view\/d05bcdf4270c844769eae009581b6bd97f19bc37.html\" target=\"_blank\" rel=\"noopener\">JS Blob\u4e0eBase64\u4e92\u8f6c<\/a><\/p>\n<p><a href=\"https:\/\/exploreembedded.com\/wiki\/Hello_World_with_ESP32_Explained\" target=\"_blank\" rel=\"noopener\">esp32 multi task: Blink with Hello<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/Aspiration_H\/article\/details\/107561063\" target=\"_blank\" rel=\"noopener\">\u4f7f\u7528Arduino\u5f00\u53d1ESP32\uff08\u5341\uff09\uff1aTCP Client<\/a><\/p>\n<p><a href=\"https:\/\/www.cnblogs.com\/ejiyuan\/p\/15610074.html\" target=\"_blank\" rel=\"noopener\">ESP8266\u5f15\u811a\u7684\u8bf4\u660e<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6253\u7b97\u505a\u4e2a\u8fdc\u7a0b\u56fe\u4f20+\u5e95\u76d8\u63a7\u5236\u7684\u7269\u8054\u7f51\u8bbe\u5907\uff0cuno\u7684\u677f\u5b50\u6ca1\u6709\u8054\u7f51\u529f\u80fd\uff0cesp8266\u3001esp32\u6210\u4e3a\u4e24\u4e2a\u6bd4\u8f83\u597d\u7684\u9009 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[353,1222],"tags":[354,1221,1220,837,1219],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6598"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6598"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6598\/revisions"}],"predecessor-version":[{"id":6714,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6598\/revisions\/6714"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6598"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6598"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6598"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}