ningzixi/robot_motion

![alt text](image.jpg) <h1 align="center">🤖 ESP32 Robot Motion</h1> A component that enables ESP32 to easily control multiple servos Supports single and parallel servo control Provides smooth motion curves and action sequence functionality <a href="./README.md">简体中文</a> · English · <a href="https://github.com/NingZiXi/robot_motion/releases">Changelog</a> · <a href="https://github.com/NingZiXi/robot_motion/issues">Report Issues</a> <a href="LICENSE"> <img alt="License" src="https://img.shields.io/badge/License-MIT-blue.svg" /> </a> <a href="https://docs.espressif.com/projects/esp-idf/"> <img alt="ESP-IDF" src="https://img.shields.io/badge/ESP32-ESP32S3-77216F?logo=espressif" /> </a> <a href="https://docs.espressif.com/projects/esp-idf/"> <img alt="ESP-IDF" src="https://img.shields.io/badge/ESP--IDF-v5.3+-orange.svg" /> </a> <a href="https://www.espressif.com/"> <img alt="ESP32" src="https://img.shields.io/badge/Platform-ESP32-green.svg" /> </a> <a href=""> <img alt="Version" src="https://img.shields.io/badge/Version-v1.0.0-brightgreen.svg" /> </a> <a href="https://github.com/NingZiXi/robot_motion/stargazers"> <img alt="GitHub Stars" src="https://img.shields.io/github/stars/NingZiXi/robot_motion.svg?style=social&label=Stars" /> </a> --- ## 🚀 Introduction **RobotMotion** is a lightweight multi-servo motion control library designed for ESP32✨, providing smooth motion control for single and multiple servos through a concise API. Supports **action sequence programming📋** and **JSON configuration📄**, and can be easily integrated with platforms like Coze🤖 using **Function Calling💡** for direct AI agent control of servos. Ideal for smart toys🧸, robots🤖 and other AIoT applications. ## 🛠️ Quick Start ### 📥 Clone Project To add this component to your project, run the following command in IDF terminal: ```bash idf.py add-dependency "ningzixi/robot_motion^1.0.0" ``` Or clone directly to your project's `components` directory: ```bash git clone https://github.com/NingZiXi/robot_motion ``` ## 💻 Basic Usage ### 1️⃣ Initialization ```c #include "iot_servo.h" #include "robot_motion.h" // Servo initialization servo_config_t servo_cfg = { .max_angle = 180, .min_width_us = 500, .max_width_us = 2500, .freq = 50, .timer_number = LEDC_TIMER_0, .channels = { .servo_pin = { GPIO_NUM_18, GPIO_NUM_19, GPIO_NUM_21, GPIO_NUM_22, }, .ch = { LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3, }, }, .channel_number = 4, }; ESP_ERROR_CHECK(iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg_ls)); // Motion controller initialization motion_ctrl_t controller; motion_init(&controller); ``` ### 2️⃣ Basic Motion Control ```c // Single servo motion (Channel 0 to 90 degrees, 1 second duration) motion_add_single(&controller, 0, 90.0f, 1000); // Parallel servo motion (3 servos moving simultaneously) uint8_t channels[] = {0,1,2}; float angles[] = {45.0f, 60.0f, 30.0f}; motion_add_parallel(&controller, 3, channels, angles, 1500); ``` ### 3️⃣ Advanced Features #### 🎭 Action Sequence Execution ```c // Predefined action sequence motion_sequence_t sequence_demo[] = { {1, {0,1,2,3}, {30,150,30,150}, 4, 1000, 300}, {1, {0,1,2,3}, {150,30,150,30}, 4, 1000, 300}, {1, {0,1,2,3}, {90,90,90,90}, 4, 800, 500}, {1, {0,1,2,3}, {10,170,170,10}, 4, 1200, 0} }; motion_exec_sequence(&controller, sequence_demo, sizeof(sequence_demo) / sizeof(sequence_demo[0])); ``` Each element of motion_sequence_t represents an action with: - `type`: Action type (0 for single servo, 1 for multiple servos) - `channels`: Servo channel array - `target_angles`: Target angle array - `duration_ms`: Action duration (ms) - `delay_after`: Post-action delay (ms) `motion_exec_sequence` will automatically execute the sequence in order until all actions are completed. #### 📋 JSON Action Sequence Execution ##### Standard JSON Format (Full field names) ```json { "motions": [ { "type": "parallel", // Action type: parallel or single "channels": [0,1,2,3], // Servo channel array "target_angles": [90,90,90,90], // Target angle array "duration_ms": 1000, // Action duration (ms) "delay_after": 500 // Post-action delay (ms) }, { "type": "single", "channel": 0, // Single servo channel "target_angle": 45, // Single target angle "duration_ms": 800, "delay_after": 200 } ] } ``` ##### Compact JSON Format (Short field names) ```json { "m": [ { "t": "p", // Type: p(parallel) or s(single) "cs": [0,1,2,3], // Channel array "as": [90,90,90,90], // Angle array "d": 1000, // Duration "w": 500 // Wait time }, { "t": "s", "c": 0, // Single channel "a": 45, // Single angle "d": 800, "w": 200 } ] } ``` ##### Field Comparison Table | Full Field Name | Short Field | Description | |-----------------|------------|------------------------------| | motions | m | Action sequence array | | type | t | Action type(parallel/p, single/s)| | channels | cs | Servo channel array | | target_angles | as | Target angle array | | duration_ms | d | Action duration (ms) | | delay_after | w | Post-action delay (ms) | | channel | c | Single servo channel | | target_angle | a | Single target angle | For JSON text to C/C++ string conversion, you can use online tools like [tomeko](https://tomeko.net/online_tools/cpp_text_escape.php). #### 🧪 Example ```c // Using standard JSON const char* full_json = "..."; // Standard JSON string motion_exec_json(&controller, full_json); // Using compact JSON const char* compact_json = "..."; // Compact JSON string motion_exec_json(&controller, compact_json); ``` Note: Both formats can be mixed, the parser will automatically recognize field names. For more API details, please check [robot_motion.h](include/robot_motion.h) ## 🤝 Contribution This project uses MIT License📜, see [LICENSE](LICENSE) for details. Thank you for using ESP32 Robot Motion!🎉 If you like this project, please give it a ⭐ Star!

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