M5stickCar.ino

#define BLYNK_PRINT Serial

#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
//#include <M5StickC.h>
#include <Wire.h>

// You should get Auth Token in the Blynk App.
char auth[] = "BlynkアプリのYourAuthTokenを入力";

// Your WiFi credentials.
char ssid[] = "WiFiのSSID";
char pass[] = "パスワード";;


const int motorL = 0x60;
const int motorR = 0x64;

long Speed;
long SpeedL, SpeedR;


//モータドライバ I2C制御 motor driver I2C
void writeMotorResister(int motor, byte vset, byte data1){
  int vdata = vset << 2 | data1;
  Wire.beginTransmission(motor);
  Wire.write(0x00);
  Wire.write(vdata);
  Wire.endTransmission(true);
}

//ジョイスティックのデータ受信
BLYNK_WRITE(V0) {
  long x = param[0].asInt();
  long y = param[1].asInt();
 
  Serial.print("x: ");
  Serial.print(x);
  Serial.print("  y: ");
  Serial.print(y);

  Speed = sqrt(x*x+y*y);
  if(Speed > 20){
    Speed = 20;
  }
  Serial.print("  Speed: ");
  Serial.println(Speed);

　//モータ制御
  if(y >= 0){
    if(x >= 0){
      SpeedL = 0;
      SpeedR = abs(x);
    }else{
      SpeedL = abs(x);
      SpeedR = 0;
    }
    writeMotorResister(motorL, byte(Speed - SpeedL), 0x01);
    writeMotorResister(motorR, byte(Speed - SpeedR), 0x01);
  }else{
    if(x >= 0){
      SpeedL = 0;
      SpeedR = abs(x);
    }else{
      SpeedL = abs(x);
      SpeedR = 0;
    }
    writeMotorResister(motorL, byte(Speed - SpeedL), 0x02);
    writeMotorResister(motorR, byte(Speed - SpeedR), 0x02);
  }
}

void setup() {
  Serial.begin(115200);
  
  Blynk.begin(auth, ssid, pass);

  Wire.begin(0, 26, 10000); //SDA, SCL

  delay(500);

  writeMotorResister(motorL, 0x00, 0x00);
  writeMotorResister(motorR, 0x00, 0x00);
  
}

void loop()
{
  Blynk.run();
}