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This commit is contained in:
Willem Oldemans
2023-11-04 21:20:45 +01:00
parent caaa0e0526
commit 0fda7b554c
10 changed files with 606 additions and 512 deletions
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2
.gitignore vendored
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@@ -3,3 +3,5 @@
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
**.DS_Store
.vscode/extensions.json

1
platformio.ini
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@@ -12,6 +12,7 @@
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
lib_deps =
me-no-dev/AsyncTCP@^1.1.1
madhephaestus/ESP32Servo@^1.1.0

173
src/Motors.cpp Normal file
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#include "motors.h"
bool removeArmMomentum = false;
Servo bucketServo;
Servo auxServo;
std::vector<MOTOR_PINS> motorPins =
{
{32, 33}, //RIGHT_MOTOR Pins (IN1, IN2)
{26, 25}, //LEFT_MOTOR Pins
{19, 22}, //ARM_MOTOR pins
};
void setUpPinModes()
{
for (int i = 0; i < motorPins.size(); i++)
{
pinMode(motorPins[i].pinIN1, OUTPUT);
pinMode(motorPins[i].pinIN2, OUTPUT);
}
moveCar(STOP, false);
bucketServo.attach(bucketServoPin);
auxServo.attach(auxServoPin);
auxControl(150);
bucketTilt(140);
}
void rotateMotor(int motorNumber, int motorDirection)
{
if (motorDirection == FORWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, HIGH);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
else if (motorDirection == BACKWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, HIGH);
}
else
{
if(removeArmMomentum)
{
digitalWrite(motorPins[ARM_MOTOR].pinIN1, HIGH);
digitalWrite(motorPins[ARM_MOTOR].pinIN2, LOW);
delay(10);
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
delay(5);
digitalWrite(motorPins[ARM_MOTOR].pinIN1, HIGH);
digitalWrite(motorPins[ARM_MOTOR].pinIN2, LOW);
delay(10);
removeArmMomentum = false;
}
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
}
void setMomentum(bool val)
{
removeArmMomentum = val;
}
void bucketTilt(int bucketServoValue)
{
bucketServo.write(bucketServoValue);
}
void auxControl(int auxServoValue)
{
auxServo.write(auxServoValue);
}
void moveCar(int inputValue, bool horizontal)
{
Serial.printf("Got value as %d\n", inputValue);
if(!(horizontal))
{
switch(inputValue)
{
case UP:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case STOP:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
case ARMUP:
rotateMotor(ARM_MOTOR, FORWARD);
break;
case ARMDOWN:
rotateMotor(ARM_MOTOR, BACKWARD);
setMomentum(true);
break;
default:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
}
}else {
switch(inputValue)
{
case UP:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case STOP:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
case ARMUP:
rotateMotor(ARM_MOTOR, FORWARD);
break;
case ARMDOWN:
rotateMotor(ARM_MOTOR, BACKWARD);
setMomentum(true);
break;
default:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
}
}
}

21
src/config.h Normal file
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@@ -0,0 +1,21 @@
//config
//Pin configuration
#define RMOTOR_IN1 32
#define RMOTOR_IN2 33
#define LMOTOR_IN1 26
#define LMOTOR_IN2 25
#define ARM_IN1 19
#define ARM_IN2 22
#define bucketServoPin 23
#define auxServoPin 17
//defaults
#define default_auxControl 150
#define default_bucketTilt 140

219
src/html.cpp Normal file
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#include "html.h"
const char htmlHomePage[] PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=.9, maximum-scale=1, user-scalable=yes">
<style>
.arrows {
font-size:50px;
color:grey;
}
td.button {
background-color:black;
border-radius:20%;
box-shadow: 5px 5px #888888;
}
td.button:active {
transform: translate(5px,5px);
box-shadow: none;
}
.noselect {
-webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */
user-select: none; /* Non-prefixed version, currently
supported by Chrome and Opera */
}
.slidecontainer {
width: 100%;
}
.slider {
-webkit-appearance: none;
width: 100%;
height: 20px;
border-radius: 5px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
.slider::-moz-range-thumb {
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<div class="slidecontainer">
<label for="powerSwitch" style="font-size: 20px;">HorizontalScreen:</label>
<input type="checkbox" id="powerSwitch" class="power-switch" onchange='sendButtonInput("Switch", 0)'>
</div>
<h1 style="color: black;text-align:center;">MINISKIDI</h1>
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")'onmousedown='sendButtonInput("MoveCar","1")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8679;</span></td>
<td></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")'onmousedown='sendButtonInput("MoveCar","3")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8678;</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")'onmousedown='sendButtonInput("MoveCar","4")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8680;</span></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")'onmousedown='sendButtonInput("MoveCar","2")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8681;</span></td>
<td></td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","6")'onmousedown='sendButtonInput("MoveCar","6")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8678;</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","5")'onmousedown='sendButtonInput("MoveCar","5")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8680;</span></td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td style="text-align:left;font-size:25px"><b>Bucket:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="10" max="180" value="90" class="slider" id="Bucket" oninput='sendButtonInput("Bucket",value)'>
</div>
</td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td style="text-align:left;font-size:25px"><b>AUX:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="10" max="180" value="90" class="slider" id="AUX" oninput='sendButtonInput("AUX",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput";
var websocketCarInput;
const auxSlider = document.getElementById('AUX');
const bucketSlider = document.getElementById('Bucket');
function initCarInputWebSocket()
{
websocketCarInput = new WebSocket(webSocketCarInputUrl);
websocketCarInput.onclose = function(event){setTimeout(initCarInputWebSocket, 2000);};
websocketCarInput.onmessage = function(event){};
}
function sendButtonInput(key, value)
{
var data = key + "," + value;
websocketCarInput.send(data);
}
function handleKeyDown(event) {
if (event.keyCode === 38) {
sendButtonInput("MoveCar", "1");
}
if (event.keyCode === 40)
{
sendButtonInput("MoveCar", "2");
}
if (event.keyCode ===37)
{
sendButtonInput("MoveCar", "3");
}
if (event.keyCode ===39)
{
sendButtonInput("MoveCar", "4");
}
if (event.keyCode === 87)
{
sendButtonInput("MoveCar", "5");
}
if (event.keyCode === 83)
{
sendButtonInput("MoveCar", "6");
}
if(event.keyCode === 69)
{
auxSlider.value = parseInt(auxSlider.value) + 5; // You can adjust the increment value as needed
sendButtonInput("AUX",auxSlider.value);
// Trigger the 'input' event on the slider to update its value
auxSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 68)
{
auxSlider.value = parseInt(auxSlider.value) - 5; // You can adjust the increment value as needed
sendButtonInput("AUX",auxSlider.value);
// Trigger the 'input' event on the slider to update its value
auxSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 81)
{
bucketSlider.value = parseInt(bucketSlider.value) + 5; // You can adjust the increment value as needed
sendButtonInput("Bucket",bucketSlider.value);
// Trigger the 'input' event on the slider to update its value
bucketSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 65)
{
bucketSlider.value = parseInt(bucketSlider.value) - 5; // You can adjust the increment value as needed
sendButtonInput("Bucket",bucketSlider.value);
// Trigger the 'input' event on the slider to update its value
bucketSlider.dispatchEvent(new Event('input'));
}
}
function handleKeyUp(event) {
if (event.keyCode === 37 || event.keyCode === 38 || event.keyCode === 39 || event.keyCode === 40 || event.keyCode === 87 || event.keyCode === 83) {
sendButtonInput("MoveCar", "0");
}
}
window.onload = initCarInputWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
document.addEventListener('keydown', handleKeyDown);
document.addEventListener('keyup', handleKeyUp);
</script>
</body>
</html>
)HTMLHOMEPAGE";

5
src/html.h Normal file
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@@ -0,0 +1,5 @@
#pragma once
#include <Arduino.h>
//declare here, define in cpp to prevent multiple declarations
extern const char htmlHomePage[] PROGMEM;

526
src/main.cpp
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@@ -1,530 +1,32 @@
//make sure to upload with ESP32 Dev Module selected as the board under tools>Board>ESP32 Arduino
#include <Arduino.h>
#ifdef ESP32
#include <WiFi.h>
#include <AsyncTCP.h> //by dvarrel
#elif defined(ESP8266)
#include <ESPAsyncTCP.h> //by dvarrel
#endif
#include <ESPAsyncWebSrv.h> //by dvarrel
#include <ESP32Servo.h> //by Kevin Harrington
#include <iostream>
#include <sstream>
const char* ssid = "MiniSkidi";
#define bucketServoPin 23
#define auxServoPin 22
Servo bucketServo;
Servo auxServo;
struct MOTOR_PINS
{
int pinIN1;
int pinIN2;
};
std::vector<MOTOR_PINS> motorPins =
{
{32, 33}, //RIGHT_MOTOR Pins (IN1, IN2)
{26, 25}, //LEFT_MOTOR Pins
{19, 21}, //ARM_MOTOR pins
};
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define ARMUP 5
#define ARMDOWN 6
#define STOP 0
#define RIGHT_MOTOR 1
#define LEFT_MOTOR 0
#define ARM_MOTOR 2
#define FORWARD 1
#define BACKWARD -1
bool horizontalScreen;//When screen orientation is locked vertically this rotates the D-Pad controls so that forward would now be left.
bool removeArmMomentum = false;
AsyncWebServer server(80);
AsyncWebSocket wsCarInput("/CarInput");
const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=.9, maximum-scale=1, user-scalable=yes">
<style>
.arrows {
font-size:50px;
color:grey;
}
td.button {
background-color:black;
border-radius:20%;
box-shadow: 5px 5px #888888;
}
td.button:active {
transform: translate(5px,5px);
box-shadow: none;
}
.noselect {
-webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */
user-select: none; /* Non-prefixed version, currently
supported by Chrome and Opera */
}
.slidecontainer {
width: 100%;
}
.slider {
-webkit-appearance: none;
width: 100%;
height: 20px;
border-radius: 5px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
.slider::-moz-range-thumb {
width: 40px;
height: 40px;
border-radius: 50%;
background: red;
cursor: pointer;
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<div class="slidecontainer">
<label for="powerSwitch" style="font-size: 20px;">HorizontalScreen:</label>
<input type="checkbox" id="powerSwitch" class="power-switch" onchange='sendButtonInput("Switch", 0)'>
</div>
<h1 style="color: black;text-align:center;">MINISKIDI</h1>
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")'onmousedown='sendButtonInput("MoveCar","1")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8679;</span></td>
<td></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")'onmousedown='sendButtonInput("MoveCar","3")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8678;</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")'onmousedown='sendButtonInput("MoveCar","4")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8680;</span></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")'onmousedown='sendButtonInput("MoveCar","2")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8681;</span></td>
<td></td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","6")'onmousedown='sendButtonInput("MoveCar","6")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8678;</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","5")'onmousedown='sendButtonInput("MoveCar","5")'onmouseup='sendButtonInput("MoveCar","0")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >&#8680;</span></td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td style="text-align:left;font-size:25px"><b>Bucket:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="10" max="180" value="90" class="slider" id="Bucket" oninput='sendButtonInput("Bucket",value)'>
</div>
</td>
</tr>
<tr/>
<tr/>
<tr/><tr/>
<tr>
<td style="text-align:left;font-size:25px"><b>AUX:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="10" max="180" value="90" class="slider" id="AUX" oninput='sendButtonInput("AUX",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput";
var websocketCarInput;
const auxSlider = document.getElementById('AUX');
const bucketSlider = document.getElementById('Bucket');
function initCarInputWebSocket()
{
websocketCarInput = new WebSocket(webSocketCarInputUrl);
websocketCarInput.onclose = function(event){setTimeout(initCarInputWebSocket, 2000);};
websocketCarInput.onmessage = function(event){};
}
function sendButtonInput(key, value)
{
var data = key + "," + value;
websocketCarInput.send(data);
}
function handleKeyDown(event) {
if (event.keyCode === 38) {
sendButtonInput("MoveCar", "1");
}
if (event.keyCode === 40)
{
sendButtonInput("MoveCar", "2");
}
if (event.keyCode ===37)
{
sendButtonInput("MoveCar", "3");
}
if (event.keyCode ===39)
{
sendButtonInput("MoveCar", "4");
}
if (event.keyCode === 87)
{
sendButtonInput("MoveCar", "5");
}
if (event.keyCode === 83)
{
sendButtonInput("MoveCar", "6");
}
if(event.keyCode === 69)
{
auxSlider.value = parseInt(auxSlider.value) + 5; // You can adjust the increment value as needed
sendButtonInput("AUX",auxSlider.value);
// Trigger the 'input' event on the slider to update its value
auxSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 68)
{
auxSlider.value = parseInt(auxSlider.value) - 5; // You can adjust the increment value as needed
sendButtonInput("AUX",auxSlider.value);
// Trigger the 'input' event on the slider to update its value
auxSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 81)
{
bucketSlider.value = parseInt(bucketSlider.value) + 5; // You can adjust the increment value as needed
sendButtonInput("Bucket",bucketSlider.value);
// Trigger the 'input' event on the slider to update its value
bucketSlider.dispatchEvent(new Event('input'));
}
if(event.keyCode === 65)
{
bucketSlider.value = parseInt(bucketSlider.value) - 5; // You can adjust the increment value as needed
sendButtonInput("Bucket",bucketSlider.value);
// Trigger the 'input' event on the slider to update its value
bucketSlider.dispatchEvent(new Event('input'));
}
}
function handleKeyUp(event) {
if (event.keyCode === 37 || event.keyCode === 38 || event.keyCode === 39 || event.keyCode === 40 || event.keyCode === 87 || event.keyCode === 83) {
sendButtonInput("MoveCar", "0");
}
}
window.onload = initCarInputWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
document.addEventListener('keydown', handleKeyDown);
document.addEventListener('keyup', handleKeyUp);
</script>
</body>
</html>
)HTMLHOMEPAGE";
void rotateMotor(int motorNumber, int motorDirection)
{
if (motorDirection == FORWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, HIGH);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
else if (motorDirection == BACKWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, HIGH);
}
else
{
if(removeArmMomentum)
{
digitalWrite(motorPins[ARM_MOTOR].pinIN1, HIGH);
digitalWrite(motorPins[ARM_MOTOR].pinIN2, LOW);
delay(10);
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
delay(5);
digitalWrite(motorPins[ARM_MOTOR].pinIN1, HIGH);
digitalWrite(motorPins[ARM_MOTOR].pinIN2, LOW);
delay(10);
removeArmMomentum = false;
}
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
}
void moveCar(int inputValue)
{
Serial.printf("Got value as %d\n", inputValue);
if(!(horizontalScreen))
{
switch(inputValue)
{
case UP:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case STOP:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
case ARMUP:
rotateMotor(ARM_MOTOR, FORWARD);
break;
case ARMDOWN:
rotateMotor(ARM_MOTOR, BACKWARD);
removeArmMomentum = true;
break;
default:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
}
}else {
switch(inputValue)
{
case UP:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case STOP:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
case ARMUP:
rotateMotor(ARM_MOTOR, FORWARD);
break;
case ARMDOWN:
rotateMotor(ARM_MOTOR, BACKWARD);
removeArmMomentum = true;
break;
default:
rotateMotor(ARM_MOTOR, STOP);
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
}
}
}
void bucketTilt(int bucketServoValue)
{
bucketServo.write(bucketServoValue);
}
void auxControl(int auxServoValue)
{
auxServo.write(auxServoValue);
}
void handleRoot(AsyncWebServerRequest *request)
{
request->send_P(200, "text/html", htmlHomePage);
}
void handleNotFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "File Not Found");
}
void onCarInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
moveCar(STOP);
break;
case WS_EVT_DATA:
AwsFrameInfo *info;
info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)
{
std::string myData = "";
myData.assign((char *)data, len);
std::istringstream ss(myData);
std::string key, value;
std::getline(ss, key, ',');
std::getline(ss, value, ',');
Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str());
int valueInt = atoi(value.c_str());
if (key == "MoveCar")
{
moveCar(valueInt);
}
else if (key == "AUX")
{
auxControl(valueInt);
}
else if (key == "Bucket")
{
bucketTilt(valueInt);
}
else if (key =="Switch")
{
if(!(horizontalScreen))
{
horizontalScreen = true;
}
else{
horizontalScreen = false;
}
}
}
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void setUpPinModes()
{
for (int i = 0; i < motorPins.size(); i++)
{
pinMode(motorPins[i].pinIN1, OUTPUT);
pinMode(motorPins[i].pinIN2, OUTPUT);
}
moveCar(STOP);
bucketServo.attach(bucketServoPin);
auxServo.attach(auxServoPin);
auxControl(150);
bucketTilt(140);
}
#include "motors.h"
#include "webserver.h"
const char* ssid = "iot";
const char* pwd = "Rijnstraat214";
void setup(void)
{
setUpPinModes();
Serial.begin(115200);
WiFi.softAP(ssid );
IPAddress IP = WiFi.softAPIP();
WiFi.mode(WIFI_STA);
WiFi.begin(ssid,pwd );
if (WiFi.waitForConnectResult() != WL_CONNECTED)
{
Serial.printf("WiFi Failed!\n");
return;
}
IPAddress IP = WiFi.localIP();
Serial.print("AP IP address: ");
Serial.println(IP);
server.on("/", HTTP_GET, handleRoot);
server.onNotFound(handleNotFound);
wsCarInput.onEvent(onCarInputWebSocketEvent);
server.addHandler(&wsCarInput);
server.begin();
Serial.println("HTTP server started");
setup_webserver();
}
void loop()
{
wsCarInput.cleanupClients();
loop_webserver();
}

46
src/motors.h Normal file
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#pragma once
#include <Arduino.h>
#include <vector>
#include <ESP32Servo.h> //by Kevin Harrington
#define RIGHT_MOTOR 1
#define LEFT_MOTOR 0
#define ARM_MOTOR 2
#define FORWARD 1
#define BACKWARD -1
#define bucketServoPin 23
#define auxServoPin 17
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define ARMUP 5
#define ARMDOWN 6
#define STOP 0
struct MOTOR_PINS
{
int pinIN1;
int pinIN2;
};
//general functions
void setUpPinModes();
void moveCar(int inputValue, bool horizontal);
//motor functions
void rotateMotor(int motorNumber, int motorDirection);
void setMomentum(bool val);
//Servo functions
void bucketTilt(int bucketServoValue);
void auxControl(int auxServoValue);

96
src/webserver.cpp Normal file
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#include "webserver.h"
bool horizontalScreen;//When screen orientation is locked vertically this rotates the D-Pad controls so that forward would now be left.
AsyncWebServer server(80);
AsyncWebSocket wsCarInput("/CarInput");
void loop_webserver()
{
wsCarInput.cleanupClients();
}
void setup_webserver()
{
server.on("/", HTTP_GET, handleRoot);
server.onNotFound(handleNotFound);
wsCarInput.onEvent(onCarInputWebSocketEvent);
server.addHandler(&wsCarInput);
server.begin();
Serial.println("HTTP server started");
}
void handleRoot(AsyncWebServerRequest *request)
{
request->send_P(200, "text/html", htmlHomePage);
}
void handleNotFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "File Not Found");
}
void onCarInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
moveCar(STOP, horizontalScreen);
break;
case WS_EVT_DATA:
AwsFrameInfo *info;
info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)
{
std::string myData = "";
myData.assign((char *)data, len);
std::istringstream ss(myData);
std::string key, value;
std::getline(ss, key, ',');
std::getline(ss, value, ',');
Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str());
int valueInt = atoi(value.c_str());
if (key == "MoveCar")
{
moveCar(valueInt, horizontalScreen);
}
else if (key == "AUX")
{
auxControl(valueInt);
}
else if (key == "Bucket")
{
bucketTilt(valueInt);
}
else if (key =="Switch")
{
if(!(horizontalScreen))
{
horizontalScreen = true;
}
else{
horizontalScreen = false;
}
}
}
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}

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src/webserver.h Normal file
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#pragma once
#include <Arduino.h>
#include "html.h"
#include "motors.h"
#ifdef ESP32
#include <WiFi.h>
#include <AsyncTCP.h> //by dvarrel
#elif defined(ESP8266)
#include <ESPAsyncTCP.h> //by dvarrel
#endif
#include <ESPAsyncWebServer.h> //by dvarrel
#include <iostream>
#include <sstream>
void loop_webserver();
void setup_webserver();
void handleRoot(AsyncWebServerRequest *request);
void handleNotFound(AsyncWebServerRequest *request);
void onCarInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len);