From 183b087ed7322884c39075749c88dcb271f3f7d8 Mon Sep 17 00:00:00 2001 From: Willem Oldemans Date: Mon, 6 Nov 2023 21:24:55 +0100 Subject: [PATCH] change to joystick --- FW/.gitignore | 5 + FW/.vscode/extensions.json | 10 + FW/platformio.ini | 4 +- FW/src/Motors.cpp | 168 ++++------------ FW/src/config.h | 2 +- FW/src/html.cpp | 400 +++++++++++++++++-------------------- FW/src/html.h | 3 +- FW/src/main.cpp | 2 +- FW/src/motors.h | 24 ++- FW/src/webserver.cpp | 117 ++++------- FW/src/webserver.h | 16 +- 11 files changed, 295 insertions(+), 456 deletions(-) create mode 100644 FW/.gitignore create mode 100644 FW/.vscode/extensions.json diff --git a/FW/.gitignore b/FW/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/FW/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/FW/.vscode/extensions.json b/FW/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/FW/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/FW/platformio.ini b/FW/platformio.ini index 91810a9..449d323 100644 --- a/FW/platformio.ini +++ b/FW/platformio.ini @@ -14,9 +14,11 @@ board = esp32dev framework = arduino monitor_speed = 115200 lib_deps = - me-no-dev/AsyncTCP@^1.1.1 madhephaestus/ESP32Servo@^1.1.0 ottowinter/ESPAsyncWebServer-esphome@^3.1.0 + ArduinoWebsockets + AsyncTCP + joaolopesf/ESP32MotorControl@^0.1.0 build_flags = -DCORE_DEBUG_LEVEL=3 -DNDEF_DEBUG=1 diff --git a/FW/src/Motors.cpp b/FW/src/Motors.cpp index 85709f8..3fdd616 100644 --- a/FW/src/Motors.cpp +++ b/FW/src/Motors.cpp @@ -5,64 +5,61 @@ bool removeArmMomentum = false; Servo bucketServo; Servo auxServo; + +void motor::drive(int dirspeed) +{ + if(dirspeed == 0) + { + motorStop(motorindex); + } + if(dirspeed > 0) + { + //map(value, fromLow, fromHigh, toLow, toHigh) + uint8_t speed = map(dirspeed,-255,0,0,100); + log_i("motor forward"); + motorForward(motorindex, speed); + } + else + { + uint8_t speed = map(dirspeed,0,255,0,100); + log_i("motor reverse"); + motorReverse(motorindex, speed); + } +} + + + std::vector motorPins = { {RMOTOR_IN1, RMOTOR_IN2}, //RIGHT_MOTOR Pins (IN1, IN2) {LMOTOR_IN1, LMOTOR_IN2}, //LEFT_MOTOR Pins - {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins +// {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins }; -void setUpPinModes() +motor motors[2]; + +void setupmotors() { for (int i = 0; i < motorPins.size(); i++) - { - pinMode(motorPins[i].pinIN1, OUTPUT); - pinMode(motorPins[i].pinIN2, OUTPUT); + { + motors[i].attachMotor(motorPins[i].pinIN1,motorPins[i].pinIN2); // pinMode(motorPins[i].pinIN1, OUTPUT); + motors[i].motorStop(0); } - moveCar(STOP, false); bucketServo.attach(bucketServoPin); auxServo.attach(auxServoPin); auxControl(default_auxControl); bucketTilt(default_bucketTilt); } -void rotateMotor(int motorNumber, int motorDirection) +void drivemotor(uint8_t num, int dirspeed) { - if (motorDirection == FORWARD) + if(num < motorPins.size()) { - 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); + motors[num].drive(dirspeed); } } -void setMomentum(bool val) -{ - removeArmMomentum = val; -} void bucketTilt(int bucketServoValue) @@ -74,100 +71,3 @@ 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; - } - } -} diff --git a/FW/src/config.h b/FW/src/config.h index 14a4dc0..d5d54b0 100644 --- a/FW/src/config.h +++ b/FW/src/config.h @@ -15,7 +15,7 @@ //defaults #define default_auxControl 150 -#define default_bucketTilt 140 +#define default_bucketTilt 100 diff --git a/FW/src/html.cpp b/FW/src/html.cpp index 66602be..f36c9d9 100644 --- a/FW/src/html.cpp +++ b/FW/src/html.cpp @@ -1,219 +1,187 @@ #include "html.h" -const char htmlHomePage[] PROGMEM = R"HTMLHOMEPAGE( - - - - - - - - - -
- - -
-

MINISKIDI

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
⇧
⇦⇨
⇩
⇦⇨
Bucket: -
- -
-
AUX: -
- -
-
- - - - -)HTMLHOMEPAGE"; \ No newline at end of file +//File: web_smars.html.gz, Size: 2875 +const uint8_t web_smars_html_gz[] PROGMEM = { +0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xC5, 0x1A, 0x6B, 0x6F, 0xDB, 0x46, +0xF2, 0xBB, 0x7F, 0xC5, 0x44, 0xC1, 0xD5, 0x54, 0x2C, 0x51, 0x0F, 0x37, 0x6D, 0x6A, 0x59, 0x2E, +0x1C, 0xDB, 0x71, 0x53, 0x38, 0xAD, 0x61, 0xF9, 0xEA, 0x18, 0x87, 0x83, 0xB1, 0x22, 0x57, 0xD2, +0x26, 0x4B, 0x2E, 0xB1, 0x5C, 0x4A, 0x72, 0x5B, 0xFF, 0xF7, 0x9B, 0x59, 0xBE, 0x29, 0xC9, 0x49, +0x0E, 0x38, 0x9C, 0x80, 0x58, 0xE4, 0xEC, 0xCC, 0xEC, 0xEC, 0xBC, 0x67, 0x95, 0xE3, 0x17, 0xE7, +0xBF, 0x9F, 0xDD, 0xDE, 0x5F, 0x5F, 0xC0, 0xC2, 0x04, 0xF2, 0x64, 0x6F, 0xEF, 0xB8, 0xF8, 0xE6, +0xCC, 0x3F, 0xD9, 0x03, 0xFC, 0x1C, 0x07, 0xDC, 0x30, 0x08, 0x59, 0xC0, 0xC7, 0xFB, 0x4B, 0xC1, +0x57, 0x91, 0xD2, 0x66, 0x1F, 0x3C, 0x15, 0x1A, 0x1E, 0x9A, 0xF1, 0xFE, 0x4A, 0xF8, 0x66, 0x31, +0xF6, 0xF9, 0x52, 0x78, 0xBC, 0x6B, 0x5F, 0x3A, 0x90, 0x7F, 0x44, 0x28, 0x8C, 0x60, 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100644 --- a/FW/src/main.cpp +++ b/FW/src/main.cpp @@ -12,7 +12,7 @@ const char* pwd = "Rijnstraat214"; void setup(void) { log_i("init hardware"); - setUpPinModes(); + setupmotors(); Serial.begin(115200); WiFi.mode(WIFI_STA); WiFi.begin(ssid,pwd ); diff --git a/FW/src/motors.h b/FW/src/motors.h index 71ecb91..f726c2e 100644 --- a/FW/src/motors.h +++ b/FW/src/motors.h @@ -2,8 +2,10 @@ #include #include +#include "ESP32MotorControl.h" #include //by Kevin Harrington + #include "config.h" #define RIGHT_MOTOR 1 @@ -29,13 +31,25 @@ struct MOTOR_PINS }; //general functions -void setUpPinModes(); -void moveCar(int inputValue, bool horizontal); +void setupmotors(); +void loop_motors(); +//void moveCar(int inputValue, bool horizontal); //motor functions -void rotateMotor(int motorNumber, int motorDirection); -void setMomentum(bool val); +//void rotateMotor(int motorNumber, int motorDirection); +//void setMomentum(bool val); + +void drivemotor(uint8_t num, int dirspeed); + //Servo functions void bucketTilt(int bucketServoValue); -void auxControl(int auxServoValue); \ No newline at end of file +void auxControl(int auxServoValue); + +class motor: public ESP32MotorControl +{ + const uint8_t motorindex = 0; + + public: + void drive(int dirspeed); +}; \ No newline at end of file diff --git a/FW/src/webserver.cpp b/FW/src/webserver.cpp index 54fc1fc..17130f8 100644 --- a/FW/src/webserver.cpp +++ b/FW/src/webserver.cpp @@ -1,96 +1,47 @@ #include "webserver.h" + +using namespace websockets; +WebsocketsServer server; +AsyncWebServer webserver(80); +WebsocketsClient client; +int LValue, RValue, commaIndex; - -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(); +// handle http messages +void handle_message(WebsocketsMessage msg) { + commaIndex = msg.data().indexOf(','); + LValue = msg.data().substring(0, commaIndex).toInt(); + RValue = msg.data().substring(commaIndex + 1).toInt(); + drivemotor(0, LValue); + drivemotor(1, RValue); } void setup_webserver() { - server.on("/", HTTP_GET, handleRoot); - server.onNotFound(handleNotFound); - - wsCarInput.onEvent(onCarInputWebSocketEvent); - server.addHandler(&wsCarInput); + Serial.begin(9600); - server.begin(); - Serial.println("HTTP server started"); + // HTTP handler assignment + webserver.on("/", HTTP_GET, [](AsyncWebServerRequest * request) { + AsyncWebServerResponse *response = request->beginResponse_P(200, "text/html", web_smars_html_gz, web_smars_html_gz_len); + response->addHeader("Content-Encoding", "gzip"); + request->send(response); + }); + + // start server + webserver.begin(); + server.listen(82); + log_i("Is server live? %s",server.available() ? "true" : "false"); + + client = server.accept(); + client.onMessage(handle_message); } + -void handleRoot(AsyncWebServerRequest *request) + +void loop_webserver() { - 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; + if (client.available()) { + client.poll(); + delay(50); } } \ No newline at end of file diff --git a/FW/src/webserver.h b/FW/src/webserver.h index ba42677..074f6a6 100644 --- a/FW/src/webserver.h +++ b/FW/src/webserver.h @@ -4,13 +4,9 @@ #include "html.h" #include "motors.h" -#ifdef ESP32 +#include #include -#include //by dvarrel -#elif defined(ESP8266) -#include //by dvarrel -#endif -#include //by dvarrel +#include #include #include @@ -19,11 +15,3 @@ 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); \ No newline at end of file