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update

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This commit is contained in:
Willem Oldemans
2023-11-12 13:20:26 +01:00
parent eebb355f59
commit 4abd103830
7 changed files with 90 additions and 53 deletions
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2
FW/platformio.ini
View File

@@ -23,3 +23,5 @@ build_flags =
-DCORE_DEBUG_LEVEL=3
-DNDEF_DEBUG=1
upload_protocol = esptool
;upload_protocol = espota
;upload_port = miniskidi.local

20
FW/src/Motors.cpp
View File

@@ -27,9 +27,9 @@ void setupmotors()
delay(50);
}
bucketServo.attach(bucketServoPin);
bucketServo.write(default_bucketTilt);
//auxServo.attach(auxServoPin);
//auxControl(default_auxControl);
bucketServo.write(default_bucketTilt);
}
void drivemotor(uint8_t num, int dirspeed)
@@ -40,12 +40,13 @@ void drivemotor(uint8_t num, int dirspeed)
{
motors[num].stop();
log_v("stop");
return;
}
else
{
//uint8_t speed = map(dirspeed, -330, 330, -100, 100);
log_i("drive motor %u, speed %d", num, dirspeed);
uint8_t speed = map(dirspeed, -255, 255, -100, 100);
motors[num].move(speed);
motors[num].move(dirspeed);
motors[num].prevsetpoint = dirspeed;
}
}
@@ -54,43 +55,50 @@ void drivemotor(uint8_t num, int dirspeed)
log_e("invalid motor num %d", num);
}
}
int prevBucketAngle = 0;
uint32_t lastbuckettimer = 0;
void bucketTilt(int bucketServoValue)
{
if(millis()- lastbuckettimer > BUCKETTIMER)
{
log_i("bucket command received = %i", bucketServoValue);
int servo = 0;
if(bucketServoValue == 0)
{
log_v("bucket stop");
return;
}
else if(bucketServoValue > 0)
{
servo = prevBucketAngle + SERVOSTEP;
log_i("bucket UP (%d)", servo);
}
else
{
servo = prevBucketAngle - SERVOSTEP;
log_i("bucket DOWN (%d)", servo);
}
if(servo > SERVOMAX) servo = SERVOMAX;
if(servo < SERVOMIN) servo = SERVOMIN;
bucketServo.write(servo);
log_i("bucket (%i) angle=(%d)", bucketServoValue, servo);
lastbuckettimer = millis();
prevBucketAngle = servo;
}
}
void AbsBucketTilt(int bucketServoValue)
{
log_i("drive bucket servo, angle %d", bucketServoValue);
delay(5);
bucketServo.write(bucketServoValue);
}
void auxControl(int auxServoValue)
{
log_i("drive aux servo, angle %d", auxServoValue);
delay(5);
auxServo.write(auxServoValue);
}

16
FW/src/main.cpp
View File

@@ -6,25 +6,27 @@
#include "webserver.h"
#include "ota.h"
const char* ssid = "iot";
const char* pwd = "Rijnstraat214";
void setup(void)
{
log_i("init hardware");
setupmotors();
Serial.begin(115200);
delay(1000);
log_i("init hardware");
WiFi.mode(WIFI_STA);
WiFi.begin(ssid,pwd );
if (WiFi.waitForConnectResult() != WL_CONNECTED)
{
Serial.printf("WiFi Failed!\n");
return;
log_e("WiFi Failed! rebooting in 2sec");
delay(2000);
ESP.restart();
}
IPAddress IP = WiFi.localIP();
Serial.print("AP IP address: ");
Serial.println(IP);
log_i("IP address: %s", WiFi.localIP().toString());
initOTA("MiniSkidi");
setupmotors();
setup_webserver();
}

6
FW/src/motors.h
View File

@@ -14,11 +14,11 @@
#define ARM_MOTOR 2
#define SERVOSTEP 5
#define SERVOMIN 0
#define SERVOSTEP 10
#define SERVOMIN 50
#define SERVOMAX 180
#define BUCKETTIMER 100
#define BUCKETTIMER 10
struct MOTOR_PINS
{

34
FW/src/ota.cpp
View File

@@ -3,10 +3,8 @@
void initOTA(const char* hostname)
{
Serial.begin(115200);
Serial.println("Booting");
while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Serial.println("Connection Failed! Rebooting...");
log_e("Connection Failed! Rebooting...");
delay(5000);
ESP.restart();
}
@@ -17,13 +15,7 @@ void initOTA(const char* hostname)
// Hostname defaults to esp3232-[MAC]
ArduinoOTA.setHostname(hostname);
// No authentication by default
// ArduinoOTA.setPassword("admin");
// Password can be set with it's md5 value as well
// MD5(admin) = 21232f297a57a5a743894a0e4a801fc3
// ArduinoOTA.setPasswordHash("21232f297a57a5a743894a0e4a801fc3");
ArduinoOTA
.onStart([]() {
String type;
@@ -33,28 +25,26 @@ void initOTA(const char* hostname)
type = "filesystem";
// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
Serial.println("Start updating " + type);
log_i("Start updating %s", type);
})
.onEnd([]() {
Serial.println("\nEnd");
log_i("End");
})
.onProgress([](unsigned int progress, unsigned int total) {
Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
log_i("Progress: %u%%\r", (progress / (total / 100)));
})
.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
else if (error == OTA_END_ERROR) Serial.println("End Failed");
if (error == OTA_AUTH_ERROR) log_e("Auth Failed");
else if (error == OTA_BEGIN_ERROR) log_e("Begin Failed");
else if (error == OTA_CONNECT_ERROR) log_e("Connect Failed");
else if (error == OTA_RECEIVE_ERROR) log_e("Receive Failed");
else if (error == OTA_END_ERROR) log_e("End Failed");
else log_e("unknown error %i", error);
});
ArduinoOTA.begin();
Serial.println("Ready");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
log_i("OTA Ready");
}
void loopOTA() {

63
FW/src/webserver.cpp
View File

@@ -5,24 +5,51 @@ WebsocketsServer server;
AsyncWebServer webserver(80);
WebsocketsClient client;
//int LValue, RValue, ArmValue, commaIndex;
#define PARAMCOUNT 4
// handle http messages
void handle_message(WebsocketsMessage msg) {
log_i("%s", msg.data());
uint8_t commaIndex = msg.data().indexOf(',');
int LValue = msg.data().substring(0, commaIndex).toInt();
commaIndex = msg.data().indexOf(',',commaIndex+1);
int RValue = msg.data().substring(commaIndex + 1).toInt();
commaIndex = msg.data().indexOf(',',commaIndex+1);
int ArmValue = msg.data().substring(commaIndex + 1).toInt();
commaIndex = msg.data().indexOf(',',commaIndex+1);
int bucketValue = msg.data().substring(commaIndex + 1).toInt();
log_v("ws data received: %s", msg.data());
bool parsing = true;
int commaIndex=0, previndex=0;
std::vector<int> params;
drivemotor(0, LValue);
drivemotor(1, RValue);
drivemotor(2, ArmValue);
bucketTilt(bucketValue);
while(parsing)
{
commaIndex = msg.data().indexOf(',', previndex);
log_v("commaindex:%i, previndex:%i", commaIndex, previndex);
if(commaIndex == -1)
{
if(previndex > 0)
{
int value = msg.data().substring(previndex + 1).toInt();
log_v("got value(%d): %i", params.size()+1, value);
params.push_back(value);
}
log_v("end of message (param count=%u)", params.size());
parsing = false;
}
else
{
int value = msg.data().substring(previndex, commaIndex).toInt();
log_v("got value(%d): %i", params.size()+1, value);
params.push_back(value);
delay(5);
previndex = commaIndex+1;
}
}
if(params.size() < PARAMCOUNT)
{
log_e("message inclomplete size=%u", params.size());
return;
}
drivemotor(0, params[0]);
drivemotor(1, params[1]);
drivemotor(2, params[2]);
bucketTilt(params[3]);
}
void setup_webserver()
@@ -54,6 +81,14 @@ void loop_webserver()
{
client.poll();
}
else
{
if(!server.available())
{
log_e("server not available");
}
log_w("client not available");
}
webservertimer = millis();
}

2
FW/src/webserver.h
View File

@@ -11,7 +11,7 @@
#include <iostream>
#include <sstream>
#define WEBSERVER_LOOP 50
#define WEBSERVER_LOOP 10
void loop_webserver();
void setup_webserver();