update

FW/platformio.ini

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

FW/src/Motors.cpp

@@ -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(dirspeed);
-      motors[num].move(speed);
       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);
 }

FW/src/main.cpp

@@ -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");
+    log_e("WiFi Failed! rebooting in 2sec");
-    return;
+    delay(2000);
+    ESP.restart();
   }
-  IPAddress IP = WiFi.localIP();
+  log_i("IP address: %s", WiFi.localIP().toString());
-  Serial.print("AP IP address: ");
-  Serial.println(IP);
   initOTA("MiniSkidi");
+  
+  setupmotors();
   setup_webserver();
 }
 

FW/src/motors.h

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

FW/src/ota.cpp

@@ -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) log_e("Auth Failed");
-      if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
+      else if (error == OTA_BEGIN_ERROR) log_e("Begin Failed");
-      else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
+      else if (error == OTA_CONNECT_ERROR) log_e("Connect Failed");
-      else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
+      else if (error == OTA_RECEIVE_ERROR) log_e("Receive Failed");
-      else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
+      else if (error == OTA_END_ERROR) log_e("End Failed");
-      else if (error == OTA_END_ERROR) Serial.println("End Failed");
+      else log_e("unknown error %i", error);
     });
 
   ArduinoOTA.begin();
 
-  Serial.println("Ready");
+  log_i("OTA Ready");
-  Serial.print("IP address: ");
-  Serial.println(WiFi.localIP());
 }
 
 void loopOTA() {

FW/src/webserver.cpp

@@ -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());
+  log_v("ws data received: %s", msg.data());
-  uint8_t commaIndex = msg.data().indexOf(',');
+  bool parsing = true;
-  int LValue = msg.data().substring(0, commaIndex).toInt();
+  int commaIndex=0, previndex=0;
-  commaIndex = msg.data().indexOf(',',commaIndex+1);
+  std::vector<int> params;
-  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();
 
-  drivemotor(0, LValue);
+  while(parsing)
-  drivemotor(1, RValue);
+  {
-  drivemotor(2, ArmValue);
+    commaIndex = msg.data().indexOf(',', previndex);
-  bucketTilt(bucketValue);
+    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();
   }
 

FW/src/webserver.h

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