projects/Miniskid
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

rearrange code and mechanics

Browse Source
This commit is contained in:
Willem Oldemans
2023-11-05 13:00:29 +01:00
parent 83f31b704a
commit bff0995309
94 changed files with 619146 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
FW/include/README Normal file
View File

@@ -0,0 +1,39 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

46
FW/lib/README Normal file
View File

@@ -0,0 +1,46 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

24
FW/platformio.ini Normal file
View File

@@ -0,0 +1,24 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:esp32dev]
platform = espressif32
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
build_flags =
-DCORE_DEBUG_LEVEL=3
-DNDEF_DEBUG=1
upload_protocol = espota
upload_port = MiniSkidi.local

173
FW/src/Motors.cpp Normal file
View File

@@ -0,0 +1,173 @@
#include "motors.h"
bool removeArmMomentum = false;
Servo bucketServo;
Servo auxServo;
std::vector<MOTOR_PINS> motorPins =
{
{RMOTOR_IN1, RMOTOR_IN2}, //RIGHT_MOTOR Pins (IN1, IN2)
{LMOTOR_IN1, LMOTOR_IN2}, //LEFT_MOTOR Pins
{ARM_IN1, ARM_IN2}, //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(default_auxControl);
bucketTilt(default_bucketTilt);
}
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
FW/src/config.h Normal file
View File

@@ -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
FW/src/html.cpp Normal file
View File

@@ -0,0 +1,219 @@
#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
FW/src/html.h Normal file
View File

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

35
FW/src/main.cpp Normal file
View File

@@ -0,0 +1,35 @@
//make sure to upload with ESP32 Dev Module selected as the board under tools>Board>ESP32 Arduino
#include <Arduino.h>
#include <WiFi.h>
#include "motors.h"
#include "webserver.h"
#include "ota.h"
const char* ssid = "iot";
const char* pwd = "Rijnstraat214";
void setup(void)
{
log_i("init hardware");
setUpPinModes();
Serial.begin(115200);
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);
initOTA("MiniSkidi");
setup_webserver();
}
void loop()
{
loop_webserver();
loopOTA();
}

41
FW/src/motors.h Normal file
View File

@@ -0,0 +1,41 @@
#pragma once
#include <Arduino.h>
#include <vector>
#include <ESP32Servo.h> //by Kevin Harrington
#include "config.h"
#define RIGHT_MOTOR 1
#define LEFT_MOTOR 0
#define ARM_MOTOR 2
#define FORWARD 1
#define BACKWARD -1
#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);

62
FW/src/ota.cpp Normal file
View File

@@ -0,0 +1,62 @@
#include "ota.h"
void initOTA(const char* hostname)
{
Serial.begin(115200);
Serial.println("Booting");
while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Serial.println("Connection Failed! Rebooting...");
delay(5000);
ESP.restart();
}
// Port defaults to 3232
// ArduinoOTA.setPort(3232);
// 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;
if (ArduinoOTA.getCommand() == U_FLASH)
type = "sketch";
else // U_SPIFFS
type = "filesystem";
// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
Serial.println("Start updating " + type);
})
.onEnd([]() {
Serial.println("\nEnd");
})
.onProgress([](unsigned int progress, unsigned int total) {
Serial.printf("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");
});
ArduinoOTA.begin();
Serial.println("Ready");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
}
void loopOTA() {
ArduinoOTA.handle();
}

9
FW/src/ota.h Normal file
View File

@@ -0,0 +1,9 @@
#pragma once
#include <WiFi.h>
#include <ESPmDNS.h>
#include <WiFiUdp.h>
#include <ArduinoOTA.h>
void initOTA(const char* hostname);
void loopOTA();

96
FW/src/webserver.cpp Normal file
View File

@@ -0,0 +1,96 @@
#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;
}
}

29
FW/src/webserver.h Normal file
View File

@@ -0,0 +1,29 @@
#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);

11
FW/test/README Normal file
View File

@@ -0,0 +1,11 @@
This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html