initial

.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

include/README

@@ -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

lib/README

@@ -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

platformio.ini

@@ -0,0 +1,18 @@
+; 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
+lib_deps = 
+	me-no-dev/AsyncTCP@^1.1.1
+	madhephaestus/ESP32Servo@^1.1.0
+	ottowinter/ESPAsyncWebServer-esphome@^3.1.0

src/main.cpp

@@ -0,0 +1,530 @@
+//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);
+}
+
+
+void setup(void) 
+{
+  setUpPinModes();
+  Serial.begin(115200);
+
+  WiFi.softAP(ssid );
+  IPAddress IP = WiFi.softAPIP();
+  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");
+
+}
+
+void loop() 
+{
+  wsCarInput.cleanupClients(); 
+}

test/README

@@ -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