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added xbox controller, missing bucket tilt

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This commit is contained in:
Willem Oldemans
2024-06-22 10:48:05 +02:00
parent 4abd103830
commit cc800aca1d
13 changed files with 101 additions and 690 deletions
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7
FW/platformio.ini
View File

@@ -15,10 +15,11 @@ framework = arduino
monitor_speed = 115200
lib_deps =
madhephaestus/ESP32Servo@^1.1.0
ottowinter/ESPAsyncWebServer-esphome@^3.1.0
ArduinoWebsockets
AsyncTCP
; ottowinter/ESPAsyncWebServer-esphome@^3.1.0
; ArduinoWebsockets
; AsyncTCP
shurillu/Cdrv8833@^1.0.1
asukiaaa/XboxSeriesXControllerESP32_asukiaaa @ ^1.0.9
build_flags =
-DCORE_DEBUG_LEVEL=3
-DNDEF_DEBUG=1

24
FW/src/Motors.cpp
View File

@@ -32,11 +32,13 @@ void setupmotors()
//auxControl(default_auxControl);
}
uint32_t lastmotorlog = 0;
void drivemotor(uint8_t num, int dirspeed)
{
if (num <= motorPins.size())
{
if(dirspeed == 0)
if(dirspeed > 46 && dirspeed < 55) //deadband
{
motors[num].stop();
log_v("stop");
@@ -44,10 +46,14 @@ void drivemotor(uint8_t num, int dirspeed)
}
else
{
//uint8_t speed = map(dirspeed, -330, 330, -100, 100);
log_i("drive motor %u, speed %d", num, dirspeed);
motors[num].move(dirspeed);
motors[num].prevsetpoint = dirspeed;
uint8_t mapspeed = map(dirspeed, 0, 100, 100, -100);
motors[num].move(mapspeed);
motors[num].prevsetpoint = mapspeed;
if (millis() - lastmotorlog > MOTORLOGTIME)
{
log_i("drive motor %u, speed %d%(%d)", num, dirspeed, mapspeed);
lastmotorlog = millis();
}
}
}
else
@@ -62,7 +68,7 @@ void bucketTilt(int bucketServoValue)
{
if(millis()- lastbuckettimer > BUCKETTIMER)
{
log_i("bucket command received = %i", bucketServoValue);
log_v("bucket command received = %i", bucketServoValue);
int servo = 0;
if(bucketServoValue == 0)
{
@@ -82,7 +88,7 @@ void bucketTilt(int bucketServoValue)
if(servo < SERVOMIN) servo = SERVOMIN;
bucketServo.write(servo);
log_i("bucket (%i) angle=(%d)", bucketServoValue, servo);
log_v("bucket (%i) angle=(%d)", bucketServoValue, servo);
lastbuckettimer = millis();
prevBucketAngle = servo;
@@ -91,14 +97,14 @@ void bucketTilt(int bucketServoValue)
void AbsBucketTilt(int bucketServoValue)
{
log_i("drive bucket servo, angle %d", bucketServoValue);
log_v("drive bucket servo, angle %d", bucketServoValue);
delay(5);
bucketServo.write(bucketServoValue);
}
void auxControl(int auxServoValue)
{
log_i("drive aux servo, angle %d", auxServoValue);
log_v("drive aux servo, angle %d", auxServoValue);
delay(5);
auxServo.write(auxServoValue);
}

65
FW/src/controller.cpp Normal file
View File

@@ -0,0 +1,65 @@
#include "controller.h"
XboxSeriesXControllerESP32_asukiaaa::Core xboxController; //"40:8e:2c:41:e4:eb"); //("a4:c1:38:38:e3:c0");
uint32_t lastcontrollernotify = 0;
void setup_controller()
{
xboxController.begin();
xboxController.onLoop();
Serial.printf("Waiting for controller");
}
void loop_controller()
{
xboxController.onLoop();
if (xboxController.isConnected())
{
if (xboxController.isWaitingForFirstNotification())
{
Serial.println("waiting for first notification");
}
else
{
log_v("Address: %s", xboxController.buildDeviceAddressStr());
// log_i("message: %s", Serial.print(xboxController.xboxNotif.toString()));
unsigned long receivedAt = xboxController.getReceiveNotificationAt();
uint16_t joystickMax = XboxControllerNotificationParser::maxJoy;
if (millis() - lastcontrollernotify > CONTROLLERNOTIFY)
{
log_i("joyLHori rate: %0.0f", ((float)xboxController.xboxNotif.joyLHori / joystickMax *100));
log_i("joyLVert rate: %0.0f",((float)xboxController.xboxNotif.joyLVert / joystickMax *100));
log_i("joyRHori rate: %0.0f", ((float)xboxController.xboxNotif.joyRHori / joystickMax *100));
log_i("joyRVert rate: %0.0f",((float)xboxController.xboxNotif.joyRVert / joystickMax *100));
log_i("battery %d %", xboxController.battery);
log_i("received at %l", receivedAt);
lastcontrollernotify = millis();
}
handle_notify(((float)xboxController.xboxNotif.joyLVert / joystickMax *100),
((float)xboxController.xboxNotif.joyRVert / joystickMax *100),
((float)xboxController.xboxNotif.joyLHori / joystickMax *100),
((float)xboxController.xboxNotif.joyRHori / joystickMax *100)
);
}
}
else
{
log_w("not connected");
if (xboxController.getCountFailedConnection() > 10)
{
log_e("restarting");
ESP.restart();
}
}
}
void handle_notify(int motR, int motL, int motArm, int bucket)
{
drivemotor(0, motR);
drivemotor(1, motL);
drivemotor(2, motArm);
bucketTilt(bucket);
}

10
FW/src/controller.h Normal file
View File

@@ -0,0 +1,10 @@
#include "Arduino.h"
#include <XboxSeriesXControllerESP32_asukiaaa.hpp>
#include "motors.h"
#define CONTROLLERNOTIFY 1000
void setup_controller();
void loop_controller();
void handle_notify(int motR, int motL, int motArm, int bucket);

200
FW/src/html.cpp
View File

@@ -1,200 +0,0 @@
#include "html.h"
//https://mischianti.org/online-converter-file-to-cpp-gzip-byte-array-3/
const uint8_t web_smars_html_gz[] PROGMEM = {
0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xE5, 0x1A, 0xFD, 0x6F, 0xDB, 0x36,
0xF6, 0xF7, 0xFE, 0x15, 0xAC, 0x8B, 0x5B, 0xE5, 0xC4, 0x96, 0xBF, 0xD6, 0xAD, 0xCB, 0xE2, 0x14,
0x69, 0x92, 0x66, 0x1D, 0x92, 0x2D, 0x88, 0x73, 0x4B, 0x8D, 0xC3, 0x21, 0xA0, 0x25, 0xDA, 0x66,
0x2B, 0x89, 0x82, 0x44, 0xF9, 0x63, 0x5B, 0xFE, 0xF7, 0x7B, 0x8F, 0x94, 0x64, 0xC9, 0xA2, 0xEC,
0xA4, 0xB7, 0x03, 0x0E, 0x98, 0xB0, 0xA5, 0x26, 0xDF, 0x07, 0x1F, 0xDF, 0x37, 0x29, 0x1D, 0xBF,
0x3C, 0xFF, 0xF5, 0xEC, 0x6E, 0x7C, 0x73, 0x41, 0xE6, 0xD2, 0xF7, 0x4E, 0x5E, 0xBC, 0x38, 0xD6,
0xFF, 0x12, 0x78, 0x8E, 0xE7, 0x8C, 0xBA, 0xFA, 0xA7, 0x1A, 0xFA, 0x4C, 0x52, 0x12, 0x50, 0x9F,
0x0D, 0x1B, 0x0B, 0xCE, 0x96, 0xA1, 0x88, 0x64, 0x83, 0x38, 0x22, 0x90, 0x2C, 0x90, 0xC3, 0xC6,
0x92, 0xBB, 0x72, 0x3E, 0x74, 0xD9, 0x82, 0x3B, 0xAC, 0xAD, 0x06, 0xAD, 0x8C, 0x92, 0xF0, 0x80,
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0x40, 0x5E, 0xA1, 0xE4, 0x94, 0x07, 0x2C, 0x22, 0x7F, 0x94, 0x60, 0xF8, 0x28, 0xF9, 0x8F, 0x48,
0xAF, 0xDB, 0xFD, 0xC7, 0x8F, 0x15, 0xE0, 0x9C, 0xF1, 0xD9, 0x5C, 0x1E, 0x91, 0x6F, 0x7F, 0x58,
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0xC8, 0xAB, 0xC1, 0x60, 0x50, 0xC5, 0x73, 0x79, 0x1C, 0x7A, 0x74, 0x7D, 0x44, 0xA6, 0x1E, 0x5B,
0x55, 0xC1, 0xD4, 0xE3, 0xB3, 0xA0, 0xCD, 0x25, 0xF3, 0xE3, 0x23, 0xE2, 0x80, 0x86, 0x59, 0x54,
0x45, 0xFA, 0x9C, 0xC4, 0x92, 0x4F, 0xD7, 0xED, 0xD4, 0x08, 0xF5, 0x88, 0x62, 0xC1, 0xA2, 0xA9,
0x27, 0x96, 0x47, 0x64, 0xCE, 0x5D, 0x97, 0x05, 0x06, 0xB1, 0x45, 0xE4, 0x82, 0x25, 0x22, 0xEA,
0xF2, 0x04, 0x56, 0xFC, 0x3E, 0x34, 0xC8, 0x24, 0x45, 0xE2, 0xCC, 0xDB, 0xD4, 0x91, 0x5C, 0x04,
0x47, 0x24, 0x10, 0x01, 0x2B, 0xE3, 0x3C, 0x92, 0x83, 0x4E, 0x69, 0xE2, 0x95, 0x48, 0x40, 0x9C,
0xB3, 0x1D, 0x8A, 0xDE, 0xA3, 0x85, 0x4C, 0xD5, 0x60, 0x08, 0x93, 0xAE, 0x9F, 0xBC, 0xFF, 0xBD,
0xDA, 0x7C, 0x7C, 0x51, 0x1A, 0xDA, 0x1E, 0x6B, 0x03, 0x6B, 0xE7, 0x4B, 0xBD, 0x6F, 0xF4, 0xBB,
0x5D, 0xD0, 0x11, 0xA9, 0x15, 0x59, 0xC3, 0x77, 0x2C, 0x02, 0x3E, 0x48, 0x5E, 0xA1, 0x48, 0x3B,
0xFD, 0xCF, 0x64, 0x87, 0x82, 0x56, 0x4C, 0xE0, 0xAA, 0x07, 0x46, 0xB3, 0x89, 0xD5, 0xFF, 0xF6,
0x4D, 0x8B, 0xF4, 0x07, 0x10, 0x7A, 0x3F, 0xFC, 0xD0, 0xAC, 0xB3, 0x3F, 0xF2, 0x0C, 0x57, 0x24,
0x16, 0x1E, 0x77, 0x91, 0x8A, 0x5A, 0xBD, 0xC1, 0x77, 0x2D, 0xB2, 0xF9, 0xD3, 0xB5, 0xDF, 0xD4,
0x12, 0xE7, 0xCE, 0xF3, 0xC6, 0x14, 0x35, 0xFB, 0x9C, 0x07, 0x1F, 0x9D, 0x0C, 0x98, 0xC7, 0x1C,
0x69, 0xF4, 0xAF, 0xB2, 0x91, 0x94, 0xF2, 0x8E, 0x90, 0xE3, 0x82, 0x19, 0x74, 0x68, 0x54, 0x03,
0x6C, 0xE8, 0xBB, 0xB7, 0xA0, 0x87, 0x1E, 0xFE, 0xE9, 0x83, 0x32, 0x7A, 0xCD, 0x27, 0xAC, 0x31,
0xC7, 0xF8, 0x31, 0x2C, 0xE1, 0x24, 0x51, 0x8C, 0x8C, 0x43, 0xC1, 0xCD, 0x7E, 0x97, 0x2A, 0x26,
0x77, 0x99, 0xDD, 0x1E, 0x41, 0x5E, 0xD1, 0x88, 0x51, 0xC3, 0x3A, 0xA1, 0x88, 0xB9, 0xD6, 0xDB,
0x94, 0xAF, 0x98, 0x5B, 0x5D, 0x27, 0xD2, 0x0E, 0xD1, 0x35, 0xA9, 0x3D, 0xAC, 0xCC, 0x97, 0xE2,
0xF4, 0xB8, 0x93, 0xE6, 0xC7, 0x42, 0xC2, 0x74, 0x22, 0x1E, 0x4A, 0x22, 0xD7, 0x21, 0xA4, 0x7A,
0xC9, 0x56, 0xB2, 0xF3, 0x99, 0x2E, 0xA8, 0x9E, 0x6D, 0x94, 0x13, 0xE9, 0x82, 0x46, 0xE4, 0x67,
0xB1, 0x1E, 0xA9, 0x58, 0x19, 0x92, 0x69, 0x12, 0x28, 0x03, 0x13, 0x4B, 0xB6, 0x08, 0x6B, 0x1A,
0xB6, 0x82, 0x04, 0x1C, 0x30, 0x17, 0x02, 0x3C, 0xAC, 0x4B, 0x86, 0xC3, 0x21, 0xB1, 0x18, 0x8C,
0x19, 0xF9, 0xF3, 0x4F, 0xF2, 0xC7, 0x63, 0xD3, 0x56, 0xE9, 0x9B, 0xBC, 0x23, 0x8D, 0xCF, 0x62,
0xAD, 0x42, 0xB0, 0x41, 0x8E, 0x08, 0xD3, 0xD3, 0xAD, 0x0A, 0x3B, 0x7C, 0x82, 0x32, 0x3B, 0x66,
0x2B, 0x75, 0x03, 0x8B, 0xAE, 0xA2, 0xD4, 0xB5, 0xC8, 0x48, 0x29, 0xB6, 0x29, 0x75, 0x64, 0xE5,
0xA4, 0x7A, 0x68, 0xA6, 0x9D, 0x6F, 0xD3, 0x2A, 0x17, 0x08, 0xA8, 0xF7, 0x81, 0x7B, 0xDE, 0x19,
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0xA3, 0x3A, 0xCE, 0x57, 0x90, 0x44, 0xEF, 0xD3, 0xBD, 0xF5, 0x4B, 0x1C, 0x73, 0x88, 0x99, 0xA3,
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0xB2, 0x8E, 0x72, 0x96, 0x88, 0x81, 0xDF, 0x41, 0xD0, 0x49, 0x5E, 0x01, 0x41, 0x37, 0x27, 0xC5,
0xDA, 0xF4, 0x8E, 0xA4, 0x1E, 0xA1, 0xFD, 0xAB, 0x8A, 0xDD, 0x29, 0x60, 0x57, 0xD5, 0xB9, 0x49,
0x01, 0xD0, 0xB9, 0x43, 0xBD, 0x07, 0x43, 0xE0, 0x26, 0xCF, 0xF3, 0x4C, 0xA2, 0xB2, 0x56, 0xC5,
0x82, 0xD7, 0xA9, 0xE9, 0xF5, 0xAA, 0x05, 0x15, 0x1C, 0x94, 0x9C, 0xE3, 0xB0, 0xB0, 0x95, 0x83,
0x42, 0x3A, 0x34, 0xF1, 0xBB, 0xDD, 0xCB, 0xEF, 0x76, 0x8B, 0x5F, 0xBB, 0xC0, 0xB0, 0xC4, 0x31,
0xBD, 0x0B, 0x53, 0xCA, 0x50, 0x1F, 0xE9, 0x59, 0xB9, 0xCC, 0x07, 0xA4, 0x6F, 0xBF, 0x79, 0xD3,
0xC4, 0x1B, 0x8D, 0x16, 0x5E, 0x77, 0x54, 0x71, 0x6E, 0x2B, 0x38, 0x9B, 0x3E, 0xA3, 0x3A, 0x35,
0x56, 0xA9, 0x18, 0xDB, 0x82, 0xBC, 0x69, 0xD1, 0xAB, 0xC7, 0xBA, 0x29, 0x88, 0x84, 0x9B, 0x40,
0x83, 0x8E, 0x7E, 0xD3, 0xD3, 0x99, 0xB9, 0x9F, 0x8B, 0x5A, 0x08, 0x4D, 0x38, 0xC8, 0x7C, 0xC4,
0x4F, 0xA2, 0xA0, 0x38, 0x5B, 0xF5, 0x37, 0x8C, 0xEA, 0x5C, 0xB2, 0xE9, 0x89, 0xB0, 0xA7, 0x57,
0x77, 0xB5, 0xF8, 0x62, 0x20, 0x1B, 0x8C, 0x71, 0xA0, 0xC5, 0xCB, 0x61, 0x9B, 0x21, 0x40, 0x8B,
0x2F, 0x5D, 0xE0, 0x10, 0x33, 0xC8, 0x3F, 0x19, 0xD8, 0x9C, 0x50, 0x8E, 0x3B, 0xFA, 0x43, 0xED,
0xFF, 0x00, 0x02, 0x3A, 0x03, 0x88, 0xC1, 0x2D, 0x00, 0x00
};

6
FW/src/html.h
View File

@@ -1,6 +0,0 @@
#pragma once
#include <Arduino.h>
//declare here, define in cpp to prevent multiple declarations
#define web_smars_html_gz_len 3098
extern const uint8_t web_smars_html_gz[] PROGMEM;

25
FW/src/main.cpp
View File

@@ -1,37 +1,22 @@
//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";
#include "controller.h"
void setup(void)
{
Serial.begin(115200);
delay(1000);
log_i("init hardware");
WiFi.mode(WIFI_STA);
WiFi.begin(ssid,pwd );
if (WiFi.waitForConnectResult() != WL_CONNECTED)
{
log_e("WiFi Failed! rebooting in 2sec");
delay(2000);
ESP.restart();
}
log_i("IP address: %s", WiFi.localIP().toString());
initOTA("MiniSkidi");
setup_controller();
setupmotors();
setup_webserver();
// setup_webserver();
}
void loop()
{
loop_webserver();
loopOTA();
loop_controller();
}

2
FW/src/motors.h
View File

@@ -20,6 +20,8 @@
#define BUCKETTIMER 10
#define MOTORLOGTIME 1000
struct MOTOR_PINS
{
int pinIN1;

52
FW/src/ota.cpp
View File

@@ -1,52 +0,0 @@
#include "ota.h"
void initOTA(const char* hostname)
{
while (WiFi.waitForConnectResult() != WL_CONNECTED) {
log_e("Connection Failed! Rebooting...");
delay(5000);
ESP.restart();
}
// Port defaults to 3232
// ArduinoOTA.setPort(3232);
// Hostname defaults to esp3232-[MAC]
ArduinoOTA.setHostname(hostname);
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()
log_i("Start updating %s", type);
})
.onEnd([]() {
log_i("End");
})
.onProgress([](unsigned int progress, unsigned int total) {
log_i("Progress: %u%%\r", (progress / (total / 100)));
})
.onError([](ota_error_t error) {
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();
log_i("OTA Ready");
}
void loopOTA() {
ArduinoOTA.handle();
}

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

95
FW/src/webserver.cpp
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@@ -1,95 +0,0 @@
#include "webserver.h"
using namespace websockets;
WebsocketsServer server;
AsyncWebServer webserver(80);
WebsocketsClient client;
#define PARAMCOUNT 4
// handle http messages
void handle_message(WebsocketsMessage msg) {
log_v("ws data received: %s", msg.data());
bool parsing = true;
int commaIndex=0, previndex=0;
std::vector<int> params;
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()
{
// 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);
}
uint32_t webservertimer = 0;
void loop_webserver()
{
if(millis() - webservertimer > WEBSERVER_LOOP)
{
if (client.available())
{
client.poll();
}
else
{
if(!server.available())
{
log_e("server not available");
}
log_w("client not available");
}
webservertimer = millis();
}
}

18
FW/src/webserver.h
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@@ -1,18 +0,0 @@
#pragma once
#include <Arduino.h>
#include "html.h"
#include "motors.h"
#include <ArduinoWebsockets.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>
#define WEBSERVER_LOOP 10
void loop_webserver();
void setup_webserver();

278
FW/web_smars.html
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@@ -1,278 +0,0 @@
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no" />
<meta charset="utf-8" />
<title>Mini Skidi</title>
<style>
/* #container {
width: 100%;
height: 49vh;
background-color: #333;
display: flex;
align-items: center;
justify-content: center;
overflow: hidden;
border-radius: 7px;
touch-action: none;
} */
#outerContainer {
display: flex;
height: 100vh;
justify-content: center;
align-items: center;
}
.le-stick {
width: 300px;
height: 300px;
}
/* #item {
width: 100px;
height: 100px;
background-color: rgb(245, 230, 99);
border: 10px solid rgba(136, 136, 136, 0.5);
border-radius: 50%;
touch-action: none;
user-select: none;
}
#item:active {
background-color: rgba(168, 218, 220, 1);
}
#item:hover {
cursor: pointer;
border-width: 20px;
}
#area {
position: fixed;
right: 0;
top: 0;
} */
</style>
<script type="text/javascript">
var JoyStick = function (t, e) {
var i = void 0 === (e = e || {}).title ? "joystick" : e.title,
n = void 0 === e.width ? 0 : e.width,
o = void 0 === e.height ? 0 : e.height,
h = void 0 === e.internalFillColor ? "#00AA00" : e.internalFillColor,
r = void 0 === e.internalLineWidth ? 2 : e.internalLineWidth,
d = void 0 === e.internalStrokeColor ? "#003300" : e.internalStrokeColor,
a = void 0 === e.externalLineWidth ? 2 : e.externalLineWidth,
l = void 0 === e.externalStrokeColor ? "#008000" : e.externalStrokeColor,
c = document.getElementById(t),
u = document.createElement("canvas");
(u.id = i), 0 == n && (n = c.clientWidth), 0 == o && (o = c.clientHeight), (u.width = n), (u.height = o), c.appendChild(u);
var s = u.getContext("2d"),
f = 0,
v = 2 * Math.PI,
g = (u.width - 110) / 2,
w = g + 5,
C = g + 30,
m = u.width / 2,
p = u.height / 2,
L = u.width / 10,
E = -1 * L,
S = u.height / 10,
k = -1 * S,
W = m,
G = p;
function x() {
s.beginPath(), s.arc(m, p, C, 0, v, !1), (s.lineWidth = a), (s.strokeStyle = l), s.stroke();
}
function y() {
s.beginPath(), W < g && (W = w), W + g > u.width && (W = u.width - w), G < g && (G = w), G + g > u.height && (G = u.height - w), s.arc(W, G, g, 0, v, !1);
var t = s.createRadialGradient(m, p, 5, m, p, 200);
t.addColorStop(0, h), t.addColorStop(1, d), (s.fillStyle = t), s.fill(), (s.lineWidth = r), (s.strokeStyle = d), s.stroke();
}
"ontouchstart" in document.documentElement
? (u.addEventListener(
"touchstart",
function (t) {
f = 1;
},
!1
),
u.addEventListener(
"touchmove",
function (t) {
t.preventDefault(), 1 == f && ((W = t.touches[0].pageX), (G = t.touches[0].pageY), (W -= u.offsetLeft), (G -= u.offsetTop), s.clearRect(0, 0, u.width, u.height), x(), y());
},
!1
),
u.addEventListener(
"touchend",
function (t) {
(f = 0), (W = m), (G = p), s.clearRect(0, 0, u.width, u.height), x(), y();
},
!1
))
: (u.addEventListener(
"mousedown",
function (t) {
f = 1;
},
!1
),
u.addEventListener(
"mousemove",
function (t) {
1 == f && ((W = t.pageX), (G = t.pageY), (W -= u.offsetLeft), (G -= u.offsetTop), s.clearRect(0, 0, u.width, u.height), x(), y());
},
!1
),
u.addEventListener(
"mouseup",
function (t) {
(f = 0), (W = m), (G = p), s.clearRect(0, 0, u.width, u.height), x(), y();
},
!1
)),
x(),
y(),
(this.GetWidth = function () {
return u.width;
}),
(this.GetHeight = function () {
return u.height;
}),
(this.GetPosX = function () {
return W;
}),
(this.GetPosY = function () {
return G;
}),
(this.GetX = function () {
return (((W - m) / w) * 100).toFixed();
}),
(this.GetY = function () {
return (((G - p) / w) * 100 * -1).toFixed();
}),
(this.GetDir = function () {
var t = "",
e = W - m,
i = G - p;
return i >= k && i <= S && (t = "C"), i < k && (t = "N"), i > S && (t = "S"), e < E && ("C" == t ? (t = "W") : (t += "W")), e > L && ("C" == t ? (t = "E") : (t += "E")), t;
});
};
</script>
</head>
<body>
<div id="outerContainer">
<!-- <div style="height: 40vh;"></div> -->
<div id="joyMove" class="le-stick" ></div>
<div id="joyBucket" class="le-stick"></div>
</div>
<script>
const view = document.getElementById("stream");
const WS_URL = "ws://" + window.location.host + ":82";
const ws = new WebSocket(WS_URL);
ws.onmessage = (message) => {
if (message.data instanceof Blob) {
var urlObject = URL.createObjectURL(message.data);
view.src = urlObject;
}
};
var lastText, lastSend, sendTimeout;
// limit sending to one message every 30 ms
// https://github.com/neonious/lowjs_esp32_examples/blob/master/neonious_one/cellphone_controlled_rc_car/www/index.html
function send(txt) {
var now = new Date().getTime();
if (lastSend === undefined || now - lastSend >= 30) {
try {
ws.send(txt);
lastSend = new Date().getTime();
return;
} catch (e) {
console.log(e);
}
}
lastText = txt;
if (!sendTimeout) {
var ms = lastSend !== undefined ? 30 - (now - lastSend) : 30;
if (ms < 0) ms = 0;
sendTimeout = setTimeout(() => {
sendTimeout = null;
send(lastText);
}, ms);
}
}
</script>
</body>
<script type="text/javascript">
// Create JoyStick object into the DIV 'joyDiv'
var move = new JoyStick("joyMove");
var bucket = new JoyStick("joyBucket")
// var inputPosX = document.getElementById("posizioneX");
// var inputPosY = document.getElementById("posizioneY");
// var direzione = document.getElementById("direzione");
// var fuerzaI = document.getElementById("fuerzaI");
// var fuerzaD = document.getElementById("fuerzaD");
// var x = document.getElementById("X");
// var y = document.getElementById("Y");
//Steering control program, based on :
// Differential Steering Joystick Algorithm
// by Calvin Hass
// https://www.impulseadventure.com/elec/
function getparams(MoveJoyX, MoveJoyY, bucketJoyX, bucketJoyY) {
var nMotMixL;
var nMotMixR;
var fPivYLimit = 32.0; //The threshold at which the pivot action starts
// This threshold is measured in units on the Y-axis
// away from the X-axis (Y=0). A greater value will assign
// more of the joystick's range to pivot actions.
// Allowable range: (0..+127)
// TEMP VARIABLES
var nMotPremixL; // Motor (left) premixed output (-128..+127)
var nMotPremixR; // Motor (right) premixed output (-128..+127)
var nPivSpeed; // Pivot Speed (-128..+127)
var fPivScale; // Balance scale b/w drive and pivot ( 0..1 )
// Calculate Drive Turn output due to Joystick X input
if (MoveJoyY >= 0) {
// Forward
nMotPremixL = MoveJoyX >= 0 ? 100.0 : 100.0 + parseFloat(MoveJoyX);
nMotPremixR = MoveJoyX >= 0 ? 100.0 - MoveJoyX : 100.0;
} else {
// Reverse
nMotPremixL = MoveJoyX >= 0 ? 100.0 - MoveJoyX : 100.0;
nMotPremixR = MoveJoyX >= 0 ? 100.0 : 100.0 + parseFloat(MoveJoyX);
}
// Scale Drive output due to Joystick Y input (throttle)
nMotPremixL = (nMotPremixL * MoveJoyY) / 100.0;
nMotPremixR = (nMotPremixR * MoveJoyY) / 100.0;
// Now calculate pivot amount
// - Strength of pivot (nPivSpeed) based on Joystick X input
// - Blending of pivot vs drive (fPivScale) based on Joystick Y input
nPivSpeed = MoveJoyX;
fPivScale = Math.abs(MoveJoyY) > fPivYLimit ? 0.0 : 1.0 - Math.abs(MoveJoyY) / fPivYLimit;
// Calculate final mix of Drive and Pivot
nMotMixL = (1.0 - fPivScale) * nMotPremixL + fPivScale * nPivSpeed;
nMotMixR = (1.0 - fPivScale) * nMotPremixR + fPivScale * -nPivSpeed;
return Math.round(nMotMixL * 2.55) + "," + Math.round(nMotMixR * 2.55) + "," + bucketJoyX + "," + bucketJoyY; // The function returns the product of p1 and p2
}
setInterval(function () {
send(getparams(move.GetX(), move.GetY(), bucket.GetX(), bucket.GetY()));
}, 300);
</script>
</html>