From cc800aca1d3df3aa60334a3dc1aa4392c058461e Mon Sep 17 00:00:00 2001 From: Willem Oldemans Date: Sat, 22 Jun 2024 10:48:05 +0200 Subject: [PATCH] added xbox controller, missing bucket tilt --- FW/platformio.ini | 7 +- FW/src/Motors.cpp | 24 ++-- FW/src/controller.cpp | 65 ++++++++++ FW/src/controller.h | 10 ++ FW/src/html.cpp | 200 ------------------------------ FW/src/html.h | 6 - FW/src/main.cpp | 25 +--- FW/src/motors.h | 2 + FW/src/ota.cpp | 52 -------- FW/src/ota.h | 9 -- FW/src/webserver.cpp | 95 --------------- FW/src/webserver.h | 18 --- FW/web_smars.html | 278 ------------------------------------------ 13 files changed, 101 insertions(+), 690 deletions(-) create mode 100644 FW/src/controller.cpp create mode 100644 FW/src/controller.h delete mode 100644 FW/src/html.cpp delete mode 100644 FW/src/html.h delete mode 100644 FW/src/ota.cpp delete mode 100644 FW/src/ota.h delete mode 100644 FW/src/webserver.cpp delete mode 100644 FW/src/webserver.h delete mode 100644 FW/web_smars.html diff --git a/FW/platformio.ini b/FW/platformio.ini index 47fa8d2..99691d8 100644 --- a/FW/platformio.ini +++ b/FW/platformio.ini @@ -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 diff --git a/FW/src/Motors.cpp b/FW/src/Motors.cpp index 36b9755..978c037 100644 --- a/FW/src/Motors.cpp +++ b/FW/src/Motors.cpp @@ -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); } diff --git a/FW/src/controller.cpp b/FW/src/controller.cpp new file mode 100644 index 0000000..aa06caf --- /dev/null +++ b/FW/src/controller.cpp @@ -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); +} \ No newline at end of file diff --git a/FW/src/controller.h b/FW/src/controller.h new file mode 100644 index 0000000..c5ff4d6 --- /dev/null +++ b/FW/src/controller.h @@ -0,0 +1,10 @@ +#include "Arduino.h" +#include +#include "motors.h" + +#define CONTROLLERNOTIFY 1000 + +void setup_controller(); +void loop_controller(); +void handle_notify(int motR, int motL, int motArm, int bucket); + diff --git a/FW/src/html.cpp b/FW/src/html.cpp deleted file mode 100644 index 4af4b57..0000000 --- a/FW/src/html.cpp +++ /dev/null @@ -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, 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0x10, 0x33, 0xC8, 0x3F, 0x19, 0xD8, 0x9C, 0x50, 0x8E, 0x3B, 0xFA, 0x43, 0xED, -0xFF, 0x00, 0x02, 0x3A, 0x03, 0x88, 0xC1, 0x2D, 0x00, 0x00 -}; \ No newline at end of file diff --git a/FW/src/html.h b/FW/src/html.h deleted file mode 100644 index 08283ec..0000000 --- a/FW/src/html.h +++ /dev/null @@ -1,6 +0,0 @@ -#pragma once - -#include -//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; diff --git a/FW/src/main.cpp b/FW/src/main.cpp index 130b48b..91a8285 100644 --- a/FW/src/main.cpp +++ b/FW/src/main.cpp @@ -1,37 +1,22 @@ //make sure to upload with ESP32 Dev Module selected as the board under tools>Board>ESP32 Arduino #include -#include #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(); } \ No newline at end of file diff --git a/FW/src/motors.h b/FW/src/motors.h index a670139..26362b2 100644 --- a/FW/src/motors.h +++ b/FW/src/motors.h @@ -20,6 +20,8 @@ #define BUCKETTIMER 10 +#define MOTORLOGTIME 1000 + struct MOTOR_PINS { int pinIN1; diff --git a/FW/src/ota.cpp b/FW/src/ota.cpp deleted file mode 100644 index 5bf8ff9..0000000 --- a/FW/src/ota.cpp +++ /dev/null @@ -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(); -} \ No newline at end of file diff --git a/FW/src/ota.h b/FW/src/ota.h deleted file mode 100644 index 85af1ed..0000000 --- a/FW/src/ota.h +++ /dev/null @@ -1,9 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -void initOTA(const char* hostname); -void loopOTA(); \ No newline at end of file diff --git a/FW/src/webserver.cpp b/FW/src/webserver.cpp deleted file mode 100644 index 5315643..0000000 --- a/FW/src/webserver.cpp +++ /dev/null @@ -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 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(); - } - -} \ No newline at end of file diff --git a/FW/src/webserver.h b/FW/src/webserver.h deleted file mode 100644 index 804ada5..0000000 --- a/FW/src/webserver.h +++ /dev/null @@ -1,18 +0,0 @@ -#pragma once - -#include -#include "html.h" -#include "motors.h" - -#include -#include -#include - -#include -#include - -#define WEBSERVER_LOOP 10 - -void loop_webserver(); -void setup_webserver(); - diff --git a/FW/web_smars.html b/FW/web_smars.html deleted file mode 100644 index 9e08dfd..0000000 --- a/FW/web_smars.html +++ /dev/null @@ -1,278 +0,0 @@ - - - - - - - - Mini Skidi - - - - - - - -
- -
-
-
- - - - - -