Commit ed718374 authored by Jonathan Glück's avatar Jonathan Glück

new version with webcontroller

parent 8575b1b1
Pipeline #117 passed with stages
in 1 minute and 7 seconds
......@@ -12,4 +12,6 @@
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed= 115200
#include "CodeRacer_MKII.h"
#include <ESP32Servo.h>
#include "esp32-hal-ledc.h"
#include <WiFi.h>
// Replace with your network credentials
const char* ssid = "WLAN-318091";
const char* password = "peter4004";
// Set web server port number to 80
WiFiServer server(80);
// Variable to store the HTTP request
String header;
// Auxiliar variables to store the current output state
String output32State= "off";
String output33State="off";
String output25State = "off";
String output27State = "off";
String output14State= "off";
String output12State= "off";
// Assign output variables to GPIO pins
const int output25 = 25;
const int output27 = 27;
const int output32=32;
const int output33= 33;
const int output14= 14;
const int output12= 12;
CodeRacerMKII Coderacer;
unsigned long Distance;
void setup() {
Coderacer.begin();
Serial.begin(115200);
// Initialize the output variables as outputs
pinMode(output25, OUTPUT);
pinMode(output27, OUTPUT);
pinMode(output32, OUTPUT);
pinMode(output33, OUTPUT);
pinMode(output14, OUTPUT);
pinMode(output12, OUTPUT);
// Set outputs to LOW
digitalWrite(output25, LOW);
digitalWrite(output27, LOW);
digitalWrite(output32, LOW);
digitalWrite(output33, LOW);
digitalWrite(output14, LOW);
digitalWrite(output12, LOW);
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
void loop(){
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If a new client connects,
Serial.println("New Client detected."); // print a message out in the serial port
String currentLine = ""; // make a String to hold incoming data from the client
while (client.connected()) { // loop while the client's connected
if (client.available()) { // if there's bytes to read from the client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
header += c;
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
// and a content-type so the client knows what's coming, then a blank line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println("Connection: close");
client.println();
// turns the GPIOs on and off
if (header.indexOf("GET /25/on") >= 0) {
Serial.println("GPIO 25 on");
output25State = "on";
digitalWrite(output25, HIGH);
} else if (header.indexOf("GET /25/off") >= 0) {
Serial.println("GPIO 25 off");
output25State = "off";
digitalWrite(output25, LOW);
} else if (header.indexOf("GET /27/on") >= 0) {
Serial.println("GPIO 27 on");
output27State = "on";
digitalWrite(output27, HIGH);
} else if (header.indexOf("GET /27/off") >= 0) {
Serial.println("GPIO 27 off");
output27State = "off";
digitalWrite(output27, LOW);
} else if(header.indexOf("GET /32/off") >=0) {
Serial.println("GPIO 32 off");
output32State= "off";
digitalWrite(output32, LOW);
} else if(header.indexOf("GET /32/on") >=0) {
Serial.println("GPIO 32 on");
output32State= "on";
digitalWrite(output32, HIGH);
} else if (header.indexOf("GET /33/on") >= 0) {
Serial.println("GPIO 33 on");
output33State = "on";
digitalWrite(output33, HIGH);
} else if (header.indexOf("GET /33/off") >= 0) {
Serial.println("GPIO 33 off");
output33State = "off";
digitalWrite(output33, LOW);
} else if (header.indexOf("GET /MeasureDistance") >=0) {
Distance= Coderacer.usonic_measure_cm();
} else if (header.indexOf("GET /DriveForward") >=0) {
Serial.printf("header: '%s'\n", header.c_str());
if(header.indexOf("=") >=0) {int Position= header.indexOf("=");
String Substring= header.substring(Position+1);
int iSpeed= Substring.toInt();
Coderacer.speed_settings(iSpeed, iSpeed);
Coderacer.servo_set_position_wait(iSpeed);
}
//Coderacer.drive_forward();
} else if(header.indexOf("GET /DriveBackward") >=0) {
Coderacer.drive_backward();
}
// Display the HTML web page
client.println("<!DOCTYPE html><html>");
client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
client.println("<link rel=\"icon\" href=\"data:,\">");
// CSS to style the on/off buttons
// Feel free to change the background-color and font-size attributes to fit your preferences
client.println("<style>html { font-family: Impact; display: inline-block; margin: 0px auto; text-align: left;}");
client.println(".outmsg {background-color: #FFFFFF; border: 2px solid black; color: black; padding: 10px 10px;");
client.println("text-decoration: none; font-size: 30px; margin: 15px; cursor: pointer;}");
client.println(".button {background-color: #4CAF50; border: none; color: white; padding: 10px 10px;");
client.println("text-decoration: none; font-size: 30px; margin: 15px; cursor: pointer;}");
client.println(".button2 {background-color: #555555;}</style></head>");
// Web Page Heading
client.println("<body><h1>ESP32 Web Server</h1>");
client.println("<p>GPIO 32 - State " + output32State );
// If the output27State is off, it displays the ON button
if (output32State=="off") {
client.println("<a href=\"/32/on\"><button class=\"button\">OFF</button></a>");
} else {
client.println("<a href=\"/32/off\"><button class=\"button button2\">ON</button></a>");
}
client.println("GPIO 33 - State " + output33State );
// If the output27State is off, it displays the ON button
if (output33State=="off") {
client.println("<a href=\"/33/on\"><button class=\"button\">OFF</button></a></p>");
} else {
client.println("<a href=\"/33/off\"><button class=\"button button2\">ON</button></a></p>");
}
// Display current state, and ON/OFF buttons for GPIO 26
client.println("<p>GPIO 25 - State " + output25State );
// If the output26State is off, it displays the ON button
if (output25State=="off") {
client.println("<a href=\"/25/on\"><button class=\"button\">OFF</button></a>");
} else {
client.println("<a href=\"/25/off\"><button class=\"button button2\">ON</button></a>");
}
// Display current state, and ON/OFF buttons for GPIO 27
client.println("GPIO 27 - State " + output27State );
// If the output27State is off, it displays the ON button
if (output27State=="off") {
client.println("<a href=\"/27/on\"><button class=\"button\">OFF</button></a></p>");
} else {
client.println("<a href=\"/27/off\"><button class=\"button button2\">ON</button></a></p>");
}
client.println("<p><a href=\"/MeasureDistance\"><button class=\"button\">Measure Distance</button></a>");
client.printf("<button class=\"outmsg\">%li</button></p>", Distance);
client.println("<p><a href=\"/DriveForward\"><button class=\"button\">Drive Forward</button></a>");
client.println("<a href=\"/DriveBackward\"><button class=\"button\">Drive Backward</button></a>");
client.println("<form action=\"http://192.168.2.107/DriveForward/\">");
client.println("<p><label for=\"q\">Set Speed</label>");
client.println("<input id=\"q\" name=\"Speed\" aria-label=\"Set Speed\" placeholder=\"Enter value\">");
client.println("<button >Submit</button>");
client.println("</body></html>");
// The HTTP response ends with another blank line
client.println();
// Break out of the while loop
break;
} else { // if you got a newline, then clear currentLine
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return character,
currentLine += c; // add it to the end of the currentLine
}
}
}
// Clear the header variable
header = "";
// Close the connection
client.stop();
Serial.println("Client disconnected.");
Serial.println("");
}
}
\ No newline at end of file
......@@ -37,7 +37,7 @@ const bool RIGHT = false;
const unsigned int IN_MAX = 255;
//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup() {
void setup1() {
// Monitor
Serial.begin(9600); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.
......@@ -58,7 +58,7 @@ void setup() {
}
//---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert
void loop()
void loop1()
{
bool started = false;
while(coderacer.start_stop()== 1)
......
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