From c69acef5ef9b128df61026ce4f7336f00a23c4c7 Mon Sep 17 00:00:00 2001 From: jglueck Date: Fri, 21 Aug 2020 11:21:29 +0200 Subject: [PATCH] BRAND new version of CodeRacerMKII including asynchronous webserver --- .../lib/CodeRacer_MKII/CodeRacer_MKII.cpp | 158 +++++++++---- .../lib/CodeRacer_MKII/CodeRacer_MKII.h | 21 +- .../lib/CodeRacer_MKII/Webserver.cpp | 129 ++++++++++ .../lib/CodeRacer_MKII/Webserver.h | 148 ++++++++++++ .../coderacer_mkII_beispiel.ino | 10 +- .../coderacer_mkII/src/Webcontroller_main.cpp | 220 ++---------------- vsode/coderacer_mkII/src/coderacer_main.cpp | 10 +- 7 files changed, 434 insertions(+), 262 deletions(-) create mode 100644 vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.cpp create mode 100644 vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.h diff --git a/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp b/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp index 3dce5a4..9e7b15b 100644 --- a/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp +++ b/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp @@ -11,20 +11,22 @@ static volatile unsigned int left_step_counter=0; static volatile unsigned int left_step_stopcount=0; static volatile unsigned int right_step_counter=0; static volatile unsigned int right_step_stopcount=0; -static volatile bool syncstop= 0; +static volatile bool syncstop= true; static volatile bool _drive; static volatile float timebeforeleft= 0; static volatile float timebeforeright= 0; static volatile float timeafterleft= 0; static volatile float timeafterright= 0; -static volatile bool obstacle_stop= false; +static volatile bool obstacle_stop= true; static volatile bool obstacle_left_side= false; static volatile bool obstacle_right_side= false; static volatile bool coderracer_activ = false; static volatile bool right_button_pressed =false; static volatile unsigned int right_button_count=0; +static volatile unsigned int driven_distance= 0; static volatile unsigned long left_button_last_pressed_at_ms = millis(); static volatile unsigned long right_button_last_pressed_at_ms = millis(); +static String debug_message= ""; /** @brief CodeRace constructor without pins. All pins settings taken from the coderacer header file @@ -102,6 +104,7 @@ CodeRacerMKII::CodeRacerMKII(uint8_t button_pin_left , uint8_t button_pin_right, _led_right_pin = led_right_pin; _led_blue_pin = led_blue_pin; _led_white_pin= led_white_pin; + } /** @brief Initialisation of all attributes and settings of the coderacer. Defaults are taken from the header file. @@ -191,7 +194,7 @@ void CodeRacerMKII::begin() { pinMode(_led_blue_pin, OUTPUT); pinMode(_led_white_pin, OUTPUT); set_leds_all_off(); - + // Button & -interrupt left_button_last_pressed_at_ms = 0; right_button_last_pressed_at_ms = 0; @@ -204,7 +207,11 @@ void CodeRacerMKII::begin() { randomSeed(analogRead(0)); //fun stuff - coderacer_fun_enabled = false; + coderacer_fun_enabled = true; + servo_set_to_center(); + + //the Debug string for webserver + } //************************************** @@ -217,7 +224,7 @@ void CodeRacerMKII::begin() { * @{ */ -/** @brief Stops the racer and sets status LEDs. +/** @brief Stops the racer. * @return nothing */ void CodeRacerMKII::stop_driving() { @@ -225,7 +232,7 @@ void CodeRacerMKII::stop_driving() { _drive = false; global_stop_driving(); //set_drives_stop_left_right(); - //set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF); + //set_leds(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF); } /** @brief Sets the speed and the directions of both drives so that it will move forward. @@ -249,10 +256,20 @@ void CodeRacerMKII::drive_forward(uint8_t left_speed, uint8_t right_speed) { set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD); set_drives_speed_left_right(left_speed, right_speed); - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF); + wifi_printf("Driving forward..."); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF); _drive = true; _drive_set_at_ms = millis(); } +/** @brief tells the Coderacer to drive forward for a specified amount of time and stop afterwards + * @param time time in ms the coderacer will drive + * @return nothing + */ +void CodeRacerMKII::drive_forward_for_ms(unsigned long time ){ + drive_forward(); + wait_ms(time); + stop_driving(); +} /** @brief Sets the speed and the directions of both drives so that it will move backward. * @@ -275,11 +292,22 @@ void CodeRacerMKII::drive_backward(uint8_t left_speed, uint8_t right_speed) { set_drives_states_left_right(DRIVEBACK, DRIVEBACK); set_drives_speed_left_right(left_speed, right_speed); - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF); + wifi_printf("Driving Backwards..."); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF); _drive = true; _drive_set_at_ms = millis(); } +/** @brief tells the Coderacer to drive backward for a specified amount of time and stop afterwards + * @param time time in ms the coderacer will drive + * @return nothing + */ +void CodeRacerMKII::drive_backward_for_ms(unsigned long time){ + drive_backward(); + wait_ms(time); + stop_driving(); +} + /** @brief Will turn the racer to the left for the internally stroe time in ms and with the internally stored speed. * * The speed for both the left side and right side drive can be set by the methods described in the lower level drive section. The turn to left time can be set by thoose methods as well. @@ -291,7 +319,7 @@ void CodeRacerMKII::turn_left() turn_left(_turn_left_for_ms, _drive_left_speed, _drive_right_speed); } -/** @brief Will turn the racer to the left for the specified time in ms and with the internally stored speed. +/** @brief Will turn the racer to the left for a specified time in ms and with the internally stored speed. * * The specified duration of time is stored internally and will be used next time by e.g. turn_left() * @param turn_for_ms duration of time in ms to turn the racer @@ -313,17 +341,19 @@ void CodeRacerMKII::turn_left(unsigned long turn_for_ms) void CodeRacerMKII::turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed) { _drive = false; - set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen + set_leds(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen set_drives_states_left_right(DRIVEBACK, DRIVEFRWD); + set_drives_speed_left_right(left_speed, right_speed); + wifi_printf("Turning left!

"); // wait set delay for the timed turn _turn_left_for_ms = turn_for_ms; - delay(_turn_left_for_ms); + wait_ms(_turn_left_for_ms); // stop drives again - set_drives_stop_left_right(); + global_stop_driving(); } -/** @brief Will turn the racer to the right for the internally stroe time in ms and with the internally stored speed. +/** @brief Will turn the racer to the right for the internally stored time in ms and with the internally stored speed. * * The speed for both the left side and right side drive can be set by the methods described in the lower level drive section. The turn to right time can be set by thoose methods as well. * The method is delayed until the racer has turned. @@ -356,17 +386,18 @@ void CodeRacerMKII::turn_right(unsigned long turn_for_ms) void CodeRacerMKII::turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed) { _drive = false; - set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen + set_leds(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen set_drives_states_left_right(DRIVEFRWD, DRIVEBACK); set_drives_speed_left_right(left_speed, right_speed); + wifi_printf("Turning right!

"); // wait set delay for the timed turn _turn_right_for_ms = turn_for_ms; - delay(_turn_right_for_ms); + wait_ms(_turn_right_for_ms); // stop drives again - set_drives_stop_left_right(); + global_stop_driving(); } -/** @brief Enables to stopp the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance. +/** @brief Enables to stop the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance. * * This allow all of the none-single shot ultra sonic measurement methods to stopp the racer in the case the measured distance is smaller than minimal distance. This is just the enablement - you have to call one of the none-single-shot ultra sonic measurement methods continously while driving and maybe sweeping the servo. * If the racer was stopped can be checked with stopped_at_min_distance() - it will return true in that case. @@ -430,6 +461,22 @@ bool CodeRacerMKII::start_stop() { return(_coderracer_activ); } +/** @brief Returns the current message saved in debug_message. Is called every 750ms in an AJAX event on the webserver. +* @return debug_message +*/ +String CodeRacerMKII::wifi_printf(){ + + return debug_message; +} +/** @brief Almost the same as wifi_printf(), but with a specified message to send to the webserver. can be used to send custom messages for debugging. +* @param Content the message specified by user +* @return debug_message +*/ +String CodeRacerMKII::wifi_printf(String Content){ + debug_message= Content; + return debug_message; + +} /** @} */ // end of group higherlevelmeths /** @defgroup higherlevelgetters Getters and setters * @{ @@ -516,8 +563,7 @@ unsigned int CodeRacerMKII::button_count() { * @return driven_distance */ unsigned int CodeRacerMKII::show_distance_mm(){ - int driven_distance; - driven_distance= left_step_counter*DISTANCE_PER_TICK_MM; + driven_distance= ((left_step_counter*DISTANCE_PER_TICK_MM)+ (right_step_counter*DISTANCE_PER_TICK_MM))/2; return driven_distance; } /** @brief returns the current stepcount of the PE barrier of the left wheel @@ -601,25 +647,25 @@ void CodeRacerMKII::kitt() _last_led_on = _last_led_on + _led_count; switch (_last_led_on) { case 0: - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); break; case 1: - set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); + set_leds(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); break; case 2: - set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); + set_leds(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); break; case 3: - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF); + set_leds(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF); break; case 4: - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF); break; case 5: - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF); break; case 6: - set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON); + set_leds(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON); } } } @@ -848,7 +894,7 @@ uint8_t CodeRacerMKII::servo_set_position_wait(uint8_t position) { _servo_sweep = false; unsigned long wait_time_ms = _servo_set_position(position); - delay(wait_time_ms); + wait_ms(wait_time_ms); return(_servo_position); } @@ -1165,14 +1211,19 @@ void CodeRacerMKII::drives_settings(uint8_t drive_left_speed, uint8_t drive_righ _turn_left_for_ms = turn_left_for_ms; _turn_right_for_ms = turn_right_for_ms; } - -/** @brief Stopps both drives +/** @brief "Resets" the Racer. In detail, stops driving as well as setting both step counters to 0. The variable for the distance driven also gets set to 0, + * speed settings are reverted to their default (128), if a change to them has been made. Finally, the servo gets set to the center. * @return nothing */ -void CodeRacerMKII::set_drives_stop_left_right() { - set_drive_left_state(DRIVESTOP); - set_drive_right_state(DRIVESTOP); -} +void CodeRacerMKII::Reset_Stats(){ + global_stop_driving(); + left_step_counter=0; + right_step_counter=0; + driven_distance=0; + speed_settings(128, 128); + servo_set_to_center(); + wifi_printf("Resetted stats."); +} /** @brief Sets both of the drives to a specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) * @param stateleft drivestate to set for the left side drive @@ -1336,7 +1387,7 @@ void CodeRacerMKII::drive_ticks(unsigned int tickleft, unsigned int tickright){ * @return nothing */ void CodeRacerMKII::turn_degree(int degree){ - // sets thhe drive states for both wheels and by that the direction the racer will turn. + // sets the drive states for both wheels and by that the direction the racer will turn. if(degree>0) { set_drives_states_left_right(DRIVEFRWD, DRIVEBACK); @@ -1346,13 +1397,15 @@ void CodeRacerMKII::turn_degree(int degree){ set_drives_states_left_right(DRIVEBACK, DRIVEFRWD); degree= abs(degree); } - else set_drives_states_left_right(DRIVESTOP, DRIVESTOP); + else {set_drives_states_left_right(DRIVESTOP, DRIVESTOP);} // calculates the number of ticks for both wheels and tells the racer to drive with the internally stored driving speed int Ticks= degree*TICKS_OF_ONE_DEGREE; drive_ticks_left(Ticks, false); drive_ticks_right(Ticks, false); set_drives_speed_left_right(_drive_left_speed, _drive_right_speed); _drive= true; + while(true==is_driving()){} + } /** @brief tells the coderacer to drive a specified number of ticks for the left wheel. * @param Ticks number of ticks @@ -1402,6 +1455,7 @@ void CodeRacerMKII::drive_distance_right_mm(int distance_mm){ * @return true or false if an obstacle has been identified */ bool CodeRacerMKII::obstacle_check_left_right(){ + //still needs a bit of fine tuning... currently, using digitalRead(), the infrared sensors can only "see" obstacles within 1cm in front of them. if((true== obstacle_check_left()) || (true== obstacle_check_right())) { return true; @@ -1424,7 +1478,7 @@ bool CodeRacerMKII::obstacle_check_right(){ * @return true if voltage is present, false if not */ bool CodeRacerMKII::obstacle_check(uint8_t sensorpin) { - if (true== digitalRead(sensorpin)) { + if (digitalRead(sensorpin)== HIGH) { return true; } else {return false;} @@ -1453,7 +1507,7 @@ bool CodeRacerMKII::obstacle_check(uint8_t sensorpin) { * @param whiteled set state of white LED * @return nothing */ -void CodeRacerMKII::set_leds_left_stop_frwd_right(ledstate leftled, ledstate rightled, ledstate stopled, ledstate frwrdled, ledstate blueled, ledstate whiteled) { +void CodeRacerMKII::set_leds(ledstate leftled, ledstate rightled, ledstate stopled, ledstate frwrdled, ledstate blueled, ledstate whiteled) { digitalWrite(_led_left_pin, leftled); digitalWrite(_led_right_pin, rightled); digitalWrite(_led_stop_pin, stopled); @@ -1520,6 +1574,7 @@ static void IRAM_ATTR global_stop_driving(){ { ledcWrite(DRIVE_PWM_LEFT_CHANNEL, 0); } + debug_message+="Stopped."; digitalWrite(H_LED_RIGHT_PIN, LOW); digitalWrite(H_LED_LEFT_PIN, LOW); digitalWrite(H_LED_STOP_PIN, HIGH); @@ -1527,13 +1582,19 @@ static void IRAM_ATTR global_stop_driving(){ digitalWrite(H_LED_BLUE_PIN, LOW); digitalWrite(H_LED_WHITE_PIN, LOW); _drive= false; + digitalWrite(H_LED_RIGHT_PIN, LOW); + digitalWrite(H_LED_LEFT_PIN, LOW); + digitalWrite(H_LED_STOP_PIN, LOW); + digitalWrite(H_LED_FRWD_PIN, LOW); + digitalWrite(H_LED_BLUE_PIN, LOW); + digitalWrite(H_LED_WHITE_PIN, LOW); } /** @brief this routine is called each time the left PE barrier changes its state. it increments (and by that counts) the ticks driven by the left wheel and is also instructed to stop the racer if the stopcount set by drive_ticks() is reached using the global_stop_driving() routine * @return nothing */ static void IRAM_ATTR _count_steps_left() { - timeafterleft= millis(); - timebeforeleft = timebeforeleft == 0 ? timeafterleft : timebeforeleft; + //timeafterleft= millis(); + //timebeforeleft = timebeforeleft == 0 ? timeafterleft : timebeforeleft; left_step_counter++; if (left_step_counter==left_step_stopcount) { @@ -1541,13 +1602,15 @@ static void IRAM_ATTR _count_steps_left() { left_step_stopcount= 0; right_step_stopcount=0; } + } /** @brief this routine is called each time the left PE barrier changes its state. it increments (and by that counts) the ticks driven by the right wheel and is also instructed to stop the racer if the stopcount set by drive_ticks() is reached using the global_stop_driving() routine * @return nothing */ static void IRAM_ATTR _count_steps_right() { - timeafterright= millis(); - timebeforeright = timebeforeright == 0 ? timeafterright : timebeforeright; + + //timeafterright= millis(); + //timebeforeright = timebeforeright == 0 ? timeafterright : timebeforeright; right_step_counter++; if (right_step_counter==right_step_stopcount) { @@ -1556,13 +1619,15 @@ static void IRAM_ATTR _count_steps_right() { right_step_stopcount=0; } + } /** @brief this routine is called each time the left infrared sensor changes its state. it sets the boolean variable obstacle_left_side to true/false and, if obstacle_stop is enabled, also stops the racer using global_stop_driving() * @return nothing */ void IRAM_ATTR CodeRacerMKII::_stop_obstacle_left(){ - if(HIGH== digitalRead(H_INFRARED_SENSOR_LEFT)){ - if(1==obstacle_stop){ + + if(LOW== digitalRead(H_INFRARED_SENSOR_LEFT)){ + if(true==obstacle_stop){ global_stop_driving(); } obstacle_left_side=true; @@ -1573,6 +1638,7 @@ void IRAM_ATTR CodeRacerMKII::_stop_obstacle_left(){ * @return nothing */ void IRAM_ATTR CodeRacerMKII::_stop_obstacle_right(){ + if(HIGH== digitalRead(H_INFRARED_SENSOR_RIGHT)){ if(1==obstacle_stop){ global_stop_driving(); @@ -1589,8 +1655,14 @@ void IRAM_ATTR CodeRacerMKII::_stop_obstacle_right(){ //** Helper methods //********************************************************************************************************************** +/** @brief an issue with delay() is, that it stops the processor of the ESP32 completely for the waiting time and with this the interrupt routines for the stepcounters. Wait_ms() basically does the same just without the + * freezing of the prozedures. PREFER OVER DELAY()!! + * @param waittime_ms the time you want to wait- in ms +* @return nothing +*/ void wait_ms(long waittime_ms) { long started_ms = millis(); while(millis()-started_ms < waittime_ms){} } + diff --git a/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h b/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h index e1ce099..cfe1f98 100644 --- a/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h +++ b/vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h @@ -3,6 +3,7 @@ #include // Servo drive support for ESP32 #include "esp32-hal-ledc.h" // Part of ESP32 board files - Analog output #include "BluetoothSerial.h" // Bluetooth enablement - part of ESP or standart Arduino lib +#include "Webserver.h" #include // support for vectors #include @@ -14,7 +15,7 @@ #define __CodeRacer_MKII_H__ //----- Fun stuff --------- -#define FUN_MIN_PAUSE_MS 120000 // minimum and maximum pause between to rounds fun +#define FUN_MIN_PAUSE_MS 120000 // minimum and maximum pause between two rounds fun #define FUN_MAX_PAUSE_MS 300000 #define LED_SWITCH_MS 50 // speed of knight rider lights //----- Button ------------ @@ -80,8 +81,11 @@ #define H_LED_BLUE_PIN 14 #define H_LED_WHITE_PIN 12 +#define H_VSUPPLY 26 + using namespace std; +// Use this method instead of delay() to avoid conflicts with the interrupt routines void wait_ms(long waittime_ms); enum ledstate { @@ -95,7 +99,7 @@ enum drivestate { DRIVEBACK }; -//--- this is as preparation of the class creation +//--- this is a preparation of the class creation class CodeRacerMKII { private: @@ -170,6 +174,7 @@ class CodeRacerMKII { static void _stop_obstacle_right(); void _analog_write(uint8_t pin, uint8_t speed); unsigned long _servo_set_position(uint8_t position); + public: //properties @@ -228,8 +233,10 @@ class CodeRacerMKII { void stop_driving(); void drive_forward(); void drive_forward(uint8_t left_speed, uint8_t right_speed); + void drive_forward_for_ms(unsigned long time); void drive_backward(); void drive_backward(uint8_t left_speed, uint8_t right_speed); + void drive_backward_for_ms(unsigned long time); void turn_left(); void turn_left(unsigned long turn_for_ms); void turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed); @@ -242,6 +249,10 @@ class CodeRacerMKII { void stop_stop_at_min_distance(); bool start_stop(); + //Wifi Debug methods + String wifi_printf(); + String wifi_printf(String Content); + // Bluetooth void bt_enable_stopOnLostConnection(); @@ -256,7 +267,7 @@ class CodeRacerMKII { void bt_removeStringFromIgnoreList(String stringtoignore); // LEDs - void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled, ledstate blueled, ledstate whiteled); + void set_leds(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled, ledstate blueled, ledstate whiteled); void set_leds_all(ledstate alleds); void set_leds_all_off(); void set_leds_all_on(); @@ -264,6 +275,7 @@ class CodeRacerMKII { // Drives void speed_settings(uint8_t drive_left_speed, uint8_t drive_right_speed); void drives_settings(uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_ms, unsigned long turn_right_ms); + void Reset_Stats(); void set_drives_states_left_right(drivestate stateleft, drivestate stateright); void set_drive_left_state(drivestate state); void set_drive_right_state(drivestate state); @@ -274,7 +286,6 @@ class CodeRacerMKII { void set_drive_left_speed(uint8_t speed); void set_drive_right_speed(uint8_t speed); void set_drive_speed(uint8_t speed, uint8_t enablepin); - void set_drives_stop_left_right(); void drive_turns(unsigned int turnsleft, unsigned int turnsright); void drive_ticks(unsigned int tickleft, unsigned int tickright); void turn_degree(int degree); @@ -316,7 +327,7 @@ class CodeRacerMKII { }; - +extern CodeRacerMKII Coderacer; #endif diff --git a/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.cpp b/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.cpp new file mode 100644 index 0000000..f21e194 --- /dev/null +++ b/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.cpp @@ -0,0 +1,129 @@ +#include "Webserver.h" +/** @brief Constructor for the webserver +* @param ssid Network SSID +* @param password password of the network the CodeRacer is connected to +* @return nothing +*/ +Codeserver::Codeserver(char *ssid, char *password){ + Ssid= ssid; + Password= password; +} + +/** @brief Sends an error if no valid answer to a GET request has been found +*/ +void notFound(AsyncWebServerRequest *request) { + request->send(404, "text/plain", "Not found"); +} + +/** @brief The bread-and-butter-routine of the webserver. Connects to a Wifi network with the SSID and password defined by the constructor. Contains various routines + * telling the server what to do if a GET request comes in by the client. You can add events using server.on() here to call routines of the CodeRacer. +*/ +void Codeserver::Run(){ + //Connecting to Wifi network + Serial.print("Connecting to"); + Serial.println(Ssid); + WiFi.begin(Ssid, Password); + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + Serial.println(""); + Coderacer.wifi_printf("WiFi connected."); + Serial.println("IP address: "); + Serial.println(WiFi.localIP()); + + + + // Definition for events triggered by the GET request of the client + server.on("/", HTTP_GET, [] (AsyncWebServerRequest *request){ + String message; + request->send(200, "text/html", String(indexHTML)); + Serial.printf("Webpage sent\n"); + }); + + server.on("/DriveForward", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.drive_forward(); + request->send(200, "text/plain", "Hello world"); + }); + + server.on("/DriveBackward", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.drive_backward(); + request->send(200, "text/plain", "Hello, world"); + }); + + server.on("/StopDriving", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.stop_driving(); + request->send(200, "text/plain", "Hello, world"); + }); + + server.on("/TurnLeft", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.turn_left(); + request->send(200, "text/plain", "Hello, world"); + }); + + server.on("/TurnRight", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.turn_right(); + request->send(200, "text/plain", "Hello, world"); + }); + + server.on("/ResetTable", HTTP_GET, [] (AsyncWebServerRequest *request){ + Coderacer.Reset_Stats(); + request->send(200, "text/plain", "Hello, world"); + }); + + server.on("/SetSpeed", HTTP_GET, [] (AsyncWebServerRequest *request){ + String Message; + if(request->hasParam("speed")) + { + Message= request->getParam("speed")->value(); + Coderacer.speed_settings(Message.toInt(), Message.toInt()); + Serial.printf("New Speed: %s", Message.c_str()); + } + else { + request->send(200, "text/plain", "No speed sent"); + } + request->send(200, "text/plain", "OK"); + }); + + // Returns the many values contained by the table on the website via query string. + // Notice how before this routine ends, the debug_message variable on the Coderacer is resetted to avoid memory overflow. + server.on("/Values", HTTP_GET, [] (AsyncWebServerRequest *request){ + String Message= ""; + + int leftsteps= Coderacer.show_left_stepcounter(); + int leftspeed= Coderacer.drive_left_speed(); + int distance= Coderacer.usonic_measure_single_shot_cm(); + int drivendistancemm= Coderacer.show_distance_mm(); + int rightsteps= Coderacer.show_right_stepcounter(); + int rightspeed= Coderacer.drive_right_speed(); + int servodegree= Coderacer.servo_position(); + float drivendistancem= (float)drivendistancemm/1000.0; + String Text=Coderacer.wifi_printf(); + request->send(200, "text/plain", Message+"?"+"leftstep="+leftsteps+"&leftspeed="+leftspeed+"&distance="+distance+"&DistanceMM="+drivendistancemm+"&rightstep="+rightsteps+"&rightspeed="+rightspeed+"&ServoPosition="+servodegree+"&DistanceM="+drivendistancem+"&TheMessage="+Text); + Coderacer.wifi_printf(""); + }); + + server.on("/TurnServo", HTTP_GET, [] (AsyncWebServerRequest *request){ + String message; + if(request->hasParam("degree")) + { + message= request->getParam("degree")->value(); + Coderacer.servo_set_position_wait(message.toInt()); + Serial.printf("New Servo Position: %s", message.c_str()); + } else { + message= "No Servo message sent."; + } + request->send(200, "text/plain", "HELLO, Post"+ message); + }); + + // Sends an error if no valid answer has been found + server.onNotFound(notFound); + + // At least, initializes the asynchronous webserver + server.begin(); + +} + + + + diff --git a/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.h b/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.h new file mode 100644 index 0000000..07699a3 --- /dev/null +++ b/vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.h @@ -0,0 +1,148 @@ +// Necessary to avoid multiple includes of this header +#ifndef __CodeRacer_WEBSERVER_H__ +#define __CodeRacer_WEBSERVER_H__ +#include "CodeRacer_MKII.h" +#include +#include + +// This is a char array containing the html code for the website. It is sent ONCE when the webserver first initializes. +// The script contains various routines telling what the AJAX object should do and when. +// It is strongly advised NOT to change the html text, unless you know exactly what you're doing! + +const char indexHTML[] PROGMEM = R"=====( + + + + CodeRacer Webserver + + + + + + +

Welcome to the CodeRacer Webserver!

+

+ + + + +

+ + + +

+

+ + + +

+

+ + + +
Step CountersSpeed of DrivesServo- InformationDriven DistanceAJAX Information
00000
00000
+

+ +
+ + + + )====="; + +// The class declaration of the webserver +class Codeserver { + private: + + public: + Codeserver(char *ssid, char *password); + const char* Ssid; + const char* Password; + void Run(); +}; + +extern AsyncWebServer server; +#endif \ No newline at end of file diff --git a/vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino b/vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino index 0ac2270..9e906ef 100644 --- a/vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino +++ b/vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino @@ -1,4 +1,4 @@ -#include +#include "CodeRacer_MKII.h" //----- settings for the ultrasonic sensor ----- #define US_STOP_ABSTAND_CM 20 // if distance goes below that - stop the racer @@ -7,10 +7,10 @@ unsigned long distance_cm = 0; //---- construct the coderacer object -CodeRacer coderacer; +CodeRacerMKII coderacer; //---- set up code - executed ones -void setup() { +void setup1() { // start serial monitor Serial.begin(115200); // initialize the coderacer @@ -27,7 +27,7 @@ void setup() { } //---- 'endless' loop -void loop() { +void loop1() { // check if the racer was started (button was toggled to coderacer active state if(true == coderacer.start_stop()){ @@ -79,4 +79,4 @@ void loop() { } - + diff --git a/vsode/coderacer_mkII/src/Webcontroller_main.cpp b/vsode/coderacer_mkII/src/Webcontroller_main.cpp index f070437..fcba102 100644 --- a/vsode/coderacer_mkII/src/Webcontroller_main.cpp +++ b/vsode/coderacer_mkII/src/Webcontroller_main.cpp @@ -1,215 +1,21 @@ +// Example Code of a CodeRacer sketch with implementation of a webserver #include "CodeRacer_MKII.h" -#include -#include "esp32-hal-ledc.h" -#include +#include "Webserver.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; +// IMPORTANT definition of the server port +AsyncWebServer server(80); +// Definition of the webserver. enter your network's SSID and password here +Codeserver Test((char*)"coderacer_ap", (char*)"007coderacer"); 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); + Coderacer.begin(); - // 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(); + Serial.begin(115200); + // Calls the Run() routine, which manages everything the webserver needs to work + Test.Run(); } -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(""); - client.println(""); - client.println(""); - // CSS to style the on/off buttons - // Feel free to change the background-color and font-size attributes to fit your preferences - client.println(""); - - // Web Page Heading - client.println("

ESP32 Web Server

"); - - client.println("

GPIO 32 - State " + output32State ); - // If the output27State is off, it displays the ON button - if (output32State=="off") { - client.println(""); - } else { - client.println(""); - } - - client.println("GPIO 33 - State " + output33State ); - // If the output27State is off, it displays the ON button - if (output33State=="off") { - client.println("

"); - } else { - client.println("

"); - } - // Display current state, and ON/OFF buttons for GPIO 26 - client.println("

GPIO 25 - State " + output25State ); - // If the output26State is off, it displays the ON button - if (output25State=="off") { - client.println(""); - } else { - client.println(""); - } - - // 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("

"); - } else { - client.println("

"); - } - - client.println("

"); - client.printf("

", Distance); - client.println("

"); - client.println(""); - - client.println("

"); - client.println("

"); - client.println(""); - client.println(""); - client.println(""); - - // 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(""); - } +void loop() +{ + //Coderacer.speed_settings(255, 250); } \ No newline at end of file diff --git a/vsode/coderacer_mkII/src/coderacer_main.cpp b/vsode/coderacer_mkII/src/coderacer_main.cpp index 28e718d..b86d624 100644 --- a/vsode/coderacer_mkII/src/coderacer_main.cpp +++ b/vsode/coderacer_mkII/src/coderacer_main.cpp @@ -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 setup1() { +void setup2() { // Monitor Serial.begin(9600); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen. @@ -58,8 +58,10 @@ void setup1() { } //---- 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 loop1() +void loop2() { + coderacer.drive_distance_mm(1000, 1000); + bool started = false; while(coderacer.start_stop()== 1) { @@ -69,6 +71,10 @@ void loop1() wait_ms(1000); } + + + + // below - mitteln coderacer.stop_driving(); unsigned int in_min_left = get_inmin(true);