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93922dc387
20
README.md
20
README.md
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@ -1,20 +0,0 @@
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# Fork "Mon premier robot"
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Tentative de re-factorisation du code et d'amélioration de UI web du robot de
|
||||
l'[Atelier Printemps 2024 - MON PREMIER ROBOT](https://projets.cohabit.fr/redmine/projects/ateliers/wiki/Atelier_Printemps_2024).
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## Usage
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Ouvrir le workspace [robot.code-workspace](./robot.code-workspace) dans VS Code
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pour un environnement déjà configurer.
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### Client
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Testé dans Chrome (pc/android) et Firefox (pc) avec
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[live server](https://marketplace.visualstudio.com/items?itemName=ritwickdey.LiveServer).
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### Server
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Compilé avec la cli [Platform IO](https://platformio.org/)
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(`cd ./server && pio run`). Testé avec le simulateur [Wokwi](https://wokwi.com/)
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en ligne et sur VS Code.
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3
client/.vscode/extensions.json
vendored
3
client/.vscode/extensions.json
vendored
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@ -1,3 +0,0 @@
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{
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"recommendations": ["ritwickdey.liveserver"]
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}
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@ -1,9 +0,0 @@
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# Client
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Code pour l'interface utilisateur via le web.
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## Usage
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Ouvrir [index.html](./index.html) dans un navigateur ou avec
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[Live Server](https://marketplace.visualstudio.com/items?itemName=ritwickdey.LiveServer)
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sur VS Code.
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@ -15,7 +15,7 @@ export async function sendCommand(command, value) {
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const endpoint = getEndpoint()
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const url = new URL(`/get?command=${command}&value=${value}`, endpoint)
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const response = await fetch(url, {
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mode: 'no-cors',
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mode: 'no-cors'
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})
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const text = await response.text()
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console.log(text)
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@ -58,9 +58,9 @@ export async function testEndpoint(endpoint) {
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try {
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const url = new URL('/get', endpoint)
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const response = await fetch(url, {
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mode: 'no-cors',
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mode: 'no-cors'
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})
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if (response.ok || response.status === 0) alert('Connection réussie')
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if (response.ok) return
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} catch (cause) {
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alert(`Impossible de joindre l'adresse "${endpoint}"`)
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throw new Error(`unable to connect to robot at ${endpoint}`, {
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@ -1,12 +0,0 @@
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# Server
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Code pour l'ESP32 (code embarqué dans le robot).
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## Usage
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Commenter un des 2 points d'entrée dans [src](./src/) et lancer `pio run` ou
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équivalent. Mettre à jour la configuration WiFi dans [config](./src/config.h) et
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[server](./src/server.hpp) pour téléverser vers l'ESP32. Sinon lancer le
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simulateur [Wokwi](https://docs.wokwi.com/vscode/getting-started) dans VS Code
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ou copier le code pour le lancer dans le navigateur sur
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[wokwi.com](https://wokwi.com/).
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@ -1,26 +1,228 @@
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// Libraries locales pour configurer et contrôler le robot.
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#include "config.h" // Configuration des entrées/sorties et delais.
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#include "controls.h" // Fonctions pour se déplacer.
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#include "convert.h" // Utilitaires pour convertir des mesures en steps.
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//Définition des ports pour controler les moteurs
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//Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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//Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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//Temps d'attente entre deux impulsions :
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int delayTime = 3;
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//Code éxécuté au démarrage (paramétrage) :
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void setup() {
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//On indique que les ports de controle des moteurs sont des sorties (output)
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pinMode(IN1a, OUTPUT);
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pinMode(IN2a, OUTPUT);
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pinMode(IN3a, OUTPUT);
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pinMode(IN4a, OUTPUT);
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pinMode(IN1b, OUTPUT);
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pinMode(IN2b, OUTPUT);
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pinMode(IN3b, OUTPUT);
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pinMode(IN4b, OUTPUT);
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// Code exécuté au démarrage (paramétrage) :
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void setup()
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{
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setupPins(); // Configure les pins de l'ESP32
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Serial.begin(115200); //Démarrage d'une communication Série avec l'ordinateur s'il est connecté
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}
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// Code exécuté en boucle jusqu'à l'extinction du robot
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void loop()
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{
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//Code éxécuté en boucle jusqu'à l'extinction du robot
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void loop() {
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//Exemple de commande :
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for (int i = 0; i < 50; i++)
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{
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for (int i=0; i<50; i++){
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forward();
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}
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int rotation_steps = convertRotToSteps(46);
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for (int i = 0; i < rotation_steps; i++)
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{
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for (int i=0; i<rotation_steps; i++){
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left();
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}
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}
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//Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
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int convertLengthToSteps(float length){
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float result = length*512/(4*3.1415);
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return int(result);
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}
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//fonction pour convertir une rotation en degrés vers un nombre de pas moteur
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int convertRotToSteps(int rotation){
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int result = convertLengthToSteps(rotation*3.1415/180*7.8);
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return result;
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}
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void forward(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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}
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void backward(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void right(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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||||
digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void left(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
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||||
digitalWrite(IN3a, HIGH);
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||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, HIGH);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, HIGH);
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||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, HIGH);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
|
||||
void stopMotors(void) {
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||||
digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -3,14 +3,36 @@
|
|||
#include <ESPAsyncWebServer.h>
|
||||
#include <WiFi.h>
|
||||
|
||||
// Libraries locales pour configurer et contrôler le robot.
|
||||
#include "config.h" // Configuration des entrées/sorties et delais.
|
||||
#include "controls.h" // Fonctions pour se déplacer.
|
||||
#include "convert.h" // Utilitaires pour convertir des mesures en steps.
|
||||
#include "server.hpp" // Configure et demarre le server HTTP.
|
||||
// Définition des ports pour contrôler les moteurs
|
||||
// Moteur gauche :
|
||||
#define IN1a 27
|
||||
#define IN2a 14
|
||||
#define IN3a 12
|
||||
#define IN4a 13
|
||||
// Moteur droit :
|
||||
#define IN1b 5
|
||||
#define IN2b 18
|
||||
#define IN3b 19
|
||||
#define IN4b 21
|
||||
|
||||
// État global de la commande en cours
|
||||
command_t command = {.running = false, .stopped = false};
|
||||
// Paramètres de connexion wifi :
|
||||
// const char *ssid = "ESP32";
|
||||
// const char *password = "test12345";
|
||||
// For simulator only
|
||||
const char *ssid = "Wokwi-GUEST";
|
||||
const char *password = "";
|
||||
|
||||
// Temps d'attente entre deux impulsions :
|
||||
int delayTime = 3;
|
||||
|
||||
// Variables de commande :
|
||||
struct command_t
|
||||
{
|
||||
bool running; // Une commande doit être exécutée
|
||||
bool stopped; // La commande doit être stoppée
|
||||
String name; // Nom de la commande
|
||||
int value; // Valeur (nombre de pas à effectuer)
|
||||
} command = {false, false};
|
||||
|
||||
// Création du serveur asynchrone :
|
||||
AsyncWebServer server(80);
|
||||
|
|
@ -18,10 +40,20 @@ AsyncWebServer server(80);
|
|||
// Code exécuté au démarrage (paramétrage) :
|
||||
void setup()
|
||||
{
|
||||
setupPins(); // Configure les pins de l'ESP32
|
||||
// On indique que les ports de contrôle des moteurs sont des sorties (output)
|
||||
pinMode(IN1a, OUTPUT);
|
||||
pinMode(IN2a, OUTPUT);
|
||||
pinMode(IN3a, OUTPUT);
|
||||
pinMode(IN4a, OUTPUT);
|
||||
|
||||
pinMode(IN1b, OUTPUT);
|
||||
pinMode(IN2b, OUTPUT);
|
||||
pinMode(IN3b, OUTPUT);
|
||||
pinMode(IN4b, OUTPUT);
|
||||
|
||||
Serial.begin(115200); // Démarrage d'une communication Série avec l'ordinateur s'il est connecté
|
||||
connectWiFi(WiFi); // Connexion au wifi
|
||||
serverConfig(server, command); // Configuration du serveur
|
||||
connectWiFi(); // Connexion au wifi
|
||||
serverConfig(); // Configuration du serveur
|
||||
server.begin(); // Démarrage du serveur
|
||||
}
|
||||
|
||||
|
|
@ -44,7 +76,7 @@ void loop()
|
|||
}
|
||||
|
||||
// Sinon executer la commande en cours
|
||||
updateCommand(command); // Met à jour la commande global
|
||||
chooseCommand(); // Appeler la fonction "chooseCommand()"
|
||||
if (command.value > 0)
|
||||
{ // S'il reste des pas à effectuer alors on l'affiche et on enlève un pas
|
||||
Serial.print(command.name);
|
||||
|
|
@ -54,8 +86,113 @@ void loop()
|
|||
}
|
||||
}
|
||||
|
||||
// Met à jour l'état du robot en fonction de la commande en cours.
|
||||
void updateCommand(command_t &command)
|
||||
// Configuration du serveur asynchrone
|
||||
void serverConfig()
|
||||
{
|
||||
server.on("/get", HTTP_GET, [](AsyncWebServerRequest *request)
|
||||
{
|
||||
String commandName;
|
||||
float commandValue;
|
||||
|
||||
// Parse request params and update command and value
|
||||
parseRequestParams(request, commandName, commandValue);
|
||||
|
||||
Serial.print(commandName);
|
||||
Serial.print(": ");
|
||||
Serial.println(commandValue);
|
||||
request->send(200, "text/plain", commandName); });
|
||||
}
|
||||
|
||||
void parseRequestParams(AsyncWebServerRequest *request, String &commandName, float &commandValue)
|
||||
{
|
||||
// Stop here with error message if wrong command
|
||||
if (!request->hasParam("command"))
|
||||
{
|
||||
commandName = "No command provided";
|
||||
return;
|
||||
}
|
||||
|
||||
// Update command from params
|
||||
commandName = request->getParam("command")->value();
|
||||
|
||||
// Update value from params and use "0" as default
|
||||
commandValue = request->hasParam("value") ? request->getParam("value")->value().toFloat() : 0;
|
||||
|
||||
requestCheck(commandName, commandValue);
|
||||
}
|
||||
|
||||
// Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
|
||||
int convertLengthToSteps(float length)
|
||||
{
|
||||
float result = length * 512 / (4 * 3.1415);
|
||||
return int(result);
|
||||
}
|
||||
|
||||
// fonction pour convertir une rotation en degrés vers un nombre de pas moteur
|
||||
int convertRotToSteps(int rotation)
|
||||
{
|
||||
int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
|
||||
return result;
|
||||
}
|
||||
|
||||
// Lorsqu'une commande arrive au serveur, cette fonction permet
|
||||
void requestCheck(String commandName, float commandValue)
|
||||
{
|
||||
if (commandName == "stop")
|
||||
{
|
||||
command.name = "stop";
|
||||
command.running = true;
|
||||
command.stopped = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
setGlobals(commandName, commandValue);
|
||||
}
|
||||
|
||||
if (commandValue == 0)
|
||||
{
|
||||
command.value = 474;
|
||||
}
|
||||
}
|
||||
|
||||
void setGlobals(String commandName, float commandValue)
|
||||
{
|
||||
// Assert command before updating globals
|
||||
if (commandName != "forward" && commandName != "backward" && commandName != "left" && commandName != "right")
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Update globals
|
||||
command.name = commandName;
|
||||
command.running = true;
|
||||
command.stopped = false;
|
||||
command.value = convertLengthToSteps(commandValue);
|
||||
}
|
||||
|
||||
void connectWiFi()
|
||||
{
|
||||
// For simulator only
|
||||
WiFi.mode(WIFI_STA);
|
||||
WiFi.begin(ssid, password);
|
||||
if (WiFi.waitForConnectResult() != WL_CONNECTED)
|
||||
{
|
||||
Serial.printf("WiFi Failed!\n");
|
||||
return;
|
||||
}
|
||||
Serial.println(" Connected!");
|
||||
|
||||
Serial.print("IP Address: ");
|
||||
Serial.println(WiFi.localIP());
|
||||
|
||||
// WiFi.mode(WIFI_AP);
|
||||
// WiFi.softAP(ssid, password);
|
||||
// Serial.print("[+] AP Created with IP Gateway ");
|
||||
// Serial.println(WiFi.softAPIP());
|
||||
// Serial.println("");
|
||||
}
|
||||
|
||||
void chooseCommand()
|
||||
{
|
||||
if (command.name == "forward")
|
||||
{
|
||||
|
|
@ -74,3 +211,68 @@ void updateCommand(command_t &command)
|
|||
backward();
|
||||
}
|
||||
}
|
||||
|
||||
void writeMotor(uint8_t left, uint8_t right)
|
||||
{
|
||||
digitalWrite(IN4a, left & 0b1000);
|
||||
digitalWrite(IN3a, left & 0b0100);
|
||||
digitalWrite(IN2a, left & 0b0010);
|
||||
digitalWrite(IN1a, left & 0b0001);
|
||||
digitalWrite(IN4b, right & 0b1000);
|
||||
digitalWrite(IN3b, right & 0b0100);
|
||||
digitalWrite(IN2b, right & 0b0010);
|
||||
digitalWrite(IN1b, right & 0b0001);
|
||||
}
|
||||
|
||||
void forward()
|
||||
{
|
||||
writeMotor(0b1000, 0b0001);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0100, 0b0010);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0010, 0b0100);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0001, 0b1000);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void backward()
|
||||
{
|
||||
writeMotor(0b0001, 0b1000);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0010, 0b0100);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0100, 0b0010);
|
||||
delay(delayTime);
|
||||
writeMotor(0b1000, 0b0001);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void right()
|
||||
{
|
||||
writeMotor(0b1000, 0b1000);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0100, 0b0100);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0010, 0b0010);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0001, 0b0001);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void left()
|
||||
{
|
||||
writeMotor(0b0001, 0b0001);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0010, 0b0010);
|
||||
delay(delayTime);
|
||||
writeMotor(0b0100, 0b0100);
|
||||
delay(delayTime);
|
||||
writeMotor(0b1000, 0b1000);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void stopMotors(void)
|
||||
{
|
||||
writeMotor(0b0000, 0b0000);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,25 +0,0 @@
|
|||
/************************************
|
||||
Fichier de configuration du robot
|
||||
************************************/
|
||||
|
||||
// Définition des ports pour contrôler les moteurs
|
||||
// Moteur gauche :
|
||||
#define IN1a 27
|
||||
#define IN2a 14
|
||||
#define IN3a 12
|
||||
#define IN4a 13
|
||||
// Moteur droit :
|
||||
#define IN1b 5
|
||||
#define IN2b 18
|
||||
#define IN3b 19
|
||||
#define IN4b 21
|
||||
|
||||
// Paramètres de connexion wifi :
|
||||
// #define WIFI_SSID "ESP32"
|
||||
// #define WIFI_PASSWORD "test12345"
|
||||
// For simulator only
|
||||
#define WIFI_SSID "Wokwi-GUEST"
|
||||
#define WIFI_PASSWORD ""
|
||||
|
||||
// Temps d'attente entre deux impulsions :
|
||||
#define DELAY_TIME 3
|
||||
|
|
@ -1,117 +0,0 @@
|
|||
/*******************************************
|
||||
Initialisation et fonctions de déplacement
|
||||
*******************************************/
|
||||
|
||||
/**
|
||||
* @brief Configure les ports de contrôle des moteurs sont des sorties (output).
|
||||
*
|
||||
*/
|
||||
void setupPins()
|
||||
{
|
||||
pinMode(IN1a, OUTPUT);
|
||||
pinMode(IN2a, OUTPUT);
|
||||
pinMode(IN3a, OUTPUT);
|
||||
pinMode(IN4a, OUTPUT);
|
||||
|
||||
pinMode(IN1b, OUTPUT);
|
||||
pinMode(IN2b, OUTPUT);
|
||||
pinMode(IN3b, OUTPUT);
|
||||
pinMode(IN4b, OUTPUT);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Applique une configuration aux moteurs.
|
||||
* @brief Chaque configuration est sur 1 octet.
|
||||
*
|
||||
* Exemple
|
||||
* ```
|
||||
* writeMotor(0b0010, 0b1100);
|
||||
* ```
|
||||
*
|
||||
* @param left Configuration du moteur droit (ex: `0b1100`).
|
||||
* @param right Configuration du moteur droit (ex: `0b0101`).
|
||||
*/
|
||||
void writeMotor(uint8_t left, uint8_t right)
|
||||
{
|
||||
digitalWrite(IN4a, left & 0b1000);
|
||||
digitalWrite(IN3a, left & 0b0100);
|
||||
digitalWrite(IN2a, left & 0b0010);
|
||||
digitalWrite(IN1a, left & 0b0001);
|
||||
digitalWrite(IN4b, right & 0b1000);
|
||||
digitalWrite(IN3b, right & 0b0100);
|
||||
digitalWrite(IN2b, right & 0b0010);
|
||||
digitalWrite(IN1b, right & 0b0001);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Commande pour faire avancer le robot.
|
||||
*
|
||||
*/
|
||||
void forward()
|
||||
{
|
||||
writeMotor(0b1000, 0b0001);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0100, 0b0010);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0010, 0b0100);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0001, 0b1000);
|
||||
delay(DELAY_TIME);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Commande pour faire reculer le robot.
|
||||
*
|
||||
*/
|
||||
void backward()
|
||||
{
|
||||
writeMotor(0b0001, 0b1000);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0010, 0b0100);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0100, 0b0010);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b1000, 0b0001);
|
||||
delay(DELAY_TIME);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Commande pour faire tourner le robot à droite.
|
||||
*
|
||||
*/
|
||||
void right()
|
||||
{
|
||||
writeMotor(0b1000, 0b1000);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0100, 0b0100);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0010, 0b0010);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0001, 0b0001);
|
||||
delay(DELAY_TIME);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Commande pour faire tourner le robot à gauche.
|
||||
*
|
||||
*/
|
||||
void left()
|
||||
{
|
||||
writeMotor(0b0001, 0b0001);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0010, 0b0010);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b0100, 0b0100);
|
||||
delay(DELAY_TIME);
|
||||
writeMotor(0b1000, 0b1000);
|
||||
delay(DELAY_TIME);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Commande pour arrêter les moteurs du robot.
|
||||
*
|
||||
*/
|
||||
void stopMotors()
|
||||
{
|
||||
writeMotor(0b0000, 0b0000);
|
||||
}
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
/*********************************************
|
||||
Utilitaires de conversions physique -> steps
|
||||
*********************************************/
|
||||
|
||||
/**
|
||||
* @brief Convertit une longueur en cm vers un nombre de pas moteur.
|
||||
*
|
||||
* Exemple
|
||||
* ```
|
||||
* float distance = 22.3; //cm
|
||||
* int steps = convertLengthToSteps(distance);
|
||||
* ```
|
||||
*
|
||||
* @param length
|
||||
* @return int
|
||||
*/
|
||||
int convertLengthToSteps(float length)
|
||||
{
|
||||
float result = length * 512 / (4 * 3.1415);
|
||||
return int(result);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Convertit une rotation en degrés vers un nombre de pas moteur.
|
||||
*
|
||||
* Exemple
|
||||
* ```
|
||||
* float angle = 45; //deg
|
||||
* int steps = convertRotToSteps(angle);
|
||||
* ```
|
||||
*
|
||||
* @param rotation Angle en degrés.
|
||||
* @return int Nombres de pas pour les moteurs.
|
||||
*/
|
||||
int convertRotToSteps(int rotation)
|
||||
{
|
||||
int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
|
||||
return result;
|
||||
}
|
||||
|
|
@ -1,147 +0,0 @@
|
|||
/************************************
|
||||
Configuration et handlers du server
|
||||
************************************/
|
||||
|
||||
/**
|
||||
* @brief Type de la variable globale command
|
||||
*
|
||||
*/
|
||||
struct command_t
|
||||
{
|
||||
bool running; // Une commande doit être exécutée
|
||||
bool stopped; // La commande doit être stoppée
|
||||
String name; // Nom de la commande
|
||||
int value; // Valeur (nombre de pas à effectuer)
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Met à jour la command globale.
|
||||
* @internal
|
||||
*
|
||||
* @param commandName Nom de la nouvelle commande.
|
||||
* @param commandValue Valeur de la nouvelle commande.
|
||||
* @param globalCommand Commande globale (courante).
|
||||
*/
|
||||
void setGlobals(String commandName, float commandValue, command_t &globalCommand)
|
||||
{
|
||||
// Assert command before updating globals
|
||||
if (commandName != "forward" && commandName != "backward" && commandName != "left" && commandName != "right")
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Update globals
|
||||
globalCommand.name = commandName;
|
||||
globalCommand.running = true;
|
||||
globalCommand.stopped = false;
|
||||
globalCommand.value = convertLengthToSteps(commandValue);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Lorsqu'une commande arrive au serveur, cette fonction permet.
|
||||
* @internal
|
||||
*
|
||||
* @param commandName Nom de la commande.
|
||||
* @param commandValue Valeur de la command (si 0 assigné à 474).
|
||||
*/
|
||||
void requestCheck(String commandName, float commandValue, command_t &globalCommand)
|
||||
{
|
||||
if (commandName == "stop")
|
||||
{
|
||||
globalCommand.name = "stop";
|
||||
globalCommand.running = true;
|
||||
globalCommand.stopped = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
setGlobals(commandName, commandValue, globalCommand);
|
||||
}
|
||||
|
||||
if (commandValue == 0)
|
||||
{
|
||||
globalCommand.value = 474;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Parse la requête GET (vers "/get") du serveur et résout le nom de la commande et sa valeur.
|
||||
*
|
||||
* Exemple :
|
||||
* ```
|
||||
* String commandName;
|
||||
* float commandValue;
|
||||
* parseRequestParams(request, commandName, commandValue);
|
||||
* ```
|
||||
*
|
||||
* @param request Requête contenant la commande.
|
||||
* @param commandName Nom de la commande à assigner.
|
||||
* @param commandValue Valeur de la commande à assigner.
|
||||
* @param globalCommand Commande globale (courante) à mettre à jour.
|
||||
*
|
||||
*/
|
||||
void parseRequestParams(AsyncWebServerRequest *request, String &commandName, float &commandValue, command_t &globalCommand)
|
||||
{
|
||||
// Stop here with error message if wrong command
|
||||
if (!request->hasParam("command"))
|
||||
{
|
||||
commandName = "No command provided";
|
||||
return;
|
||||
}
|
||||
|
||||
// Update command from params
|
||||
commandName = request->getParam("command")->value();
|
||||
|
||||
// Update value from params and use "0" as default
|
||||
commandValue = request->hasParam("value") ? request->getParam("value")->value().toFloat() : 0;
|
||||
|
||||
requestCheck(commandName, commandValue, globalCommand);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Configuration du serveur asynchrone.
|
||||
*
|
||||
* @param server Serveur à configurer.
|
||||
* @param globalCommand Commande globale (courante) à mettre à jour lors des requêtes.
|
||||
*/
|
||||
void serverConfig(AsyncWebServer &server, command_t &globalCommand)
|
||||
{
|
||||
server.on("/get", HTTP_GET, [&globalCommand](AsyncWebServerRequest *request)
|
||||
{
|
||||
String commandName;
|
||||
float commandValue;
|
||||
|
||||
// Parse request params and update command and value
|
||||
parseRequestParams(request, commandName, commandValue, globalCommand);
|
||||
|
||||
Serial.print(commandName);
|
||||
Serial.print(": ");
|
||||
Serial.println(commandValue);
|
||||
request->send(200, "text/plain", commandName); });
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Démarre le point d'accès WiFi.
|
||||
*
|
||||
* @param WiFi WiFi à configurer.
|
||||
*/
|
||||
void connectWiFi(WiFiClass &WiFi)
|
||||
{
|
||||
// For simulator only
|
||||
WiFi.mode(WIFI_STA);
|
||||
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
|
||||
if (WiFi.waitForConnectResult() != WL_CONNECTED)
|
||||
{
|
||||
Serial.printf("WiFi Failed!\n");
|
||||
return;
|
||||
}
|
||||
Serial.println(" Connected!");
|
||||
|
||||
Serial.print("IP Address: ");
|
||||
Serial.println(WiFi.localIP());
|
||||
|
||||
// WiFi.mode(WIFI_AP);
|
||||
// WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
|
||||
// Serial.print("[+] AP Created with IP Gateway ");
|
||||
// Serial.println(WiFi.softAPIP());
|
||||
// Serial.println("");
|
||||
}
|
||||
Loading…
Reference in a new issue