initial commit
This commit is contained in:
commit
2844c9b1e1
72
client/index.html
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72
client/index.html
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@ -0,0 +1,72 @@
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<!doctype html>
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<html lang="fr">
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<head>
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<meta charset="utf-8">
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<title>Contrôle du robot</title>
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</head>
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<body>
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<h1>
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Contrôle du robot sans fils
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</h1>
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<p>
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Cette page permet de contrôler le robot depuis un PC portable connecté au WiFi du robot. Elle est destinée aux personnes n'ayant pas de smartphone.
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</p>
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<h2>
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Paramètres de contrôle
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</h2>
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<p>
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Ici vous pourrez paramétrer les contrôles du robot, rentrer son adresse IP ainsi que lui indiquer la distance à parcourir ou l'angle de rotation désiré.
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</p>
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<form id="form">
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<label for="ip">Adresse IP du robot</label>
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<input type="text" id="ip" placeholder="192.168.0.0" oninput="storeInput()"><br>
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<label for="valueRot">Rotation en degrés</label>
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<input type="text" id="valueRot" placeholder="90" oninput="storeInput()"><br>
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<label for="valueLength">Longueur en cm</label>
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<input type="text" id="valueLength" placeholder="10" oninput="storeInput()">
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</form>
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<h2>
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Contrôle
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</h2>
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<p>
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Amusez vous ! Pour contrôler le robot, utilisez les flèches directionnelles pour le diriger et la barre espace pour le stopper.
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</p>
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</body>
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<script>
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var ipInput = "";
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var valueRot = "";
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var valueLength ="";
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var keyMap ={};
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window.onload = function(){
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storeInput();
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}
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document.addEventListener('keydown',(event) =>{
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const key = event.keyCode;
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const url = keyMap[key];
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console.log(url);
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const xhr = new XMLHttpRequest();
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xhr.open('GET',url);
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xhr.onload = () => {
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const response = xhr.responseText;
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console.log(response);
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};
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xhr.send();
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});
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function storeInput() {
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ipInput = document.getElementById("ip").value;
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valueRot = document.getElementById("valueRot").value;
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valueLength = document.getElementById("valueLength").value;
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keyMap={
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38: 'http://'+ipInput+'/get?command=forward&value='+valueLength,
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40: 'http://'+ipInput+'/get?command=backward&value='+valueLength,
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37: 'http://'+ipInput+'/get?command=left&value='+valueRot,
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39: 'http://'+ipInput+'/get?command=right&value='+valueRot,
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32: 'http://'+ipInput+'/get?command=stop',
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}
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}
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</script>
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</html>
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228
server/commande_auto.ino
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228
server/commande_auto.ino
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@ -0,0 +1,228 @@
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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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Serial.begin(115200); //Démarrage d'une communication Série avec l'ordinateur s'il est connecté
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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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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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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);
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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, 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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}
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void stopMotors(void) {
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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, 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, LOW);
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}
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357
server/commande_telephone.ino
Normal file
357
server/commande_telephone.ino
Normal file
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@ -0,0 +1,357 @@
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//Librairies utilisées dans le code :
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#include <AsyncTCP.h>
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#include <ESPAsyncWebSrv.h>
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#include <WiFi.h>
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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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//Paramètres de connexion wifi :
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const char* ssid = "ESP32";
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const char* password = "test12345";
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//Temps d'attente entre deux impulsions :
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int delayTime = 3;
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//Variables de commande :
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bool commandRunning = false; //Une commande doit etre éxécutée
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bool stopCommand = false; //La commande doit etre stoppée
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String globalCommand; //Nom de la commande
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int globalValue; //Valeur (nombre de pas à effectuer)
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//Création du serveur asynchrone :
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AsyncWebServer server(80);
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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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|
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|
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Serial.begin(115200); //Démarrage d'une communication Série avec l'ordinateur s'il est connecté
|
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connectWiFi(); //Connexion au wifi
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serverConfig(); //Configuration du serveur
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server.begin(); //Démarrage du serveur
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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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if (commandRunning){
|
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if (!stopCommand){
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chooseCommand(); //Appeler la fonction "chooseCommand()"
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if (globalValue>0){ //S'il reste des pas à effectuer alors on l'affiche et on enlève un pas
|
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Serial.print(globalCommand);
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Serial.print(": ");
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Serial.println(globalValue);
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globalValue--;
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}
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else{ //Sinon on stoppe les moteurs
|
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Serial.println("stop");
|
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commandRunning=false;
|
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stopCommand=false;
|
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stopMotors();
|
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}
|
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}
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else{
|
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Serial.println("stop");
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commandRunning=false;
|
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stopCommand=false;
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stopMotors();
|
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}
|
||||
}
|
||||
|
||||
}
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||||
//Configuration du serveur asynchrone
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void serverConfig(){
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server.on("/get",HTTP_GET,[](AsyncWebServerRequest *request){
|
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String command;
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float value;
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||||
if (request->hasParam("command")) {
|
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command = request->getParam("command")->value();
|
||||
if (request->hasParam("value")){
|
||||
value = request->getParam("value")->value().toFloat();
|
||||
}
|
||||
else{
|
||||
value = 0;
|
||||
}
|
||||
requestCheck(command,value);
|
||||
}
|
||||
else {
|
||||
command = "Not the good command";
|
||||
}
|
||||
Serial.print(command);
|
||||
Serial.print(": ");
|
||||
Serial.println(value);
|
||||
request->send(200, "text/plain", command);
|
||||
});
|
||||
}
|
||||
|
||||
//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 command, float value){
|
||||
if (command=="forward"){
|
||||
globalCommand="forward";
|
||||
commandRunning=true;
|
||||
stopCommand=false;
|
||||
globalValue=convertLengthToSteps(value);
|
||||
}
|
||||
else if (command=="backward"){
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||||
globalCommand="backward";
|
||||
commandRunning=true;
|
||||
stopCommand=false;
|
||||
globalValue=convertLengthToSteps(value);
|
||||
}
|
||||
else if (command=="left"){
|
||||
globalCommand="left";
|
||||
commandRunning=true;
|
||||
stopCommand=false;
|
||||
globalValue=convertRotToSteps(value);
|
||||
}
|
||||
else if (command=="right"){
|
||||
globalCommand="right";
|
||||
commandRunning=true;
|
||||
stopCommand=false;
|
||||
globalValue=convertRotToSteps(value);
|
||||
}
|
||||
else if (command=="stop"){
|
||||
globalCommand="stop";
|
||||
commandRunning=true;
|
||||
stopCommand=true;
|
||||
}
|
||||
if (value==0){
|
||||
globalValue = 474;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void connectWiFi()
|
||||
{
|
||||
WiFi.mode(WIFI_AP);
|
||||
WiFi.softAP(ssid, password);
|
||||
Serial.print("[+] AP Created with IP Gateway ");
|
||||
Serial.println(WiFi.softAPIP());
|
||||
Serial.println("");
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void chooseCommand(){
|
||||
if (globalCommand=="forward"){
|
||||
forward();
|
||||
}
|
||||
else if (globalCommand=="left"){
|
||||
left();
|
||||
}
|
||||
else if (globalCommand=="right"){
|
||||
right();
|
||||
}
|
||||
else if (globalCommand=="backward"){
|
||||
backward();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void forward(){
|
||||
digitalWrite(IN4a, HIGH);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, HIGH);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, HIGH);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, HIGH);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, HIGH);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, HIGH);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, HIGH);
|
||||
digitalWrite(IN4b, HIGH);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void backward(){
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, HIGH);
|
||||
digitalWrite(IN4b, HIGH);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, HIGH);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, HIGH);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, HIGH);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, HIGH);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, HIGH);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, HIGH);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void right(){
|
||||
digitalWrite(IN4a, HIGH);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, HIGH);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, HIGH);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, HIGH);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, HIGH);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, HIGH);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, HIGH);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, HIGH);
|
||||
delay(delayTime);
|
||||
}
|
||||
|
||||
void left(){
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, HIGH);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, HIGH);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, HIGH);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, HIGH);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, HIGH);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, HIGH);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
delay(delayTime);
|
||||
digitalWrite(IN4a, HIGH);
|
||||
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) {
|
||||
digitalWrite(IN4a, LOW);
|
||||
digitalWrite(IN3a, LOW);
|
||||
digitalWrite(IN2a, LOW);
|
||||
digitalWrite(IN1a, LOW);
|
||||
|
||||
digitalWrite(IN4b, LOW);
|
||||
digitalWrite(IN3b, LOW);
|
||||
digitalWrite(IN2b, LOW);
|
||||
digitalWrite(IN1b, LOW);
|
||||
}
|
||||
|
||||
Loading…
Reference in a new issue