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Julien Oculi 2024-06-25 11:19:53 +02:00
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client/index.html Normal file
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<!doctype html>
<html lang="fr">
<head>
<meta charset="utf-8">
<title>Contrôle du robot</title>
</head>
<body>
<h1>
Contrôle du robot sans fils
</h1>
<p>
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.
</p>
<h2>
Paramètres de contrôle
</h2>
<p>
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.
</p>
<form id="form">
<label for="ip">Adresse IP du robot</label>
<input type="text" id="ip" placeholder="192.168.0.0" oninput="storeInput()"><br>
<label for="valueRot">Rotation en degrés</label>
<input type="text" id="valueRot" placeholder="90" oninput="storeInput()"><br>
<label for="valueLength">Longueur en cm</label>
<input type="text" id="valueLength" placeholder="10" oninput="storeInput()">
</form>
<h2>
Contrôle
</h2>
<p>
Amusez vous ! Pour contrôler le robot, utilisez les flèches directionnelles pour le diriger et la barre espace pour le stopper.
</p>
</body>
<script>
var ipInput = "";
var valueRot = "";
var valueLength ="";
var keyMap ={};
window.onload = function(){
storeInput();
}
document.addEventListener('keydown',(event) =>{
const key = event.keyCode;
const url = keyMap[key];
console.log(url);
const xhr = new XMLHttpRequest();
xhr.open('GET',url);
xhr.onload = () => {
const response = xhr.responseText;
console.log(response);
};
xhr.send();
});
function storeInput() {
ipInput = document.getElementById("ip").value;
valueRot = document.getElementById("valueRot").value;
valueLength = document.getElementById("valueLength").value;
keyMap={
38: 'http://'+ipInput+'/get?command=forward&value='+valueLength,
40: 'http://'+ipInput+'/get?command=backward&value='+valueLength,
37: 'http://'+ipInput+'/get?command=left&value='+valueRot,
39: 'http://'+ipInput+'/get?command=right&value='+valueRot,
32: 'http://'+ipInput+'/get?command=stop',
}
}
</script>
</html>

228
server/commande_auto.ino Normal file
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//Définition des ports pour controler 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
//Temps d'attente entre deux impulsions :
int delayTime = 3;
//Code éxécuté au démarrage (paramétrage) :
void setup() {
//On indique que les ports de controle 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
}
//Code éxécuté en boucle jusqu'à l'extinction du robot
void loop() {
//Exemple de commande :
for (int i=0; i<50; i++){
forward();
}
int rotation_steps = convertRotToSteps(46);
for (int i=0; i<rotation_steps; i++){
left();
}
}
//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;
}
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);
}

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//Librairies utilisées dans le code :
#include <AsyncTCP.h>
#include <ESPAsyncWebSrv.h>
#include <WiFi.h>
//Définition des ports pour controler 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 :
const char* ssid = "ESP32";
const char* password = "test12345";
//Temps d'attente entre deux impulsions :
int delayTime = 3;
//Variables de commande :
bool commandRunning = false; //Une commande doit etre éxécutée
bool stopCommand = false; //La commande doit etre stoppée
String globalCommand; //Nom de la commande
int globalValue; //Valeur (nombre de pas à effectuer)
//Création du serveur asynchrone :
AsyncWebServer server(80);
//Code éxécuté au démarrage (paramétrage) :
void setup() {
//On indique que les ports de controle 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(); //Connexion au wifi
serverConfig(); //Configuration du serveur
server.begin(); //Démarrage du serveur
}
//Code éxécuté en boucle jusqu'à l'extinction du robot
void loop() {
if (commandRunning){
if (!stopCommand){
chooseCommand(); //Appeler la fonction "chooseCommand()"
if (globalValue>0){ //S'il reste des pas à effectuer alors on l'affiche et on enlève un pas
Serial.print(globalCommand);
Serial.print(": ");
Serial.println(globalValue);
globalValue--;
}
else{ //Sinon on stoppe les moteurs
Serial.println("stop");
commandRunning=false;
stopCommand=false;
stopMotors();
}
}
else{
Serial.println("stop");
commandRunning=false;
stopCommand=false;
stopMotors();
}
}
}
//Configuration du serveur asynchrone
void serverConfig(){
server.on("/get",HTTP_GET,[](AsyncWebServerRequest *request){
String command;
float value;
if (request->hasParam("command")) {
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"){
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);
}