moniks_bot/server/commande_telephone.ino
2024-06-25 11:19:53 +02:00

358 lines
8.4 KiB
C++

//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);
}