/* * Copyright (c) 2015, Majenko Technologies * All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * * * Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright notice, this * list of conditions and the following disclaimer in the documentation and/or * other materials provided with the distribution. * * * Neither the name of Majenko Technologies nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /* Create a WiFi access point and provide a web server on it. */ /* Cerevo Inc. modify*/ #include #include #include #include /* Set these to your desired credentials. */ const char *ssid = "mini4WS_Cerevo"; const char *password = ""; ESP8266WebServer server(80); ESP8266WebServer server_8080(8080); /* set I2C library*/ #include #define ADDR1 0x64 #define command_start 0 #define command_stop 1 #define command_back 2 #define forward 0x01 #define reverse 0x02 #define LED_P (analogWrite( 13, 0 )) #define LED_H (analogWrite( 13, 960 )) #define LED_L (analogWrite( 13, 1024 )) char state = command_stop; int offset = 0; String form ="" "" "" "" "" "" "

" "" "" "" ""; /* Just a little test message. Go to http://192.168.4.1 in a web browser * connected to this access point to see it. */ void setup() { delay(1000); Serial.begin(115200); Serial.println(); Serial.print("Configuring access point..."); Wire.begin(4, 14); delay(40); /* You can remove the password parameter if you want the AP to be open. */ WiFi.softAP(ssid, password); IPAddress myIP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(myIP); server.on("/", handleRoot); // And as regular external functions: server_8080.on("/stop", handle_stop); server_8080.on("/drive", handle_drive); server_8080.on("/back", handle_back); server_8080.on("/left", handle_left); server_8080.on("/right", handle_right); server_8080.on("/f_left", handle_f_left); server_8080.on("/f_right", handle_f_right); server_8080.on("/r_left", handle_r_left); server_8080.on("/r_right", handle_r_right); server.begin(); server_8080.begin(); Serial.println("HTTP server started"); pinMode(16,OUTPUT); pinMode(13,OUTPUT); delay(100); } void loop() { server.handleClient(); server_8080.handleClient(); } void handleRoot() { server.send(200, "text/html", form); } void handle_stop() { Serial.print("stop\r\n"); LED_P; stop_motor(); state = command_stop; server.send(200, "text/html", ""); } void handle_drive() { Serial.print("drive\r\n"); LED_H; drive(); servo_control(90); server.send(200, "text/html", ""); } void handle_back() { Serial.print("back\r\n"); LED_H; back(); servo_control(90); } void handle_left(){ Serial.print("left\r\n"); LED_H; drive(); servo_control(60); server.send(200, "text/html", ""); } void handle_right(){ Serial.print("right\r\n"); LED_H; drive(); servo_control(120); server.send(200, "text/html", ""); } void handle_f_left(){ Serial.print("f_left\r\n"); LED_H; drive(); servo_control(60); server.send(200, "text/html", ""); } void handle_f_right(){ Serial.print("f_right\r\n"); LED_H; drive(); servo_control(120); server.send(200, "text/html", ""); } void handle_r_left(){ Serial.print("r_left\r\n"); LED_H; back(); servo_control(60); server.send(200, "text/html", ""); } void handle_r_right(){ Serial.print("r_right\r\n"); LED_H; back(); servo_control(120); server.send(200, "text/html", ""); } void drive(){ if(state == command_back){ stop_motor(); delay(10); start_motor(); }else if(state == command_stop){ start_motor(); } state = command_start; } void back(){ // LED_H; if(state == command_start){ stop_motor(); delay(10); reverse_motor(); }else if(state == command_stop){ reverse_motor(); } state = command_back; } void start_motor(){ char i, volt; volt = 0x20; for(i=0;i<5;i++){ volt = volt + ((0x40)*i); volt = volt | forward; motor_func(ADDR1 , volt); delay(10); } } void reverse_motor(){ char i, volt; volt = 0x20; //LED_H; for(i=0;i<5;i++){ volt = volt + ((0x40)*i); volt = volt | reverse; motor_func(ADDR1 , volt); delay(10); } } void stop_motor(){ LED_P; motor_func(ADDR1 , 0x18); delay(10); motor_func(ADDR1 , 0x1B); delay(10); } void motor_func(char add , char duty){ Wire.beginTransmission(add); Wire.write(0x00); Wire.write(duty); Wire.endTransmission(); } void servo_control(int angle){ int microsec,i; LED_H; microsec = (5*(angle+offset))+ 1000; for(i=0; i<20 ;i++){ digitalWrite( 16, HIGH ); delayMicroseconds( microsec ); digitalWrite( 16, LOW ); delayMicroseconds( 10000 - microsec ); } }