- Wed Feb 21, 2018 9:39 am
#74104
I think have bitten off more than I can chew, again. 
I have adapted and merged several arduino sketches to ultimately control a stepper motor at a set speed via websocket. I based most of the sketch on this great example which worked well before I modified the hell out of it.
The result now is the index.html displays pretty close to what I want but the checkbox's and number box do not return data and the start and stop buttons work once only. ie after a reset, I can start and then stop the motor but then it will not start again.
I must admit that even though I have used such a great websocket example and used this great reference also, I still have trouble understanding exactly what is going on in the sketch.
I am quite excited about the potential of this sketch because for many months I was unable to run a stepper motor while the wifi was active because of interference of the stepper pulses but I recently tried the AccelStepper library and all the interference problems went away.
The hardware is a Wemos D1mini running a stepper driver such as a TB6600, I will eventually also have a gps receiver and a proximity sensor attached but they will come later.
I would appreciate any assistance given. Thanks in advance, Chris.
I have adapted and merged several arduino sketches to ultimately control a stepper motor at a set speed via websocket. I based most of the sketch on this great example which worked well before I modified the hell out of it.
The result now is the index.html displays pretty close to what I want but the checkbox's and number box do not return data and the start and stop buttons work once only. ie after a reset, I can start and then stop the motor but then it will not start again.
I must admit that even though I have used such a great websocket example and used this great reference also, I still have trouble understanding exactly what is going on in the sketch.
I am quite excited about the potential of this sketch because for many months I was unable to run a stepper motor while the wifi was active because of interference of the stepper pulses but I recently tried the AccelStepper library and all the interference problems went away.
The hardware is a Wemos D1mini running a stepper driver such as a TB6600, I will eventually also have a gps receiver and a proximity sensor attached but they will come later.
I would appreciate any assistance given. Thanks in advance, Chris.
Code: Select all
#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <ArduinoOTA.h>
#include <ESP8266WebServer.h>
#include <ESP8266mDNS.h>
#include <FS.h>
#include <WebSocketsServer.h>
ESP8266WiFiMulti wifiMulti; // Create an instance of the ESP8266WiFiMulti class, called 'wifiMulti'
ESP8266WebServer server = ESP8266WebServer(80); // create a web server on port 80
WebSocketsServer webSocket = WebSocketsServer(81); // create a websocket server on port 81
File fsUploadFile; // a File variable to temporarily store the received file
const char *ssid = "ESP8266 Access Point"; // The name of the Wi-Fi network that will be created
const char *password = ""; // The password required to connect to it, leave blank for an open network
const char *OTAName = "ESP8266"; // A name and a password for the OTA service
const char *OTAPassword = "esp8266";
const char* mdnsName = "esp8266"; // Domain name for the mDNS responder
//for motor control*************
#include <AccelStepper.h>
AccelStepper stepper(1, 4, 5);
float setpointVariable;//Fixed at 20rpm for now.
long steps = 200;//steps per revolution
long microStep = 16;//microstepping
bool motorStatus;// Current motor status
/*__________________________________________________________SETUP__________________________________________________________*/
void setup() {
pinMode(4, OUTPUT); // step
pinMode(5, OUTPUT); // dir
Serial.begin(115200); // Start the Serial communication to send messages to the computer
delay(10);
Serial.println("\r\n");
startWiFi(); // Start a Wi-Fi access point, and try to connect to some given access points. Then wait for either an AP or STA connection
startOTA(); // Start the OTA service
startSPIFFS(); // Start the SPIFFS and list all contents
startWebSocket(); // Start a WebSocket server
startMDNS(); // Start the mDNS responder
startServer(); // Start a HTTP server with a file read handler and an upload handler
stepper.setMaxSpeed(3200);
stepper.setSpeed(0);//pulses per second
stepper.setAcceleration(1);
}
/*__________________________________________________________LOOP__________________________________________________________*/
bool sendstart = false; // The rainbow effect is turned off on startup
bool sendstop = true;
bool sendRPM = false;
bool sendlinkage;
bool sendvrate;
unsigned long prevMillis = millis();
int hue = 0;
void loop() {
webSocket.loop(); // constantly check for websocket events
server.handleClient(); // run the server
ArduinoOTA.handle(); // listen for OTA events
stepper.runSpeed();
if(sendstart) {
stepper.setSpeed(setpointVariable/60*steps*microStep);
Serial.println(stepper.speed());
}
else {
stepper.setSpeed(0);
}
}
/*__________________________________________________________SETUP_FUNCTIONS__________________________________________________________*/
void startWiFi() { // Start a Wi-Fi access point, and try to connect to some given access points. Then wait for either an AP or STA connection
WiFi.softAP(ssid, password); // Start the access point
Serial.print("Access Point \"");
Serial.print(ssid);
Serial.println("\" started\r\n");
wifiMulti.addAP("ssid_from_AP_1", "your_password_for_AP_1"); // add Wi-Fi networks you want to connect to
wifiMulti.addAP("ssid_from_AP_2", "your_password_for_AP_2");
wifiMulti.addAP("ssid_from_AP_3", "your_password_for_AP_3");
Serial.println("Connecting");
while (wifiMulti.run() != WL_CONNECTED && WiFi.softAPgetStationNum() < 1) { // Wait for the Wi-Fi to connect
delay(250);
Serial.print('.');
}
Serial.println("\r\n");
if(WiFi.softAPgetStationNum() == 0) { // If the ESP is connected to an AP
Serial.print("Connected to ");
Serial.println(WiFi.SSID()); // Tell us what network we're connected to
Serial.print("IP address:\t");
Serial.print(WiFi.localIP()); // Send the IP address of the ESP8266 to the computer
} else { // If a station is connected to the ESP SoftAP
Serial.print("Station connected to ESP8266 AP");
}
Serial.println("\r\n");
}
void startOTA() { // Start the OTA service
ArduinoOTA.setHostname(OTAName);
ArduinoOTA.setPassword(OTAPassword);
ArduinoOTA.onStart([]() {
Serial.println("Start");
});
ArduinoOTA.onEnd([]() {
Serial.println("\r\nEnd");
});
ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
});
ArduinoOTA.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
else if (error == OTA_END_ERROR) Serial.println("End Failed");
});
ArduinoOTA.begin();
Serial.println("OTA ready\r\n");
}
void startSPIFFS() { // Start the SPIFFS and list all contents
SPIFFS.begin(); // Start the SPI Flash File System (SPIFFS)
Serial.println("SPIFFS started. Contents:");
{
Dir dir = SPIFFS.openDir("/");
while (dir.next()) { // List the file system contents
String fileName = dir.fileName();
size_t fileSize = dir.fileSize();
Serial.printf("\tFS File: %s, size: %s\r\n", fileName.c_str(), formatBytes(fileSize).c_str());
}
Serial.printf("\n");
}
}
void startWebSocket() { // Start a WebSocket server
webSocket.begin(); // start the websocket server
webSocket.onEvent(webSocketEvent); // if there's an incomming websocket message, go to function 'webSocketEvent'
Serial.println("WebSocket server started.");
}
void startMDNS() { // Start the mDNS responder
MDNS.begin(mdnsName); // start the multicast domain name server
Serial.print("mDNS responder started: http://");
Serial.print(mdnsName);
Serial.println(".local");
}
void startServer() { // Start a HTTP server with a file read handler and an upload handler
server.on("/edit.html", HTTP_POST, []() { // If a POST request is sent to the /edit.html address,
server.send(200, "text/plain", "");
}, handleFileUpload); // go to 'handleFileUpload'
server.onNotFound(handleNotFound); // if someone requests any other file or page, go to function 'handleNotFound'
// and check if the file exists
server.begin(); // start the HTTP server
Serial.println("HTTP server started.");
}
/*__________________________________________________________SERVER_HANDLERS__________________________________________________________*/
void handleNotFound(){ // if the requested file or page doesn't exist, return a 404 not found error
if(!handleFileRead(server.uri())){ // check if the file exists in the flash memory (SPIFFS), if so, send it
server.send(404, "text/plain", "404: File Not Found");
}
}
bool handleFileRead(String path) { // send the right file to the client (if it exists)
Serial.println("handleFileRead: " + path);
if (path.endsWith("/")) path += "index.html"; // If a folder is requested, send the index file
String contentType = getContentType(path); // Get the MIME type
String pathWithGz = path + ".gz";
if (SPIFFS.exists(pathWithGz) || SPIFFS.exists(path)) { // If the file exists, either as a compressed archive, or normal
if (SPIFFS.exists(pathWithGz)) // If there's a compressed version available
path += ".gz"; // Use the compressed verion
File file = SPIFFS.open(path, "r"); // Open the file
size_t sent = server.streamFile(file, contentType); // Send it to the client
file.close(); // Close the file again
Serial.println(String("\tSent file: ") + path);
return true;
}
Serial.println(String("\tFile Not Found: ") + path); // If the file doesn't exist, return false
return false;
}
void handleFileUpload(){ // upload a new file to the SPIFFS
HTTPUpload& upload = server.upload();
String path;
if(upload.status == UPLOAD_FILE_START){
path = upload.filename;
if(!path.startsWith("/")) path = "/"+path;
if(!path.endsWith(".gz")) { // The file server always prefers a compressed version of a file
String pathWithGz = path+".gz"; // So if an uploaded file is not compressed, the existing compressed
if(SPIFFS.exists(pathWithGz)) // version of that file must be deleted (if it exists)
SPIFFS.remove(pathWithGz);
}
Serial.print("handleFileUpload Name: "); Serial.println(path);
fsUploadFile = SPIFFS.open(path, "w"); // Open the file for writing in SPIFFS (create if it doesn't exist)
path = String();
} else if(upload.status == UPLOAD_FILE_WRITE){
if(fsUploadFile)
fsUploadFile.write(upload.buf, upload.currentSize); // Write the received bytes to the file
} else if(upload.status == UPLOAD_FILE_END){
if(fsUploadFile) { // If the file was successfully created
fsUploadFile.close(); // Close the file again
Serial.print("handleFileUpload Size: "); Serial.println(upload.totalSize);
server.sendHeader("Location","/success.html"); // Redirect the client to the success page
server.send(303);
} else {
server.send(500, "text/plain", "500: couldn't create file");
}
}
}
void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t lenght) { // When a WebSocket message is received
switch (type) {
case WStype_DISCONNECTED: // if the websocket is disconnected
Serial.printf("[%u] Disconnected!\n", num);
break;
case WStype_CONNECTED: { // if a new websocket connection is established
IPAddress ip = webSocket.remoteIP(num);
Serial.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);
sendstart = false; // Turn rainbow off when a new connection is established
}
break;
case WStype_TEXT: // if new text data is received
Serial.printf("[%u] get Text: %s\n", num, payload);
if (payload[0] == '#') { // we get RGB data
uint32_t rpm = (uint32_t) strtol((const char *) &payload[1], NULL, 16); // decode rgb data
int R = (rpm & 0x3FF); // B: bits 0-9
Serial.print(R);
setpointVariable = R;
}
if (payload[0] == 'V') {
sendvrate = true;
}
else if (payload[0] == 'W') {
sendvrate = false;
}
if (payload[0] == 'L') {
sendlinkage = true;
}
else if(payload[0] == 'M') {
sendvrate = false;
}
else if (payload[0] == 'T') { // the browser sends an R when the rainbow effect is enabled
sendstart = true;
} else if (payload[0] == 'P') { // the browser sends an N when the rainbow effect is disabled
sendstart = false;
}
break;
}
}
/*__________________________________________________________HELPER_FUNCTIONS__________________________________________________________*/
String formatBytes(size_t bytes) { // convert sizes in bytes to KB and MB
if (bytes < 1024) {
return String(bytes) + "B";
} else if (bytes < (1024 * 1024)) {
return String(bytes / 1024.0) + "KB";
} else if (bytes < (1024 * 1024 * 1024)) {
return String(bytes / 1024.0 / 1024.0) + "MB";
}
}
String getContentType(String filename) { // determine the filetype of a given filename, based on the extension
if (filename.endsWith(".html")) return "text/html";
else if (filename.endsWith(".css")) return "text/css";
else if (filename.endsWith(".js")) return "application/javascript";
else if (filename.endsWith(".ico")) return "image/x-icon";
else if (filename.endsWith(".gz")) return "application/x-gzip";
return "text/plain";
}
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