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Delete 'esp.ino'

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Gab_S 5 years ago
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1 changed files with 0 additions and 257 deletions
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  1. 257
      esp.ino

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esp.ino
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@ -1,257 +0,0 @@
#include <Wire.h>
#include <WiFi.h>
#include <WiFiUdp.h>
#include <SparkFun_VL53L1X.h>
const char * networkName = "OTEfd57e0";
const char * networkPswd = "akup8407";
const char * udpAddress = "192.168.1.2";
const int udpPort = 6000;
SFEVL53L1X distanceSensor;
WiFiUDP udp;
boolean connected = false;
#define MOTOR_PHASE_A 26
#define MOTOR_PHASE_B 25
#define MOTOR_PHASE_C 33
#define MOTOR_PHASE_D 32
#define HOMING_PIN 35
unsigned long starttime;
unsigned long endtime;
int count = 0;
int flag = 0;
int circle = 2048 * 3.25;
char *buffer1;
char *buffer2;
float distance;
float x,y;
int angle;
int max_angle,max_d,f_d;
int flag_lastTurn[2];
int step();
void setup() {
flag_lastTurn[0]=0;
flag_lastTurn[1]=1;
Wire.begin();
if (distanceSensor.begin() == 0) //Begin returns 0 on a good init
{
Serial.println("Sensor online!");
}
//distanceSensor.setDistanceModeShort();//Sets it to max 1.3 works better with diffrent ambient lights
distanceSensor.setTimingBudgetInMs(120);
distanceSensor.setIntermeasurementPeriod(150);
connectToWiFi(networkName, networkPswd);
Serial2.begin(9600);
Serial.begin(9600);
Serial.println("Setup");
pinMode(MOTOR_PHASE_A, OUTPUT);
pinMode(MOTOR_PHASE_B, OUTPUT);
pinMode(MOTOR_PHASE_C, OUTPUT);
pinMode(MOTOR_PHASE_D, OUTPUT);
pinMode(HOMING_PIN, INPUT);
starttime = millis();
buffer1 = (char*) malloc((sizeof(char) + sizeof(unsigned long)) * sizeof(char) + 1);
buffer2 = (char*) malloc((sizeof(int)+(3*sizeof(float)) ) * sizeof(char) + 1);
while (digitalRead(HOMING_PIN) == HIGH)step();
while (digitalRead(HOMING_PIN) == LOW) {
step();
}
x=0;
y=0;
}
void loop() {
sprintf (buffer1, "%c%lu",'F',1000);
Serial2.print(buffer1);
max_angle=-1;
max_d=-1;
f_d=0;
//if(count%circle==0)delay(5000);
for(count=0;count<circle-1;){
count += step();
if (count % 18 == 0) {
delay(150);
distanceSensor.startRanging();
distanceSensor.stopRanging();
while(!distanceSensor.checkForDataReady()){};
distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
if(distanceSensor.getRangeStatus()==0){
if (connected) {
//Send a packet
udp.beginPacket(udpAddress, udpPort);
angle = ceil(count * 0.054086538);
sprintf(buffer2, "%d,%f,%f,%f",angle,distance/10,x*10,y*10);
udp.printf("%s",buffer2);
udp.endPacket();
}
if(distance>max_d){
max_d=distance;
max_angle=angle;
}
}
if(count==0){
if(distance>18||distanceSensor.getRangeStatus()==4){
f_d=1;
}
}
// Serial.print("ANGLE:");
// Serial.print(angle);
// Serial.print(" DISTANCE:");
// Serial.println(distance/10);
// Serial.println(buffer2);
}
}
count = count % circle-1;
if(f_d!=1){
if(max_angle>180){
sprintf (buffer1, "%c%lu",'L',850);
Serial2.print(buffer1);
}
else
{
sprintf (buffer1, "%c%lu",'R',850);
Serial2.print(buffer1);
}
}
delay(1000);
/*
if(f_d!=1){
if(max_angle>180){
sprintf (buffer1, "%c%lu",'L',850);
Serial2.print(buffer1);
delay(500);
if(flag_lastTurn[0]==1){
switch(flag_lastTurn[1]){
case 1:
// x-=12.5;
break;
case 0:
x+=12.5;
break;
}
}
else
//y-=12.5;
sprintf (buffer1, "%c%lu",'F',1000);
Serial2.print(buffer1);
}
else{
sprintf (buffer1, "%c%lu",'R',850);
Serial2.print(buffer1);
delay(500);
if(flag_lastTurn[0]==1){
switch(flag_lastTurn[1]){
case 1:
x+=12.5;
break;
case 0:
// x-=12.5;
break;
}
}
else
y+=12.5;
}
sprintf (buffer1, "%c%lu",'F',1000);
Serial2.print(buffer1);
}
else{
sprintf (buffer1, "%c%lu",'F',1000);
Serial2.print(buffer1);
x+=12.5;
flag_lastTurn[0]=0;
flag_lastTurn[1]=0;
}*/
}
int step() {
static int count;
switch (count) {
case 0:
{
digitalWrite(MOTOR_PHASE_D, HIGH);
digitalWrite(MOTOR_PHASE_C, LOW);
digitalWrite(MOTOR_PHASE_B, LOW);
digitalWrite(MOTOR_PHASE_A, LOW);
}
break;
case 1:
{
digitalWrite(MOTOR_PHASE_D, LOW);
digitalWrite(MOTOR_PHASE_C, HIGH);
digitalWrite(MOTOR_PHASE_B, LOW);
digitalWrite(MOTOR_PHASE_A, LOW);
}
break;
case 2:
{
digitalWrite(MOTOR_PHASE_D, LOW);
digitalWrite(MOTOR_PHASE_C, LOW);
digitalWrite(MOTOR_PHASE_B, HIGH);
digitalWrite(MOTOR_PHASE_A, LOW);
}
break;
case 3:
{
digitalWrite(MOTOR_PHASE_D, LOW);
digitalWrite(MOTOR_PHASE_C, LOW);
digitalWrite(MOTOR_PHASE_B, LOW);
digitalWrite(MOTOR_PHASE_A, HIGH);
}
break;
}
delay(8);
count++;
count = count % 4;
return 1;
}
void connectToWiFi(const char * ssid, const char * pwd) {
Serial.println("Connecting to WiFi network: " + String(ssid));
// delete old config
WiFi.disconnect(true);
//register event handler
WiFi.onEvent(WiFiEvent);
//Initiate connection
WiFi.begin(ssid, pwd);
Serial.println("Waiting for WIFI connection...");
}
//wifi event handler
void WiFiEvent(WiFiEvent_t event) {
switch (event) {
case SYSTEM_EVENT_STA_GOT_IP:
//When connected set
Serial.print("WiFi connected! IP address: ");
Serial.println(WiFi.localIP());
//initializes the UDP state
//This initializes the transfer buffer
udp.begin(WiFi.localIP(), udpPort);
connected = true;
break;
case SYSTEM_EVENT_STA_DISCONNECTED:
Serial.println("WiFi lost connection");
connected = false;
break;
default: break;
}
}
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