Delete 'Mapping/esp.ino'

Mapping/esp.ino

@@ -1,208 +0,0 @@
-#include <Wire.h>
-#include <WiFi.h>
-#include <WiFiUdp.h>
-#include <SparkFun_VL53L1X.h>
-
-const char * networkName = "COSMOTE-424630";
-const char * networkPswd = "tQThvFVAxRJhsYKg";
-const char * udpAddress = "192.168.1.76";
-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;
-float  rotationtime;
-int count = 0;
-int flag = 0;
-
-int circle = 2048 * 3.25;
-
-char *buffer1;
-char buffer2[20];
-int distance;
-int angle;
-
-int step();
-
-void setup() {
-  Wire.begin();
-  if (distanceSensor.begin() == 0) //Begin returns 0 on a good init
-  {
-    Serial.println("Sensor online!");
-  }
-
-  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);
-  while (digitalRead(HOMING_PIN) == HIGH)step();
-  while (digitalRead(HOMING_PIN) == LOW) {
-    step();
-  }
-  delay(2000);
-}
-
-void loop() {
-  //if(count%circle==0)delay(5000);
-  for(count=0;count<circle-1;){
-      count += step();
-
-  if (count % 18 == 0) {
-    distanceSensor.startRanging();
-    distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
-    distanceSensor.stopRanging();
-    if (connected) {
-      //Send a packet
-      udp.beginPacket(udpAddress, udpPort);
-      angle = ceil(count * 0.054086538);
-      sprintf(buffer2, "%d,%f",angle,(float)distance);
-      udp.printf("%s",buffer2);
-      udp.endPacket();
-    }
-    Serial.print("ANGLE:");
-    Serial.print(angle);
-    Serial.print(" DISTANCE:");
-    Serial.println(distance/10);
-    Serial.println(buffer2);
-  }
-
-}
-
-  //  if(digitalRead(HOMING_PIN)==LOW)
-  //        Serial.println("LOW");
-  //  else
-  //  Serial.println("HIGH");
-  count = count % circle-1;
-
-
-     sprintf (buffer1, "%c%lu",'F',2500);
-     Serial2.print(buffer1);
-     delay(5000);
-
-  /*
-      sprintf (buffer1, "%c%lu",'L',200);
-    Serial2.print(buffer1);
-    delay(2000);
-
-      sprintf (buffer1, "%c%lu",'F',200);
-    Serial2.print(buffer1);
-      delay(2000);
-      sprintf (buffer1, "%c%lu",'R',200);
-    Serial2.print(buffer1);
-       delay(2000);*/
-
-
-  /*
-
-
-      if(count==2048*3.25){
-        endtime=millis();
-        rotationtime=(endtime-starttime)/1000;
-        if(flag==0){
-              Serial.print("It took:");
-        Serial.print(rotationtime);
-        Serial.println("seconds");
-        flag++;
-        }
-      }
-      count=count%2048*3.25; */
-
-
-}
-
-
-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;
-  }
-}