commited by Debasish Goswami

examples/14_blite_rc_car/14_blite_rc_car.ino

@@ -1,13 +1,88 @@
-#include <blite.h>
+#include "blite.h"
+#include <ESP8266WebServer.h>
+#include <WebSocketsServer.h>
 #include "remote.h"
 
-Blite myBot;
+#define CMD_STOP 0
+#define CMD_FORWARD 1
+#define CMD_BACKWARD 2
+#define CMD_LEFT 4
+#define CMD_RIGHT 8
+#define CMD_PUSH 5
+#define CMD_SRVCLCK 6
+#define CMD_SRVACLCK 9
+
+
+Blite mybot;
 ESP8266WebServer wifiRemoteControl(80);
+WebSocketsServer webSocket = WebSocketsServer(81);  // WebSocket server on port 81
+
+void webSocketEvent(uint8_t num, WStype_t type, uint8_t* payload, size_t length) {
+  switch (type) {
+    case WStype_DISCONNECTED:
+      Serial.printf("[%u] Disconnected!\n", num);
+      break;
+    case WStype_CONNECTED:
+      {
+        IPAddress ip = webSocket.remoteIP(num);
+        Serial.printf("[%u] Connected from %d.%d.%d.%d\n", num, ip[0], ip[1], ip[2], ip[3]);
+      }
+      break;
+    case WStype_TEXT:
+      //Serial.printf("[%u] Received text: %s\n", num, payload);
+      String angle = String((char*)payload);
+      int command = angle.toInt();
+      Serial.print("command: ");
+      Serial.println(command);
+
+      switch (command) {
+        case CMD_STOP:
+          Serial.println("Stop");
+         // mybot.stop();
+          break;
+        case CMD_FORWARD:
+          Serial.println("Move Forward");
+          mybot.moveForward();
+          break;
+        case CMD_BACKWARD:
+          Serial.println("Move Backward");
+          mybot.moveBackward();
+          break;
+        case CMD_LEFT:
+          Serial.println("Turn Left");
+          mybot.turnLeft();
+          break;
+        case CMD_RIGHT:
+          Serial.println("Turn Right");
+          mybot.turnRight();
+          break;
+        case CMD_PUSH:
+          Serial.println("Push button pressed");
+          //mybot.push();
+          break;
+        case CMD_SRVCLCK:
+          Serial.println("Turn servo clockwise");
+          //mybot.turnServoClockwise();
+          break;
+        case CMD_SRVACLCK:
+          Serial.println("Turn servo anti-clockwise");
+          //mybot.turnServoAntiClockwise();
+          break;
+        default:
+          Serial.println("Unknown command");
+      }
+
+      break;
+  }
+}
+
 
 void setup(){
-    myBot.setup();
+    mybot.setup();
     Serial.begin(115200);
-    myBot.smartConnectWiFi();
+    mybot.smartConnectWiFi();
+    webSocket.begin();
+  webSocket.onEvent(webSocketEvent);
     wifiRemoteControl.on("/", HTTP_GET, []() {
         Serial.println("Web Server: received a web page request");
         String html = REMOTE_HTML_CONTENT;
@@ -17,8 +92,5 @@ void setup(){
 }
 void loop(){
     wifiRemoteControl.handleClient();
-    if (myBot.buttonPressed()){
-        myBot.blinkLed(2);
-    }
+    webSocket.loop();
 }
-

examples/14_blite_rc_car/blite.cpp

@@ -0,0 +1,133 @@
+#include "blite.h"
+
+int Blite::getIO(const char * io){
+    if (io == "io1") {
+        return IO1;
+    } else if (io =="io2") {
+        return IO2;
+    } else if (io == "scl") {
+        return I2C_SCL;
+    } else if (io == "sda"){
+        return I2C_SDA;
+    }
+    return -1;
+
+}
+void Blite::reversePolarityM12(){
+    this->defineM12(false);
+}
+void Blite::reversePolarityM34(){
+    this->defineM34(false);
+}
+void Blite::moveForward(){
+    analogWrite(m1,speed);
+    digitalWrite(m2,LOW);
+    analogWrite(m4,speed);
+    digitalWrite(m3,LOW);
+}
+void Blite::moveBackward(){
+    analogWrite(m2,speed);
+    digitalWrite(m1,LOW);
+    analogWrite(m3,speed);
+    digitalWrite(m4,LOW);
+}
+void Blite::turnRight(){
+    digitalWrite(m1,LOW);
+    digitalWrite(m2,LOW);
+    analogWrite(m4,speed);
+    digitalWrite(m3,LOW);
+}
+void Blite::turnLeft(){
+    analogWrite(m1,speed);
+    digitalWrite(m2,LOW);
+    digitalWrite(m3,LOW);
+    digitalWrite(m4,LOW);
+}
+void Blite::setSpeed(int s){
+    this->speed = s ;
+}
+bool Blite::connectWiFi(const char *username, const char *password){
+    WiFi.disconnect();
+    WiFi.mode(WIFI_STA);
+    int retry = 0;
+    while (retry <= 20) {
+    if (WiFi.status() != WL_CONNECTED) {
+        Serial.println("Trying to connect to wifi");
+        WiFi.begin(username,password);
+        WiFi.waitForConnectResult();
+        delay(1000);
+    } else {
+        Serial.println("connected to wifi");
+        Serial.println(WiFi.localIP());
+        return 1;
+    }
+    retry++;
+    }
+    return 0;
+}
+bool Blite::smartConnectWiFi(){
+    WiFi.disconnect();
+    WiFi.mode(WIFI_STA);
+    WiFiManager wm;
+    bool res;
+    res = wm.autoConnect("Buildybee-smart-config","buildybee"); // password protected ap
+    return res;
+}
+
+bool Blite::APServer() {
+    if (WiFi.isConnected()){
+        if (WiFi.disconnect()){
+            return 0;
+        }
+    }
+    const char* ssid = "buidybee_rc_car";
+    IPAddress local_IP(192, 168, 4, 1);
+    // We set a Gateway IP address
+    IPAddress gateway(192, 168, 4, 1);
+    IPAddress subnet(255, 255, 255, 0);
+    // Connecting WiFi
+    WiFi.softAPConfig(local_IP,gateway,subnet);
+    WiFi.mode(WIFI_AP);
+    return WiFi.softAP(ssid);
+}
+bool Blite::buttonPressed() {
+    return !digitalRead(SW1);
+}
+
+void Blite::setup(){
+  pinMode(SW1,INPUT_PULLUP);
+  pinMode(M1,OUTPUT);
+  pinMode(M2,OUTPUT);
+  pinMode(M3,OUTPUT);
+  pinMode(M4,OUTPUT);
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, HIGH);
+  this->defineM12(true);
+  this->defineM34(true);
+  WiFi.disconnect();
+  WiFi.mode(WIFI_OFF);
+
+
+}
+
+void Blite::glowLed(bool s){
+  if (s){
+    digitalWrite(LED_BUILTIN, LOW);
+  } else{
+    digitalWrite(LED_BUILTIN, HIGH);
+  }
+
+}
+
+void Blite::blinkLed(int c){
+  for (int i=0;i<c;i++){
+     digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+     delay(500);
+    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+    delay(500);
+  }
+}
+
+int Blite::readADC(){
+    return analogRead(ADC1);
+}

examples/14_blite_rc_car/blite.h

@@ -0,0 +1,67 @@
+#ifndef BLITE_H_
+#define BLITE_H_
+
+#if defined(ESP8266)
+
+#define IO1 12
+#define IO2 13
+#define SW1 16
+
+#define M1 0
+#define M2 2
+#define M3 14
+#define M4 15
+
+#define I2C_SCL 5
+#define I2C_SDA 4
+
+#define ADC1 A0
+
+#include <ESP8266WiFi.h>
+#include <ESP8266WebServer.h>
+#include <WiFiManager.h>
+
+class Blite {
+public:
+void setup();
+bool APServer();
+bool connectWiFi(const char * username, const char * password);
+bool smartConnectWiFi();
+void moveForward();
+void moveBackward();
+void turnRight();
+void turnLeft();
+void setSpeed(int speed);
+
+void reversePolarityM12();
+void reversePolarityM34();
+
+int getIO(const char * io);
+bool buttonPressed();
+void glowLed(bool s);
+void blinkLed(int c);
+int readADC();
+
+private:
+int m1,m2,m3,m4,speed;
+void defineM12(bool polarity){
+    if (polarity){
+        this->m1 = M1;
+        this->m2 = M2;
+    } else {
+        this->m2 = M1;
+        this->m1 = M2;
+    }
+};
+void defineM34(bool polarity){
+     if (polarity){
+        this->m3 = M3;
+        this->m4 = M4;
+    } else {
+        this->m4 = M3;
+        this->m3 = M4;
+    }
+};
+};
+#endif
+#endif