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feat(esp8266): final robot code
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This went through alot of iterations outside of Git, big thanks to @spencertb and @wxb9585 for their contributions.
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@zoeyfyi
zoeyfyi committed Apr 11, 2019
1 parent b935988 commit 1c20898
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245 changes: 154 additions & 91 deletions robot/esp8266/esp8266.ino
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@@ -1,119 +1,182 @@
#include <Servo.h>

#include <WebSocketsClient.h>
// WEB SOCKET AND WIFI INCLUDES
#include <ESP8266WiFi.h>
#include "wpa2_enterprise.h"
#include <WebSocketsClient.h>
#include "wifi.h"

#define SERVO_PIN D0
#define STATUS_PIN D7

WebSocketsClient socket;
WiFiClient client;
WebSocketsClient webSocket;

void connectToEduroam() {
const char ssid[32] = "eduroam";
const char password[64] = "";
wifi_station_disconnect();
struct station_config sta_conf;
os_memset(&sta_conf, 0, sizeof(sta_conf));
os_memcpy(sta_conf.ssid, ssid, 32);
os_memcpy(sta_conf.password, password, 64);
wifi_station_set_config(&sta_conf);
wifi_station_set_wpa2_enterprise_auth(1);
wifi_station_set_enterprise_identity((u8*)(void*)EDUROAM_USERNAME, os_strlen(EDUROAM_USERNAME));
wifi_station_set_enterprise_username((u8*)(void*)EDUROAM_USERNAME, os_strlen(EDUROAM_USERNAME));
wifi_station_set_enterprise_password((u8*)(void*)EDUROAM_PASSWORD, os_strlen(EDUROAM_PASSWORD));
wifi_station_connect();

Serial.printf("Connecting to \"%s\"...\n", ssid);
while (WiFi.status() != WL_CONNECTED) {
// wait for the Wi-Fi to connect
delay(1000);
Serial.print('-');
}

Servo servo;
Serial.println("\nConnection to shitroam established!");
Serial.print("IP address:\t");
Serial.println(WiFi.localIP());
}

// WEB SOCKET CONNNECTION
void webSocketEvent(WStype_t type, uint8_t * payload, size_t length) {
switch(type) {
case WStype_DISCONNECTED:
digitalWrite(STATUS_PIN, LOW);
Serial.printf("[WSc] Disconnected!\n");
break;
case WStype_CONNECTED:
digitalWrite(STATUS_PIN, HIGH);
Serial.printf("[WSc] Connected to url: %s\n", payload);
break;
case WStype_TEXT:
Serial.printf("[WSc] get text: %s\n", payload);

switch (type) {
case WStype_DISCONNECTED:
Serial.printf("[WSc] Disconnected!\n");
break;
case WStype_CONNECTED:
Serial.printf("[WSc] Connected to url: %s\n", payload);
break;
case WStype_TEXT:
Serial.printf("[WSc] get text: %s\n", payload);
{
String command = String((char *) payload);
command.trim();
executeCommand(command);
}

break;
case WStype_BIN:
Serial.printf("[WSc] get binary length: %u\n", length);
hexdump(payload, length);
case WStype_BIN:
Serial.printf("[WSc] get binary length: %u\n", length);
hexdump(payload, length);
break;
}
}
}

void executeCommand(String command) {
Serial.print("Received command: ");
Serial.print(command);
Serial.println();

// process LED commands
if (command.startsWith("led")) {
if(command == "led on") {
Serial.println("Turning LED on");
digitalWrite(LED_BUILTIN, LOW);
} else if (command == "led off") {
Serial.println("Turning LED off");
digitalWrite(LED_BUILTIN, HIGH);
}
}
void connectToWebsocket() {
webSocket.begin("robot.test.halspals.co.uk", 80, "/connect/venus");
webSocket.onEvent(webSocketEvent);
}

if (command.startsWith("servo")) {
// convert characters after "servo " to int
int angle = command.substring(6).toInt();
// INTERRUPT BUTTON //
#define LEFT_BUTTON D3
#define RIGHT_BUTTON D5

Serial.print("Setting servo to ");
Serial.print(angle);
Serial.println(" degrees");
// BOLT LOCK/ LIGHT SWITCH BUTTONS//
bool lighton;
volatile long debounce_timeout = 0;

servo.write(angle);
}
void leftButtonDown() {
detachInterrupt(LEFT_BUTTON);
attachInterrupt(LEFT_BUTTON, leftButtonUp, RISING);
debounce_timeout = millis();
}

void setup() {
// setup servo
servo.attach(SERVO_PIN);

// use pin 7/8 as our LED indicators
pinMode(STATUS_PIN, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
void leftButtonUp() {
detachInterrupt(LEFT_BUTTON);
attachInterrupt(LEFT_BUTTON, leftButtonDown, FALLING);
if (debounce_timeout + 50 < millis()) {
Serial.println("left");
webSocket.sendTXT("left");
}
}

// begin serial communications
Serial.begin(9600);
delay(10);
Serial.println('\n');

// connect to the network
WiFi.begin(ssid, password);
Serial.print("Connecting to \"");
Serial.print(ssid);
Serial.print("\"");
Serial.println("...");

int i = 0;
while (WiFi.status() != WL_CONNECTED) {
// wait for the Wi-Fi to connect
digitalWrite(STATUS_PIN, HIGH);
delay(500);
digitalWrite(STATUS_PIN, LOW);
delay(500);
Serial.print('-');
void rightButtonDown() {
detachInterrupt(RIGHT_BUTTON);
attachInterrupt(RIGHT_BUTTON, rightButtonUp, RISING);
debounce_timeout = millis();
}

void rightButtonUp() {
detachInterrupt(RIGHT_BUTTON);
attachInterrupt(RIGHT_BUTTON, rightButtonDown, FALLING);
if (debounce_timeout + 50 < millis()) {
Serial.println("right");
webSocket.sendTXT("right");
}

Serial.println('\n');
Serial.println("Connection established!");

Serial.print("IP address:\t");
Serial.println(WiFi.localIP());
}

digitalWrite(STATUS_PIN, HIGH);
// THERMO //
int servo_angle = 0;
int maxServo = 180;
int minServo = 0;
int l = 0;
int r = 0;

delay(1000);
// ~~~~~~ SETUP ~~~~~~ //
#include <Servo.h>
#define SERVO D0
#define SERVO_SHDN 15
Servo servo;

// connect to websocket server
Serial.println("Connecting to WebSocket server");
socket.begin("192.168.0.12", 8080, "/connect");
socket.onEvent(webSocketEvent);
socket.setReconnectInterval(1000);
void executeCommand(String command) {
Serial.print("Received command: ");
Serial.print(command);
Serial.println();
if (command.startsWith("servo")) {
// convert characters after "servo " to int
int angle = command.substring(6).toInt();
Serial.print("Setting servo to ");
Serial.print(angle);
Serial.println(" degrees");
servo.write(angle);
}
}

void loop() {
socket.loop();
void setup() {
// begin serial communications
Serial.begin(115200);
while (!Serial) {}
Serial.println("Serial connected");
pinMode(SERVO, OUTPUT);
pinMode(SERVO_SHDN, OUTPUT);
pinMode(LEFT_BUTTON, INPUT);
pinMode(RIGHT_BUTTON, INPUT_PULLUP);
servo.attach(SERVO);
servo.write(0);
SERVO_SHDN == LOW;

// connect to the network and eduroam
connectToEduroam();
connectToWebsocket();

// button interrupts
attachInterrupt(digitalPinToInterrupt(LEFT_BUTTON), leftButtonDown, FALLING);
attachInterrupt(digitalPinToInterrupt(RIGHT_BUTTON), rightButtonDown, FALLING);
}

void loop() {
// //THERMO HARD CODED
// r = digitalRead(RIGHT_BUTTON);
// l = digitalRead(LEFT_BUTTON);

// //left is pressed (turn on)
// if (l == LOW ) {
// Serial.println("left is pressed");
// servo_angle = servo_angle + 7;
// if (servo_angle >= maxServo) {
// servo_angle = maxServo;
// }
// servo.write(servo_angle);
// delay(10);
// }

// //right is pressed (turn on)
// if (r == LOW ) {
// Serial.println("right is pressed");
// servo_angle = servo_angle - 7;
// if (servo_angle <= minServo) {
// servo_angle = minServo;
// }

// servo.write(servo_angle);
// delay(10);
// }

//WEB SOCKET CODE
webSocket.loop();
}
9 changes: 6 additions & 3 deletions robot/wifi.h
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@@ -1,3 +1,6 @@
// The SSID and password of the network it should connect to
#define ssid "YOUR_SSID"
#define password "YOUR_PASSWORD"
// eduroam connection details
#define SSID "eduroam"
#define PASSWORD ""
#define EDUROAM_USERNAME "[email protected]"
#define EDUROAM_IDENTITY EDUROAM_USERNAME
#define EDUROAM_PASSWORD "password"

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