Car controller
97 lines
#include <Arduino.h>
#include <Arduino.h>
#include "SPIFFS.h"
#include "SPIFFS.h"
#include <WiFiClientSecure.h>
#include <WiFiClientSecure.h>
#include <AsyncTCP.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <ESPAsyncWebServer.h>
#include "utility.h"
#include "utility.h"
#include "device/device.h"
#include "device/device.h"
#include "device/device_web_server.h"
#include "device/device_web_server.h"
#include "device/device_global_variables.h"
#include "device/device_global_variables.h"
#include <Wire.h>
#include <SimpleFOC.h>
#include "SimpleFOCDrivers.h"
#include "comms/i2c/I2CCommanderMaster.h"
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
AsyncWebServer ws_server(80);
AsyncWebServer ws_server(80);
AsyncWebSocket ws("/ws");
AsyncWebSocket ws("/ws");
uint8_t uart_message[3] = {97, 0, 0};
void setup()
#define TARGET_I2C_ADDRESS 0x60
{
#include <ESPmDNS.h>
esp32_setup_peripherals();
#include <Smartcar.h>
#define I2C_SDA 21
#define I2C_SCL 22
#define I2C_Freq 100000UL
ws.onEvent(onWsEvent);
ws_server.addHandler(&ws);
esp32_setup_web_server(&ws_server);
// our RosmoESC's address...
//#define TARGET_I2C_ADDRESS 0x60
// global instance of commander - controller device version
I2CCommanderMaster commander;
void setup() {
// slow start - give RosmoESC a chance to boot up, serial to connect, etc...
delay(1000);
// this is a debug setup so initialize and wait for serial connection
Serial.begin(115200);
while (!Serial);
esp32_setup_peripherals();
ws.onEvent(onWsEvent);
ws_server.addHandler(&ws);
esp32_setup_web_server(&ws_server);
while (!Wire.begin(I2C_SDA, I2C_SCL, 100000ul)) { // standard wire pins
Serial.println("I2C failed to initialize");
delay(1000);
}
commander.addI2CMotors(TARGET_I2C_ADDRESS, 0); // only one motor in my test setup - *Need to add a second motor
commander.addI2CMotors(TARGET_I2C_ADDRESS, 1); // Not sure if I've done this correctly
commander.init();
Serial.println("I2C Commander intialized.");
}
//Original spec:
// messages are always 3 bytes long;
// every message starts with a value 97 - this is a start code of the message. 97 is ASCII 'a' I was just testing it with UART console, that's why I chose this value;
// the second byte represents the right joystick. If it is in the center we send 97 if it is up 98 ('b') and 99 ('c') if it is down;
// the third byte represents the left joystick. If it is in the center we send 97, if it is left 98 ('b') and 99 ('c') if it is right.
// If we loose the websocket connection we command robot to stop.
void setSpeeds(float speed1, float speed2) {
if (commander.writeRegister(0, REG_TARGET, &speed1, 4)!=4) { // 0 is the motor number
Serial.println("Error Motor 0");
}
if (commander.writeRegister(1, REG_TARGET, &speed2, 4)!=4) { // 1 is the motor number
Serial.println("Error Motor 1");
}
}
}
//I2C version:
uint8_t status[4];
void loop()
void loop()
{
{
delay(100);
delay(100);
Serial2.write(uart_message, 3);
}
}
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
{
{
String payload_string = (const char *)data;
String payload_string = (const char *)data;
if (type == WS_EVT_CONNECT)
if (type == WS_EVT_CONNECT)
{
{
Serial.println("Websocket client connection received");
Serial.println("Websocket client connection received");
char json_message[50] = "{\"hostName\":\"";
char json_message[50] = "{\"hostName\":\"";
int32_t index = 0;
int32_t index = 0;
const char* ssid = get_ssid();
const char* ssid = get_ssid();
while (ssid[index])
while (ssid[index])
{
{
json_message[index + 13] = ssid[index];
json_message[index + 13] = ssid[index];
index += 1;
index += 1;
}
}
json_message[index + 13] = '\"';
json_message[index + 13] = '\"';
json_message[index + 14] = '}';
json_message[index + 14] = '}';
Serial.println(json_message);
Serial.println(json_message);
ws.textAll(json_message);
ws.textAll(json_message);
}
}
else if (type == WS_EVT_DISCONNECT)
else if (type == WS_EVT_DISCONNECT)
{
{
Serial.println("Client disconnected");
Serial.println("Client disconnected");
setSpeeds(0.0f, 0.0f);
uart_message[1] = 0 + 97;
uart_message[2] = 0 + 97;
}
}
else if (type == WS_EVT_DATA) // receive text from client
else if (type == WS_EVT_DATA) // receive text from client
{
{
char direction_1 = payload_string[2];
char direction_1 = payload_string[2];
char direction_2 = payload_string[0];
char direction_2 = payload_string[0];
if (direction_1 == 'U')
if (direction_1 == 'U') //Forwards
{
{
uart_message[1] = 1 + 97;
setSpeeds(1.0f, 1.0f);
}
}
else if (direction_1 == 'D')
else if (direction_1 == 'D') //Backwards
{
{
uart_message[1] = 2 + 97;
setSpeeds(-1.0f, -1.0f);
}
}
else
else
{
{
uart_message[1] = 0 + 97;
setSpeeds(0.0f, 0.0f);
}
}
if (direction_2 == 'L')
if (direction_2 == 'L') //left
{
{
uart_message[2] = 1 + 97;
setSpeeds(-1.0f, 1.0f);
}
}
else if (direction_2 == 'R')
else if (direction_2 == 'R') //right
{
{
uart_message[2] = 2 + 97;
setSpeeds(1.0f, -1.0f);
}
}
else
else
{
{
uart_message[2] = 0 + 97;
setSpeeds(0.0f, 0.0f);
}
}
Serial.println("direction 1: " + String(direction_1) + " direction 2: " + String(direction_2));
Serial.println("direction 1: " + String(direction_1) + " direction 2: " + String(direction_2));
}
}
}
}