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//Librairies utilisées dans le code :
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#include <AsyncTCP.h>
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#include <ESPAsyncWebSrv.h>
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#include <WiFi.h>
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//Définition des ports pour controler les moteurs
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//Moteur gauche :
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#define IN1a 27
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#define IN2a 14
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#define IN3a 12
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#define IN4a 13
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//Moteur droit :
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#define IN1b 5
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#define IN2b 18
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#define IN3b 19
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#define IN4b 21
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//Paramètres de connexion wifi :
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const char* ssid = "ESP32";
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const char* password = "test12345";
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//Temps d'attente entre deux impulsions :
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int delayTime = 3;
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//Variables de commande :
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bool commandRunning = false; //Une commande doit etre éxécutée
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bool stopCommand = false; //La commande doit etre stoppée
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String globalCommand; //Nom de la commande
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int globalValue; //Valeur (nombre de pas à effectuer)
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//Création du serveur asynchrone :
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AsyncWebServer server(80);
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//Code éxécuté au démarrage (paramétrage) :
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void setup() {
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//On indique que les ports de controle des moteurs sont des sorties (output)
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pinMode(IN1a, OUTPUT);
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pinMode(IN2a, OUTPUT);
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pinMode(IN3a, OUTPUT);
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pinMode(IN4a, OUTPUT);
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pinMode(IN1b, OUTPUT);
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pinMode(IN2b, OUTPUT);
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pinMode(IN3b, OUTPUT);
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pinMode(IN4b, OUTPUT);
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Serial.begin(115200); //Démarrage d'une communication Série avec l'ordinateur s'il est connecté
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connectWiFi(); //Connexion au wifi
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serverConfig(); //Configuration du serveur
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server.begin(); //Démarrage du serveur
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}
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//Code éxécuté en boucle jusqu'à l'extinction du robot
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void loop() {
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if (commandRunning){
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if (!stopCommand){
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chooseCommand(); //Appeler la fonction "chooseCommand()"
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if (globalValue>0){ //S'il reste des pas à effectuer alors on l'affiche et on enlève un pas
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Serial.print(globalCommand);
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Serial.print(": ");
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Serial.println(globalValue);
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globalValue--;
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}
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else{ //Sinon on stoppe les moteurs
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Serial.println("stop");
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commandRunning=false;
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stopCommand=false;
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stopMotors();
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}
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}
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else{
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Serial.println("stop");
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commandRunning=false;
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stopCommand=false;
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stopMotors();
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}
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}
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}
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//Configuration du serveur asynchrone
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void serverConfig(){
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server.on("/get",HTTP_GET,[](AsyncWebServerRequest *request){
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String command;
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float value;
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if (request->hasParam("command")) {
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command = request->getParam("command")->value();
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if (request->hasParam("value")){
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value = request->getParam("value")->value().toFloat();
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}
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else{
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value = 0;
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}
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requestCheck(command,value);
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}
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else {
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command = "Not the good command";
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}
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Serial.print(command);
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Serial.print(": ");
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Serial.println(value);
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request->send(200, "text/plain", command);
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});
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}
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//Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
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int convertLengthToSteps(float length){
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float result = length*512/(4*3.1415);
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return int(result);
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}
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//fonction pour convertir une rotation en degrés vers un nombre de pas moteur
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int convertRotToSteps(int rotation){
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int result = convertLengthToSteps(rotation*3.1415/180*7.8);
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return result;
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}
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//Lorsqu'une commande arrive au serveur, cette fonction permet
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void requestCheck(String command, float value){
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if (command=="forward"){
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globalCommand="forward";
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commandRunning=true;
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stopCommand=false;
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globalValue=convertLengthToSteps(value);
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}
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else if (command=="backward"){
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globalCommand="backward";
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commandRunning=true;
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stopCommand=false;
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globalValue=convertLengthToSteps(value);
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}
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else if (command=="left"){
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globalCommand="left";
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commandRunning=true;
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stopCommand=false;
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globalValue=convertRotToSteps(value);
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}
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else if (command=="right"){
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globalCommand="right";
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commandRunning=true;
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stopCommand=false;
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globalValue=convertRotToSteps(value);
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}
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else if (command=="stop"){
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globalCommand="stop";
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commandRunning=true;
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stopCommand=true;
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}
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if (value==0){
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globalValue = 474;
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}
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}
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void connectWiFi()
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{
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WiFi.mode(WIFI_AP);
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WiFi.softAP(ssid, password);
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Serial.print("[+] AP Created with IP Gateway ");
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Serial.println(WiFi.softAPIP());
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Serial.println("");
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}
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void chooseCommand(){
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if (globalCommand=="forward"){
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forward();
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}
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else if (globalCommand=="left"){
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left();
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}
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else if (globalCommand=="right"){
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right();
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}
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else if (globalCommand=="backward"){
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backward();
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}
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}
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void forward(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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}
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void backward(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void right(){
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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}
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void left(){
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, HIGH);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, HIGH);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, HIGH);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, HIGH);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, HIGH);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, HIGH);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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digitalWrite(IN4a, HIGH);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, HIGH);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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delay(delayTime);
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}
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void stopMotors(void) {
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digitalWrite(IN4a, LOW);
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digitalWrite(IN3a, LOW);
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digitalWrite(IN2a, LOW);
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digitalWrite(IN1a, LOW);
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digitalWrite(IN4b, LOW);
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digitalWrite(IN3b, LOW);
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digitalWrite(IN2b, LOW);
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digitalWrite(IN1b, LOW);
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}
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