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Commit 994f976c authored by Saloni Garg's avatar Saloni Garg
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fixed motor code with pressure using wifi frontend

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arduino_code/test_webpage_sensors/test_webpage_sensors.ino 0 → 100644
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View file @ 994f976c
/*********
https://randomnerdtutorials.com/esp32-async-web-server-espasyncwebserver-library/
*********/
// Import required libraries
#include <Arduino.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include <AsyncTCP.h>
#include <Stepper.h>
#include <AccelStepper.h>
#include <MultiStepper.h>
// Replace with your network credentials
const char* ssid = "Saloni's iphone (2)";
const char* password = "saloni29";
const char* input_parameter1 = "output";
const char* input_parameter2 = "state";
#define PRESSUREPIN1 34
#define PRESSUREPIN2 35
#define motorIN1 33
#define motorIN2 32
#define motorIN3 26
#define motorIN4 27
#define PRESSURE1GOAL 1000
#define PRESSURE2GOAL 2034
Stepper motor(200, motorIN1, motorIN2, motorIN3, motorIN4);
//AccelStepper motor(AccelStepper::FULL4WIRE, motorIN1, motorIN2, motorIN3, motorIN4);
// current temperature & humidity, updated in loop()
int pressure1 = 0.0;
int pressure2 = 0.0;
float motor1Speed = 0.0;
String pressure1status = "NOT YET...";
String pressure2status = "NOT YET...";
String motor1status = "just started";
// Create AsyncWebServer object on port 80
AsyncWebServer server(80);
// Generally, you should use "unsigned long" for variables that hold time
// The value will quickly become too large for an int to store
unsigned long previousMillis = 0; // will store last time DHT was updated
// Updates DHT readings every 10 seconds
const long interval = 1;
const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE HTML><html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.2/css/all.css" integrity="sha384-fnmOCqbTlWIlj8LyTjo7mOUStjsKC4pOpQbqyi7RrhN7udi9RwhKkMHpvLbHG9Sr" crossorigin="anonymous">
<style>
html {
font-family: Arial;
display: inline-block;
margin: 0px auto;
text-align: center;
}
h2 { font-size: 3.0rem; }
p { font-size: 3.0rem; }
.units { font-size: 1.2rem; }
.sensorlabel{
font-size: 1.5rem;
vertical-align:center;
padding-bottom: 15px;
}
.statuslabel { font-size: 1.3rem; }
button2 {background-color: #555555;}
body {max-width: 600px; margin:0px auto; padding-bottom: 25px;}
.switch {position: relative; display: inline-block; width: 120px; height: 68px}
.switch input {display: none}
.slider {position: absolute; top: 0; left: 0; right: 0; bottom: 0; background-color: #ccc; border-radius: 6px}
.slider:before {position: absolute; content: ""; height: 52px; width: 52px; left: 8px; bottom: 8px; background-color: #fff; -webkit-transition: .4s; transition: .4s; border-radius: 3px}
input:checked+.slider {background-color: #b30000}
input:checked+.slider:before {-webkit-transform: translateX(52px); -ms-transform: translateX(52px); transform: translateX(52px)}
</style>
</head>
<body>
<h2>Remotely Adjustable Boot</h2>
<p>
<i class="fas fa-thermometer-half" style="color:#4a32a8;"></i>
<span class="sensorlabel">Pressure LEFT</span>
<br>
<span id="pressure1">%PRESSURE1%</span>
<sup class="units">mmHg</sup>
</p>
<p>
<span class="sensorlabel">Status:</span>
<span id="pressure1status" class="statuslabel">%PRESSURE1STATUS%</span>
</p>
<p>
<i class="fas fa-thermometer-half" style="color:#4a32a8;"></i>
<span class="sensorlabel">Pressure RIGHT</span>
<span id="pressure2">%PRESSURE2%</span>
<sup class="units">mmHg</sup>
</p>
<p>
<span class="sensorlabel">Status:</span>
<span id="pressure2status" class="statuslabel">%PRESSURE2STATUS%</span>
</p>
<p>
<i class="fas fa-wrench" style="color:#4a32a8;"></i>
<span class="sensorlabel">Motor Status</span>
<span id="motor1status">%MOTOR1STATUS%</span>
<sup class="units">torque</sup>
</p>
%BUTTONPLACEHOLDER%
<script>function toggleCheckbox(element) {
var xhr = new XMLHttpRequest();
if(element.checked){ xhr.open("GET", "/update?output="+element.id+"&state=1", true); }
else { xhr.open("GET", "/update?output="+element.id+"&state=0", true); }
xhr.send();
}
</script>
</body>
<script>
setInterval(function ( ) {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
document.getElementById("pressure1").innerHTML = this.responseText;
}
};
xhttp.open("GET", "/pressure1", true);
xhttp.send();
}, 1000 ) ;
setInterval(function ( ) {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
document.getElementById("pressure1status").innerHTML = this.responseText;
}
};
xhttp.open("GET", "/pressure1status", true);
xhttp.send();
}, 1000 ) ;
setInterval(function ( ) {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
document.getElementById("pressure2").innerHTML = this.responseText;
}
};
xhttp.open("GET", "/pressure2", true);
xhttp.send();
}, 1000 ) ;
setInterval(function ( ) {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
document.getElementById("pressure2status").innerHTML = this.responseText;
}
};
xhttp.open("GET", "/pressure2status", true);
xhttp.send();
}, 1000 ) ;
setInterval(function ( ) {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
document.getElementById("motor1status").innerHTML = this.responseText;
}
};
xhttp.open("GET", "/motor1status", true);
xhttp.send();
}, 1000 ) ;
</script>
</html>)rawliteral";
String outputState(int output){
if(digitalRead(output)){
return "checked";
}
else {
return "";
}
}
// Replaces placeholder with DHT values
String processor(const String& var){
//Serial.println(var);
if(var == "PRESSURE1"){
return String(pressure1);
}
else if (var == "PRESSURE1STATUS"){
return String(pressure1status);
}
else if(var == "PRESSURE2"){
return String(pressure2);
}
else if (var == "PRESSURE2STATUS"){
return String(pressure2status);
}
else if(var == "MOTOR1STATUS"){
return String(motor1status);
}
else if(var == "BUTTONPLACEHOLDER"){
String buttons = "";
buttons += "<h4>Output - GPIO 2</h4><label class=\"switch\"><input type=\"checkbox\" onchange=\"toggleCheckbox(this)\" id=\"2\" " + outputState(2) + "><span class=\"slider\"></span></label>";
return buttons;
}
return String();
}
void setup(){
// Serial port for debugging purposes
Serial.begin(115200);
// motor.setSpeed(60);
// Connect to Wi-Fi
WiFi.begin(ssid, password);
Serial.println("Connecting to WiFi");
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.println(".");
}
// Print ESP8266 Local IP Address
Serial.println(WiFi.localIP());
pinMode(2, OUTPUT);
digitalWrite(2, LOW);
// Route for root / web page
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/html", index_html, processor);
});
server.on("/pressure1", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/plain", String(pressure1).c_str());
});
server.on("/pressure1status", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/plain", String(pressure1status).c_str());
});
server.on("/pressure2", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/plain", String(pressure2).c_str());
});
server.on("/pressure2status", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/plain", String(pressure2status).c_str());
});
server.on("/motor1status", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/plain", String(motor1status).c_str());
});
server.on("/update", HTTP_GET, [] (AsyncWebServerRequest *request) {
String inputMessage1;
String inputMessage2;
// GET input1 value on <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2>
if (request->hasParam(input_parameter1) && request->hasParam(input_parameter2)) {
inputMessage1 = request->getParam(input_parameter1)->value();
inputMessage2 = request->getParam(input_parameter2)->value();
digitalWrite(inputMessage1.toInt(), inputMessage2.toInt());
}
else {
inputMessage1 = "No message sent";
inputMessage2 = "No message sent";
}
Serial.print("GPIO: ");
Serial.print(inputMessage1);
Serial.print(" - Set to: ");
Serial.println(inputMessage2);
if (inputMessage2.toInt() == 1){
// delay(200);
motor1status = "motor running"; // doesn't work idk why
// motor.setSpeed(60);
// motor.step(500);
//// motor.setSpeed(0);
// digitalWrite(motorIN1, LOW);
// digitalWrite(motorIN2, LOW);
// digitalWrite(motorIN3, LOW);
// digitalWrite(motorIN4, LOW);
// delay(200);
// motor1status = "reset";
// motor.setCurrentPosition(0);
// motor.setAcceleration(10);
//
// motor.moveTo(2000);
//
// while(motor.distanceToGo() <= 1000) {
// motor.setSpeed(80);
// motor.runToPosition();
// }
// motor1status = "motor stop";
}
//
if (inputMessage2.toInt() == 0){
// motor.setSpeed(0);
motor1status = "reset";
}
request->send(200, "text/plain", "OK");
});
// Start server
server.begin();
}
void loop(){
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis;
int intervals1[7] = {0,0,0,0,0,0,0};
int intervalValues1[7] = {0,0,0,0,0,0,0};
int intervals2[7] = {0,0,0,0,0,0,0};
int intervalValues2[7] = {0,0,0,0,0,0,0};
if (motor1status == "motor running"){
motor.setSpeed(60);
motor.step(500);
// motor.setSpeed(0);
digitalWrite(motorIN1, LOW);
digitalWrite(motorIN2, LOW);
digitalWrite(motorIN3, LOW);
digitalWrite(motorIN4, LOW);
motor1status = "stop";
}
for(int counter = 0; counter < 10; counter ++) {
int a1 = analogRead(PRESSUREPIN1);
int a2 = analogRead(PRESSUREPIN2);
int aModulus1 = int (a1 / (600));
int aModulus2 = int (a2 / (600));
intervals1[aModulus1] += 1;
intervalValues1[aModulus1] += int(a1 % 600);
intervals2[aModulus2] += 1;
intervalValues2[aModulus2] += int(a2 % 600);
delay(10);
}
int maxIntervalSize1 = intervals1[0];
int maxIntervalIndex1 = 0;
for (int index = 1; index < 7; index ++) {
if (intervals1[index] > maxIntervalSize1) {
maxIntervalIndex1 = index;
maxIntervalSize1 = intervals1[index];
}
}
int maxIntervalSize2 = intervals2[0];
int maxIntervalIndex2 = 0;
for (int index = 1; index < 7; index ++) {
if (intervals2[index] > maxIntervalSize2) {
maxIntervalIndex2 = index;
maxIntervalSize2 = intervals2[index];
}
}
pressure1 = (intervalValues1[maxIntervalIndex1]/maxIntervalSize1)+ maxIntervalIndex1*600;
pressure2 = (intervalValues2[maxIntervalIndex2]/maxIntervalSize2)+ maxIntervalIndex2*600;
if (((float)abs(pressure1 - PRESSURE1GOAL)/(float)PRESSURE1GOAL) <= 0.15){
pressure1status = "LEFT GOAL REACHED";
}
else {
pressure1status = "not yet...";
}
if (((float)abs(pressure2 - PRESSURE2GOAL)/(float)PRESSURE2GOAL) <= 0.15){
pressure2status = "RIGHT GOAL REACHED";
}
else {
pressure2status = "not yet...";
}
}
}
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