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Commit a57c99c4 authored by aliceg3's avatar aliceg3
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motor code

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/*********
Rui Santos
Complete project details at https://randomnerdtutorials.com
*********/
// Load Wi-Fi library
#include <WiFi.h>
#include <MultiStepper.h>
#include <AccelStepper.h>
#include <Stepper.h>
// Replace with your network credentials
const char* ssid = "Jack";
const char* password = "temp_pass1234";
// Set web server port number to 80
WiFiServer server(80);
// Variable to store the HTTP request
String header;
// Auxiliar variables to store the current output state
String output26State = "off";
String output27State = "off";
String motorSpeedState = "off";
// Assign output variables to GPIO pins
const int output26 = 2;
//const int output27 = 27;
const int motorPin1 = 16;
const int motorPin2 = 17;
const int motorPin3 = 18;
const int motorPin4 = 19;
int motorSpeedInt;
AccelStepper myStepper(AccelStepper::FULL4WIRE, motorPin1, motorPin2, motorPin3, motorPin4);
const int steps_per_rev = 200;
float maxSetSpeed = 200;
const float speed1 = ((((maxSetSpeed/10)*(steps_per_rev/10))*10)/(6));
float setSetSpeed = 60;
const float speed2 = ((((setSetSpeed/10)*(steps_per_rev/10))*10)/(6));
float steps_per_rotation=200;
float start_max_speed = 200; // in rpm, arbitrary start max speed, for testing*****
//myStepper.setSpeed(); // ***testing, may work for constant speed
float min_speed = 20; // set to be the speed at which we apply the goal torque, based on chart maybe 600 but that seems too fast
float same_step_range = 10; // min number of steps allowed before increasing the same position count, test this range*****
float same_position_count = 0; // number of consecutive steps where the current position is within same_step_range as the previous position
float previous_pos=myStepper.currentPosition()-same_step_range;
float new_pos=200; // 200(1 rotation) is arbitrary number of steps to increase each iteration, **possibly make new target proportional to speed
float reduce_rpm = 12; // when using set speed, reduces speed by 40 steps per second. => 40*60/200 = 2400/200 = 12rpm (rpm/0.3=num)
// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0;
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;
void setup() {
Serial.begin(115200);
// Initialize the output variables as outputs
pinMode(output26, OUTPUT);
// pinMode(output27, OUTPUT);
// Set outputs to LOW
digitalWrite(output26, LOW);
// digitalWrite(output27, LOW);
myStepper.setMaxSpeed(start_max_speed*steps_per_rotation*60); // based on chart maybe 1000 but that seems way too fast
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
void loop(){
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If a new client connects,
currentTime = millis();
previousTime = currentTime;
Serial.println("New Client."); // print a message out in the serial port
String currentLine = ""; // make a String to hold incoming data from the client
while (client.connected() && currentTime - previousTime <= timeoutTime) { // loop while the client's connected
currentTime = millis();
if (client.available()) { // if there's bytes to read from the client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
header += c;
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
// and a content-type so the client knows what's coming, then a blank line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println("Connection: close");
client.println();
// turns the GPIOs on and off
if (header.indexOf("GET /26/on") >= 0) {
Serial.println("GPIO 26 on");
output26State = "on";
digitalWrite(output26, HIGH);
} else if (header.indexOf("GET /26/off") >= 0) {
Serial.println("GPIO 26 off");
output26State = "off";
digitalWrite(output26, LOW);
} else if (header.indexOf("GET /motor/on") >= 0) {
myStepper.setMaxSpeed(speed2);
myStepper.moveTo(2000);
while (myStepper.distanceToGo()>=1000) {
motorSpeedInt = myStepper.speed();
motorSpeedState = String(motorSpeedInt);
Serial.println(myStepper.speed());
myStepper.run();
myStepper.setMaxSpeed(50);
myStepper.runToPosition();
Serial.println(myStepper.speed());
}
// myStepper.setCurrentPosition(0);
// myStepper.setSpeed(start_max_speed);
// myStepper.moveTo(1);
// myStepper.runSpeed();
// while(myStepper.speed()>=min_speed){
// motorSpeedInt = myStepper.speed();
// motorSpeedState = String(motorSpeedInt);
// myStepper.runToNewPosition(myStepper.targetPosition()+new_pos);
// if(myStepper.currentPosition()-previous_pos<same_step_range){
// same_position_count+=1;
// }
// else{
// same_position_count=0;
// }
// if(same_position_count>1){ // check if it has stayed in the same position for the past two turns.
// // setMaxSpeed(cur_speed-=40); // use if there is no way to implement this with the constant speed function.
// myStepper.setSpeed(myStepper.speed()-(reduce_rpm/0.3));
// }
// previous_pos=myStepper.currentPosition();
// }
motorSpeedState = "motor ran";
} else if (header.indexOf("GET /motor/off") >= 0) {
motorSpeedState = "off";
myStepper.stop();
}
// Display the HTML web page
client.println("<!DOCTYPE html><html>");
client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
client.println("<link rel=\"icon\" href=\"data:,\">");
// CSS to style the on/off buttons
// Feel free to change the background-color and font-size attributes to fit your preferences
client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
client.println(".button { background-color: #4CAF50; border: none; color: white; padding: 16px 40px;");
client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
client.println(".button2 {background-color: #555555;}</style></head>");
// Web Page Heading
client.println("<body><h1>ESP32 Web Server</h1>");
// Display current state, and ON/OFF buttons for GPIO 26
client.println("<p>GPIO 26 - State " + output26State + "</p>");
// If the output26State is off, it displays the ON button
if (output26State=="off") {
client.println("<p><a href=\"/26/on\"><button class=\"button\">ON</button></a></p>");
} else {
client.println("<p><a href=\"/26/off\"><button class=\"button button2\">OFF</button></a></p>");
}
// Display current state, and ON/OFF buttons for Motor
client.println("<p>Motor - Speed State " + motorSpeedState + "</p>");
if (motorSpeedState=="off") {
client.println("<p><a href=\"/motor/on\"><button class=\"button\">ON</button></a></p>");
} else {
client.println("<p><a href=\"/motor/off\"><button class=\"button button2\">OFF</button></a></p>");
}
// The HTTP response ends with another blank line
client.println();
// Break out of the while loop
break;
} else { // if you got a newline, then clear currentLine
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return character,
currentLine += c; // add it to the end of the currentLine
}
}
}
// Clear the header variable
header = "";
// Close the connection
client.stop();
Serial.println("Client disconnected.");
Serial.println("");
}
}
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