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aliceg3
ECE 445 UI repo
Commits
a57c99c4
Commit
a57c99c4
authored
2 years ago
by
aliceg3
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motor code
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arduino_code/test_motors.ino
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a57c99c4
/*********
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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