diff --git a/arduino_code/motor_control.ino b/arduino_code/motor_control.ino
index 74102641df5bd6b280114e13161c7331772e72c9..bdbb6beeb362a004071cc90ff6bb10e27e26c33f 100644
--- a/arduino_code/motor_control.ino
+++ b/arduino_code/motor_control.ino
@@ -1,25 +1,33 @@
+
+const int motorPin1 = 27;
+const int motorPin2 = 26;
+const int motorPin3 = 15;
+const int motorPin4 = 13;
+
+AccelStepper myStepper(AccelStepper::FULL4WIRE, motorPin1, motorPin2, motorPin3, motorPin4);
+
void setup() {
// put your setup code here, to run once:
- serial.begin(9600)
+ Serial.begin(9600)
float steps_per_rotation=200;
float start_max_speed = 200; // in rpm, arbitrary start max speed, for testing*****
- setMaxSpeed(start_max_speed); // based on chart maybe 1000 but that seems way too fast
- setSpeed(start_max_speed*steps_per_rotation*60); // ***testing, may work for constant speed
+ myStepper.setMaxSpeed(start_max_speed); // based on chart maybe 1000 but that seems way too fast
+ myStepper.setSpeed(start_max_speed*steps_per_rotation*60); // ***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=currentPosition()-same_step_range
+ 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)
}
void loop() {
// put your main code here, to run repeatedly:
- runToPosition(1)
+ myStepper.runToPosition(1)
while(cur_speed>=min_speed){
- runToNewPosition(targetPosition()+new_pos);
- if(currentPosition()-previous_pos<same_step_range){
+ myStepper.runToNewPosition(myStepper.targetPosition()+new_pos);
+ if(myStepper.currentPosition()-previous_pos<same_step_range){
same_position_count+=1;
}
else{
@@ -27,9 +35,9 @@ void loop() {
}
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.
- setSpeed(speed()-(reduce_rpm/0.3));
+ myStepper.setSpeed(myStepper.speed()-(reduce_rpm/0.3));
}
- previous_pos=currentPosition()
+ previous_pos=myStepper.currentPosition()
}
diff --git a/arduino_code/test_wificircuit/index.h b/arduino_code/test_wificircuit/index.h
new file mode 100644
index 0000000000000000000000000000000000000000..462ded7ad1933185fbf904f292153b2b987c550f
--- /dev/null
+++ b/arduino_code/test_wificircuit/index.h
@@ -0,0 +1,44 @@
+const char MAIN_page[] PROGMEM = R"=====(
+<!DOCTYPE html>
+<html>
+<style>
+.card{
+ max-width: 400px;
+ min-height: 250px;
+ background: #02b875;
+ padding: 30px;
+ box-sizing: border-box;
+ color: #FFF;
+ margin:20px;
+ box-shadow: 0px 2px 18px -4px rgba(0,0,0,0.75);
+}
+</style>
+<body>
+
+<div class="card">
+ <h4>The ESP32 Update web page without refresh</h4><br>
+ <h1>Sensor Value:<span id="ADCValue">0</span></h1><br>
+ <br><a href="https://circuits4you.com">Circuits4you.com</a>
+</div>
+<script>
+
+setInterval(function() {
+ // Call a function repetatively with 2 Second interval
+ getData();
+}, 1000); //2000mSeconds update rate
+
+function getData() {
+ var xhttp = new XMLHttpRequest();
+ xhttp.onreadystatechange = function() {
+ if (this.readyState == 4 && this.status == 200) {
+ document.getElementById("ADCValue").innerHTML =
+ this.responseText;
+ }
+ };
+ xhttp.open("GET", "readADC", true);
+ xhttp.send();
+}
+</script>
+</body>
+</html>
+)=====";
\ No newline at end of file
diff --git a/arduino_code/test_wificircuit/test_wificircuit.ino b/arduino_code/test_wificircuit/test_wificircuit.ino
new file mode 100644
index 0000000000000000000000000000000000000000..05e299903c2dcaeb4b073a06891456ff95bc1209
--- /dev/null
+++ b/arduino_code/test_wificircuit/test_wificircuit.ino
@@ -0,0 +1,123 @@
+/*
+ * ESP32 AJAX Demo
+ * Updates and Gets data from webpage without page refresh
+ * https://circuits4you.com
+ */
+#include <WiFi.h>
+#include <WiFiClient.h>
+#include <WebServer.h>
+
+#include "index.h" //Web page header file
+#include <arduino-timer.h>
+
+WebServer server(80);
+
+//Enter your SSID and PASSWORD
+const char* ssid = "Connectify-ESP32 Boot";
+const char* password = "temp_pass1234";
+int timerCounter = 0;
+
+int intervals[13];
+int intervalValues[13];
+
+//===============================================================
+// This routine is executed when you open its IP in browser
+//===============================================================
+void handleRoot() {
+ String s = MAIN_page; //Read HTML contents
+ server.send(200, "text/html", s); //Send web page
+}
+
+bool handlePressureIntervalCall (void *argument) {
+ int a = analogRead(34);
+ int aModulus = a % 300;
+ intervals[aModulus] += 1;
+ intervalValues[aModulus] += a;
+
+ timerCounter ++;
+ Serial.println("Value read: " + a );
+ Serial.println("Timer counter: " + timerCounter);
+
+ if (timerCounter == 10) {
+ return false;
+ timerCounter = 0;
+ }
+ else {
+ return true;
+ }
+}
+
+void handleADC() {
+ intervals[13];
+ intervalValues[13];
+
+ Timer<> timer;
+
+ timer.every(10, handlePressureIntervalCall);
+ timer.tick();
+
+ int maxIntervalSize = intervals[0];
+ int maxIntervalIndex = 0;
+ for (int index = 1; index < 13; index ++) {
+ if (intervals[index] > maxIntervalSize) {
+ maxIntervalIndex = index;
+ maxIntervalSize = intervals[index];
+ }
+ }
+ Serial.println("maxIntervalIndex: " + maxIntervalIndex);
+ int adcValueInt = intervalValues[maxIntervalIndex]/maxIntervalSize;
+ String adcValue = String(adcValueInt);
+ Serial.println("adcValue: " + adcValue);
+ Serial.println("******************************");
+
+ server.send(200, "text/plane", adcValue); //Send ADC value only to client ajax request
+}
+
+//===============================================================
+// Setup
+//===============================================================
+
+void setup(void){
+ Serial.begin(115200);
+ Serial.println();
+ Serial.println("Booting Sketch...");
+
+/*
+//ESP32 As access point
+ WiFi.mode(WIFI_AP); //Access Point mode
+ WiFi.softAP(ssid, password);
+*/
+//ESP32 connects to your wifi -----------------------------------
+ WiFi.mode(WIFI_STA); //Connectto your wifi
+ WiFi.begin(ssid, password);
+
+ Serial.println("Connecting to ");
+ Serial.print(ssid);
+
+ //Wait for WiFi to connect
+ while(WiFi.waitForConnectResult() != WL_CONNECTED){
+ Serial.print(".");
+ }
+
+ //If connection successful show IP address in serial monitor
+ Serial.println("");
+ Serial.print("Connected to ");
+ Serial.println(ssid);
+ Serial.print("IP address: ");
+ Serial.println(WiFi.localIP()); //IP address assigned to your ESP
+//----------------------------------------------------------------
+
+ server.on("/", handleRoot); //This is display page
+ server.on("/readADC", handleADC);//To get update of ADC Value only
+
+ server.begin(); //Start server
+ Serial.println("HTTP server started");
+}
+
+//===============================================================
+// This routine is executed when you open its IP in browser
+//===============================================================
+void loop(void){
+ server.handleClient();
+ delay(1);
+}
\ No newline at end of file