334 lines
9.0 KiB
C++
334 lines
9.0 KiB
C++
#include <ESP32Servo.h>
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#include <Wire.h>
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#include <VL53L0X.h>
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#include <Adafruit_PCF8574.h>
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#include <WiFi.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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// Web server configuration
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const char* ssid = "ESP_ping";
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const char* password = "pong";
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const char* PARAM_INPUT_1 = "output";
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const char* PARAM_INPUT_2 = "state";
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AsyncWebServer server(80);
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struct pin {
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int id;
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int is_extender;
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};
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struct tube {
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uint16_t height;
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uint16_t target;
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struct {
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Servo hard;
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struct pin pin;
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int last_angle;
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int equilibrium;
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} servo;
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struct {
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VL53L0X hard;
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struct pin gpio;
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struct pin xshut;
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} tof;
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int id;
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};
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const struct pin all_xshuts[6] = {
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{.id = 7, .is_extender = 1},
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{.id = 0, .is_extender = 1},
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{.id = 1, .is_extender = 1},
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{.id = 6, .is_extender = 1},
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{.id = 5, .is_extender = 1},
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{.id = 4, .is_extender = 1}
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};
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const struct pin all_servos[6] = {
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{.id = 32, .is_extender = 0},
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{.id = 33, .is_extender = 0},
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{.id = 18, .is_extender = 0},
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{.id = 14, .is_extender = 0},
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{.id = 4, .is_extender = 0},
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{.id = 19, .is_extender = 0}
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};
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struct tube all_tubes[6];
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const int TUBES_COUNT = 6;
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const float minHeight = 50;
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const float maxHeight = 445;
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int minServo = 50;
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int maxServo = 180;
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Adafruit_PCF8574 pcf8574;
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void scan_I2c(){
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byte error, address;
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int nDevices;
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Serial.println("Scanning...");
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nDevices = 0;
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for(address = 1; address < 127; address++ ) {
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Wire.beginTransmission(address);
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error = Wire.endTransmission();
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if (error == 0) {
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Serial.print("I2C device found at address 0x");
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if (address<16) {
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Serial.print("0");
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}
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Serial.println(address,HEX);
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nDevices++;
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}
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else if (error==4) {
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Serial.print("Unknow error at address 0x");
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if (address<16) {
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Serial.print("0");
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}
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Serial.println(address,HEX);
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}
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}
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if (nDevices == 0) {
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Serial.println("No I2C devices found\n");
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}
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else {
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Serial.println("done\n");
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}
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delay(5000);
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}
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uint16_t mesureHeight(int i){
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uint16_t h = all_tubes[i].tof.hard.readRangeContinuousMillimeters();
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//Serial.printf("measure: %d\n", h);
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if (h > 2000){
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//Serial.printf("returning height\n");
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return all_tubes[i].height;
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} else {
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//Serial.printf("returning: %d\n", h);
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return h;
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}
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}
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void change_pin(struct pin pin, int state) {
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if (pin.is_extender) {
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pcf8574.digitalWrite(pin.id, state);
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} else {
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digitalWrite(pin.id, state);
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}
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}
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void changePinMode(struct pin pin, int state) {
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if (pin.is_extender) {
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pcf8574.pinMode(pin.id, state);
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} else {
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pinMode(pin.id, state);
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}
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}
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// Web Server configuration
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const char index_html[] PROGMEM = R"rawliteral(
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<!DOCTYPE HTML><html>
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<head>
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<title>Balle Ping Pong flottante</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<link rel="icon" href="data:,">
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<style>
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html {font-family: Arial; display: inline-block; text-align: center;}
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h2 {font-size: 3.0rem;}
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p {font-size: 3.0rem;}
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body {max-width: 600px; margin:0px auto; padding-bottom: 25px;}
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.switch {position: relative; display: inline-block; width: 120px; height: 68px}
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.switch input {display: none}
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.slider {background-color: #ccc; border-radius: 6px}
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.slider:before {position: absolute; content: ""; height: 52px; width: 52px; left: 8px; bottom: 8px; background-color: #fff; -webkit-transition: .4s; transition: .4s; border-radius: 3px}
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input:checked+.slider {background-color: #b30000}
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input:checked+.slider:before {-webkit-transform: translateX(52px); -ms-transform: translateX(52px); transform: translateX(52px)}
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</style>
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</head>
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<body>
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<h2>Balle Ping Pong flottante</h2>
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%BUTTONPLACEHOLDER%
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<script>
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function sendSliderValue(id, element) {
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var slider = document.getElementById(`slider${id}`);
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var xhr = new XMLHttpRequest();
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xhr.open("GET", "/update?output="+id+"&state=" + slider.value, true);
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xhr.send();
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}
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</script>
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</body>
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</html>
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)rawliteral";
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String processor(const String& var){
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//Serial.println(var);
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if(var == "BUTTONPLACEHOLDER"){
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String buttons = "";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider0\" onchange=\"sendSliderValue(0, this.value)\"\"></div>";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider1\" onchange=\"sendSliderValue(1, this.value)\"\"></div>";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider2\" onchange=\"sendSliderValue(2, this.value)\"\"></div>";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider3\" onchange=\"sendSliderValue(3, this.value)\"\"></div>";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider4\" onchange=\"sendSliderValue(4, this.value)\"\"></div>";
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buttons += "<div class=\"slidecontainer\"><input type=\"range\" min=\"20\" max=\"450\" value=\"250\" class=\"slider\" id=\"slider5\" onchange=\"sendSliderValue(5, this.value)\"\"></div>";
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return buttons;
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}
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return String();
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}
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void wifisetup() {
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Serial.print("Setting AP (Access Point)…");
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WiFi.softAP(ssid);
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IPAddress IP = WiFi.softAPIP();
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Serial.print("AP IP address: ");
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Serial.println(IP);
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// Route for root / web page
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server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
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request->send_P(200, "text/html", index_html, processor);
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});
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// Send a GET request to <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2>
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server.on("/update", HTTP_GET, [] (AsyncWebServerRequest *request) {
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int inputMessage1;
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int inputMessage2;
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// GET input1 value on <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2>
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if (request->hasParam(PARAM_INPUT_1) && request->hasParam(PARAM_INPUT_2)) {
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inputMessage1 = request->getParam(PARAM_INPUT_1)->value().toInt();
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inputMessage2 = request->getParam(PARAM_INPUT_2)->value().toInt();
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Serial.printf("Received web command: %d %d\n", inputMessage1, inputMessage2);
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all_tubes[inputMessage1].target = inputMessage2;
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}
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else {
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// Error
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inputMessage1 = -1;
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inputMessage2 = -1;
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}
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Serial.print("GPIO: ");
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Serial.print(inputMessage1);
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Serial.print(" - Set to: ");
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Serial.println(inputMessage2);
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request->send(200, "text/plain", "OK");
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});
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// Start server
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server.begin();
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}
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// Tube configuration
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void setup_all_tofs() {
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// Reset all TOFs by turning them up and low
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for (int i = 0; i < TUBES_COUNT; ++i) {
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changePinMode(all_xshuts[i], OUTPUT);
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change_pin(all_xshuts[i], LOW);
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}
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for (int i = 0; i<TUBES_COUNT; i++){
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Serial.printf("\n\nInitialiazing tube #%d\n", i);
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change_pin(all_xshuts[i], HIGH);
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Serial.println("Beginning boot sequence VL53L0X");
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all_tubes[i].tof.hard.setTimeout(500);
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while (!all_tubes[i].tof.hard.init()) {
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Serial.println(F("Failed to boot VL53L0X"));
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while(1);
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}
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all_tubes[i].tof.hard.setAddress(0x31 + i);
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all_tubes[i].tof.hard.startContinuous();
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all_tubes[i].servo.pin = all_servos[i];
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}
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Serial.println("Done setuping TOFs");
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}
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void calibrate_tube(int i){
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Serial.printf("Calibrating tube %d.\n", i);
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all_tubes[i].servo.hard.attach(all_tubes[i].servo.pin.id);
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all_tubes[i].servo.hard.write(minServo);
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delay(5000);
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Serial.println("Setuping downards");
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uint16_t h = mesureHeight(i);
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int angle = minServo;
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while (h > maxHeight) {
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Serial.printf("%dmm %d°\n",h, angle);
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++angle;
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all_tubes[i].servo.hard.write(angle);
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delay(300);
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h = mesureHeight(i);
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}
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angle -= 5;
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all_tubes[i].servo.last_angle = angle;
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all_tubes[i].servo.hard.write(all_tubes[i].servo.last_angle);
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all_tubes[i].servo.equilibrium = angle;
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Serial.printf("Tube %d calibrated.\n", i);
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}
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// Helper functions
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auto heightRatio(uint16_t h){
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float height = h;
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return max(min(1.0f, (height - minHeight) / (maxHeight-minHeight)), 0.0f);
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}
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int servoPosition(float ratio){
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return (ratio * maxServo) + ((1-ratio) * minServo);
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}
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void setup() {
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Serial.begin(115200); // Starts the serial communication
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while (! Serial) {
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delay(1);
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}
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//Wire.begin();
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if (!pcf8574.begin(0x38, &Wire)) {
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Serial.println("Couldn't find PCF8574");
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while (1);
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}
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for (uint8_t p=0; p<8; p++) {
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pcf8574.pinMode(p, OUTPUT);
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}
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//scan_I2c();
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Serial.println("PCF8574 is OK");
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//wifisetup();
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//setup_all_tofs();
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for (int i = 0; i<TUBES_COUNT; i++){
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all_tubes[i].servo.pin = all_servos[i];
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all_tubes[i].servo.hard.attach(all_tubes[i].servo.pin.id);
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all_tubes[i].servo.hard.write(minServo);
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//calibrate_tube(i);
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}
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}
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int j = 0;
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void loop() {
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for (int i = 0; i<TUBES_COUNT; i++){
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all_tubes[i].servo.hard.write(j%150);
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}
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j++;
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delay(100);
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Serial.println(j%150);
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}
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