Diff: main.cpp

Revision:

3:99303dc07632

Parent:

2:747b84e54088

--- a/main.cpp	Tue Dec 13 16:00:55 2016 +0000
+++ b/main.cpp	Thu Dec 14 00:30:12 2017 +0000
@@ -1,15 +1,14 @@
 #include "mbed.h"
-#include "Car.h"
+#include "Light.h"
 #include "mywifi.h"
-#include "Motor.h"
-#include "HALLFX_ENCODER.h"
+#include "Servo.h"
 #include "mbed_rpc.h"
 
-Serial pc(USBTX, USBRX);
 Serial esp(p28, p27);
-char ssid[32] = "DelosLobbyWifi";
-char pwd[32] = "freezeallmotorfunctions";
-char port[32] = "1035"; // must be port forwarded
+Servo myservo(p22);
+char ssid[32] = "GTother";
+char pwd[32] = "GeorgeP@1927";
+char port[32] = "80"; // must be port forwarded
 char timeout[32] = "28800"; // 28800 is max
 volatile int tx_in=0;
 volatile int tx_out=0;
@@ -27,28 +26,17 @@
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 
-float left_speed = .5;
-float right_speed = .5;
-float clicksTravelled;
-Motor left_motor(p26,p24,p25);    // pwm, fwd, rev
-Motor right_motor(p21, p23, p22); // pwm, fwd, rev
-HALLFX_ENCODER right_hall(p13);    // left hall effect encoder
-HALLFX_ENCODER left_hall(p14);   // left hall effect encoder
-float encoderFactor = 40;
-RPCFunction rpcTurnRight(&carTurnRight, "turnRight");
-RPCFunction rpcTurnLeft(&carTurnLeft, "turnLeft");
-RPCFunction rpcMoveForward(&carMoveForwardDistance, "moveForward");
-RPCFunction rpcMoveBackward(&carMoveBackwardDistance, "moveBackward");
-RPCFunction rpcTurn(&carTurn, "turn");
+float range = 0.0005;
+float position = 0.5;
+RPCFunction rpcLightOn(&lightOn, "on");
+RPCFunction rpcLightOff(&lightOff, "off");
 
 int main() {
-    clicksTravelled = 0.0;
-    pc.baud(9600);
     esp.baud(9600);
     led1=0,led2=0,led3=0,led4=0;
     esp.attach(&Rx_interrupt, Serial::RxIrq);
     esp.attach(&Tx_interrupt, Serial::TxIrq);
-    wait(5);
+    wait(2);
     connectToNetwork();
     char rpc_in[256];
     char rpc_out[256];
@@ -57,13 +45,15 @@
         memset(&rpc_in[0], 0, sizeof(rpc_in));
         memset(&rpc_out[0], 0, sizeof(rpc_out));
         int length = (int)rx_line[3] - 48; // bytes 0 to 2 are trash; byte 3 is length of message
+    //    pc.printf(" the length is %d, and rpc_in is %s\n",length,rpc_in);
         if (length > 0 && length < 256) {
             for (int i = 0; i < length; i++) {
                 rpc_in[i] = rx_line[i+4]; // bytes 4 to length+3 are the valid data
             }
             RPC::call(rpc_in, rpc_out);
-            pc.printf("%s\n", rpc_out);
+         //   pc.printf("rpc _out is %s\n", rpc_out);
         }
+         
         // lambda function is event-triggered and non-persistent
         // after it terminates, we need to close the existing connection and start another one
         strcpy(cmdbuff, "srv:close()\r\n"); 
@@ -87,7 +77,6 @@
         wait(.5);
         getReply();
         strcpy(cmdbuff, "conn:send('");
-        strcat(cmdbuff, reportStatus());
         strcat(cmdbuff, "')\r\n");
         sendCMD();
         wait(.5);
@@ -102,179 +91,104 @@
         getReply();
         strcpy(cmdbuff, "end)\r\n");
         sendCMD();
+        led4 = 1;
         wait(.5);
+        led4 = 0;
         getReply();
     }
-    
 }
 
 
-
-
-
-
-
-/* CAR FUNCTIONS */
-
-void carStop() {
-    left_motor.speed(0);
-    right_motor.speed(0);
-}
-
-void carResetEncoders() {
-    left_hall.reset();
-    right_hall.reset();
-    wait(0.1);
-}
-
-void carMoveForwardDistance(Arguments *in, Reply *out) {
-    carResetEncoders();
-    long diff;
-    int dist = in->getArg<int>();
-    float enc_dist = dist * encoderFactor;
-    volatile float left_val= left_hall.read();
-    volatile float right_val = right_hall.read();
-    while (left_val < enc_dist || left_val < enc_dist) {
-        left_val = left_hall.read();
-        right_val = right_hall.read();
-        diff = left_val - right_val;
-        float k = 0.5;
-        if (diff < 0) { // left has moved less than right
-            left_motor.speed(left_speed);
-            right_motor.speed(k*right_speed);
-        } else if (diff > 0)  { // right has moved less than left
-            left_motor.speed(k*left_speed);
-            right_motor.speed(right_speed);
-        } else {
-            left_motor.speed(left_speed);
-            right_motor.speed(right_speed);
-        }
-    }
-    clicksTravelled += left_val;
-    left_motor.speed(0);
-    right_motor.speed(0);
+void lightOff(Arguments *in, Reply *out) {
+    led4=1;
+    position = 0.11;
+    myservo = position;
+    wait(1);
+    position = 0.5;
+    myservo = position;
+    led4=0;
 }
 
-void carMoveBackwardDistance(Arguments *in, Reply *out) {
-    int dist = in->getArg<int>();
-    if (dist > 100) {
-        dist = 100;
-    }
-    carResetEncoders();
-    long diff;
-    float enc_dist = dist * encoderFactor;
-    volatile float left_val= left_hall.read();
-    volatile float right_val = right_hall.read();
-    while (left_val < enc_dist || right_val < enc_dist) {
-        left_val = left_hall.read();
-        right_val = right_hall.read();
-        diff = left_val-right_val;
-        float k = 0.8;
-        if (diff < 0) { // left has moved less than right
-            left_motor.speed(-left_speed);
-            right_motor.speed(-k*right_speed);
-        } else if (diff > 0)  { // right has moved less than left
-            left_motor.speed(-k*left_speed);
-            right_motor.speed(-right_speed);
-        } else {
-            left_motor.speed(-left_speed);
-            right_motor.speed(-right_speed);
-        }
-    }
-    clicksTravelled += left_val;
-    carStop();
+void lightOn(Arguments *in, Reply *out) {
+    led1=1;
+    position = 0.8;
+    myservo = position;
+    wait(1);
+    position = 0.5;
+    myservo = position;
+    led1=0;
 }
 
-void carTurn(Arguments *in, Reply *out) {
-    carResetEncoders();
-    float enc_dist = in->getArg<float>();
-    volatile float left_val= left_hall.read();
-    while (left_val < enc_dist) {
-        left_val = left_hall.read();
-        left_motor.speed(left_speed);
-        right_motor.speed(-right_speed);
-    }
-    carStop();
-}
-
-void carTurnRight(Arguments *in, Reply *out) {
-    carResetEncoders();
-    float enc_dist = 170;
-    volatile float left_val= left_hall.read();
-    while (left_val < enc_dist) {
-        left_val = left_hall.read();
-        left_motor.speed(left_speed);
-        right_motor.speed(-right_speed);
-    }
-    carStop();
-    if (out != NULL) out->putData("GOT HERE");
-}
-
-void carTurnLeft(Arguments *in, Reply *out) {
-    carResetEncoders();
-    float enc_dist = 170;
-    volatile float left_val= left_hall.read();
-    while (left_val < enc_dist) {
-        left_val = left_hall.read();
-        left_motor.speed(-left_speed);
-        right_motor.speed(right_speed);
-    }
-    carStop();
-}
-
-
-
-
-
-
-
-
-
-
 /* WIFI FUNCTIONS */
 
 void connectToNetwork() {
-    pc.printf("# Resetting ESP\r\n");
+ //   pc.printf("# Resetting ESP\r\n");
     strcpy(cmdbuff,"node.restart()\r\n");
     sendCMD();
-    wait(5);
+    wait(1);
     getReply();
 
     led1=1,led2=0,led3=0;
-    pc.printf("# Setting Mode\r\n");
+ //   pc.printf("# Setting Mode\r\n");
     strcpy(cmdbuff, "wifi.setmode(wifi.STATION)\r\n");
     sendCMD();
     getReply();
+    wait(1);
+    
+    
+ //   pc.printf("\n---------- Listing Access Points ----------\r\n");
+    strcpy(cmdbuff, "function listap(t)\r\n");
+        sendCMD();
+        wait(1);
+        strcpy(cmdbuff, "for k,v in pairs(t) do\r\n");
+        sendCMD();
+        wait(1);
+        strcpy(cmdbuff, "print(k..\" : \"..v)\r\n");
+        sendCMD();
+        wait(1);
+        strcpy(cmdbuff, "end\r\n");
+        sendCMD();
+        wait(1);
+        strcpy(cmdbuff, "end\r\n");
+        sendCMD();
+        wait(1);
+        strcpy(cmdbuff, "wifi.sta.getap(listap)\r\n");
+   sendCMD();
+    wait(5);
+    getReply();
 
-    wait(2);
     led1=0,led2=1,led3=0;
-    pc.printf("# Connecting to AP\r\n");
-    pc.printf("# ssid = %s\t\tpwd = %s\r\n", ssid, pwd);
+  //  pc.printf("# Connecting to AP\r\n");
+  //  pc.printf("# ssid = %s\t\tpwd = %s\r\n", ssid, pwd);
     strcpy(cmdbuff, "wifi.sta.config(\"");
     strcat(cmdbuff, ssid);
     strcat(cmdbuff, "\",\"");
     strcat(cmdbuff, pwd);
     strcat(cmdbuff, "\")\r\n");
     sendCMD();
+    wait(12);
     getReply();
 
+
     wait(2);
     led1=0,led2=0,led3=1;
-    pc.printf("# Get IP Address\r\n");
+   // pc.printf("# Get IP Address\r\n");
     strcpy(cmdbuff, "print(wifi.sta.getip())\r\n");
     sendCMD();
+    wait(3);
     getReply();
+    
 
     wait(2);
     led1=1,led2=0,led3=0;
-    pc.printf("# Get Connection Status\r\n");
+   // pc.printf("# Get Connection Status\r\n");
     strcpy(cmdbuff, "print(wifi.sta.status())\r\n");
     sendCMD();
     getReply();
 
     wait(2);
     led1=0,led2=1,led3=0;
-    pc.printf("# Listen on Port\r\n");
+  //  pc.printf("# Listen on Port\r\n");
     strcpy(cmdbuff, "srv=net.createServer(net.TCP,");
     strcat(cmdbuff, timeout);
     strcat(cmdbuff, ")\r\n");
@@ -289,43 +203,37 @@
     sendCMD();
     getReply();
 
-    wait(2);
+    wait(.5);
     led1=1,led2=0,led3=0;
     strcpy(cmdbuff, "conn:on(\"receive\", function(conn, payload) \r\n");
     sendCMD();
     getReply();
 
-    wait(2);
+    wait(.5);
     led1=0,led2=1,led3=0;
-    strcpy(cmdbuff, "conn:send('");
-    strcat(cmdbuff, reportStatus());
-    strcat(cmdbuff, "')\r\n");
+    strcpy(cmdbuff, "conn:send(\"<h1> Hello, NodeMCU!!! </h1>\"");
+    strcat(cmdbuff, ")\r\n");
     sendCMD();
     getReply();
-
-    wait(2);
     led1=0,led2=0,led3=1;
     strcpy(cmdbuff, "print(payload)\r\n");
     sendCMD();
     getReply();
-
-    wait(2);
     led1=1,led2=0,led3=0;
     strcpy(cmdbuff, "end)\r\n");
     sendCMD();
     getReply();
-
-    wait(2);
     led1=0,led2=1,led3=0;
     strcpy(cmdbuff, "end)\r\n");
     sendCMD();
     getReply();
+    led1=0,led2=0,led3=0;
+  //  pc.printf("# Ready\r\n");
+    wait(1);
+}
 
-    wait(2);
-    //led1=1,led2=1,led3=1;
-    led1=0,led2=0,led3=0;
-    pc.printf("# Ready\r\n");
-}
+
+
 
 void sendCMD()
 {
@@ -388,12 +296,6 @@
     return;
 }
 
-char* reportStatus() {
-    char str[30];
-    float inchesTravelled = clicksTravelled / encoderFactor ;
-    sprintf(str, "%.1f", inchesTravelled);
-    return str;
-}
 
 // Interupt Routine to read in data from serial port
 void Rx_interrupt() {
@@ -403,7 +305,7 @@
     while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
         rx_buffer[rx_in] = esp.getc();
 // Uncomment to Echo to USB serial to watch data flow
-        pc.putc(rx_buffer[rx_in]);
+    //    pc.putc(rx_buffer[rx_in]);
         rx_in = (rx_in + 1) % buffer_size;
     }
     return;
@@ -412,13 +314,13 @@
 
 // Interupt Routine to write out data to serial port
 void Tx_interrupt() {
-    //led2=1;
+
 // Loop to fill more than one character in UART's transmit FIFO buffer
 // Stop if buffer empty
     while ((esp.writeable()) && (tx_in != tx_out)) {
         esp.putc(tx_buffer[tx_out]);
         tx_out = (tx_out + 1) % buffer_size;
     }
-    //led2=0;
+
     return;
 }
\ No newline at end of file