Kairi Kozuma
Wifi controlled robot that uses ESP8266 wifi chip.
Dependencies: Motordriver Servo mbed-dev mbed-rtos
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ESP8266_wifi_robot
by 
Kairi Kozuma
Revision 0:df754b773321, committed 2016-10-29
- Comitter:
- K2Silver
- Date:
- Sat Oct 29 15:35:26 2016 +0000
- Commit message:
- Initial commit of wifi controlled robot
Changed in this revision
diff -r 000000000000 -r df754b773321 ESP8266.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266.cpp Sat Oct 29 15:35:26 2016 +0000
@@ -0,0 +1,99 @@
+#include "ESP8266.h"
+
+
+ESP8266::ESP8266(PinName tx, PinName rx, PinName reset, char * SSID, char * password) :
+ _esp(tx, rx), _reset(reset) {
+ strcpy(_ssid, SSID);
+ strcpy(_pwd, password);
+}
+
+// Setup for ESP8266
+void ESP8266::setup() {
+
+ /* Set wifi mode */
+ send("wifi.setmode(wifi.STATION)\r\n");
+
+ /* Set SSID and password */
+ strcpy(_snd, "wifi.sta.config(\"");
+ strcat(_snd, _ssid);
+ strcat(_snd, "\",\"");
+ strcat(_snd, _pwd);
+ strcat(_snd, "\")\r\n");
+ send();
+
+ wait(7);
+
+ /* Set up HTTP server */
+ send("srv=net.createServer(net.TCP)\r\n");
+ send("srv:listen(80,function(conn)\r\n");
+ send("conn:on(\"receive\",function(conn,payload)\r\n");
+ send("print(payload:match(\"Z%u\"))\r\n");
+ send("conn:send(\"<!DOCTYPE html>\")\r\n");
+ send("conn:send(\"<html>\")\r\n");
+ send("conn:send(\"<h1>Control Robot</h1>\")\r\n");
+ send("conn:send('<form action=\"\" method=\"POST\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZF\" value=\"Forward\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZB\" value=\"Back\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZL\" value=\"Left\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZR\" value=\"Right\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZS\" value=\"Servo Left\">\r\n')");
+ send("conn:send('<input type=\"submit\" name=\"ZP\" value=\"Servo Right\">\r\n')");
+ send("conn:send('</form>\r\n')");
+ send("conn:send(\"</html>\")\r\n");
+ send("end)\r\n");
+ send("conn:on(\"sent\",function(conn) conn:close() end)\r\n");
+ send("end)\r\n");
+ wait(10);
+}
+
+void ESP8266::send()
+{
+ _esp.printf("%s", _snd);
+ Thread::wait(500);
+}
+
+void ESP8266::send(char * command) {
+ _esp.printf("%s", command);
+ Thread::wait(500);
+}
+
+void ESP8266::reset() {
+ _reset = 0;
+ wait(1); /* Not RTOS friendly */
+ _reset = 1;
+}
+
+void ESP8266::baud(int baudrate) {
+ char buffer[32];
+ sprintf(buffer, "AT+CIOBAUD=%d\r\n", baudrate);
+ send(buffer);
+
+ _esp.baud(baudrate);
+}
+
+void ESP8266::getIP() {
+ send("\r\nprint(wifi.sta.getip())\r\n");
+}
+
+void ESP8266::getMAC() {
+ send("\r\nprint(wifi.sta.getmac())\r\n");
+}
+
+int ESP8266::putc(int c) {
+ return _esp.putc(c);
+}
+
+int ESP8266::getc() {
+ return _esp.getc();
+}
+
+int ESP8266::readable() {
+ return _esp.readable();
+}
+int ESP8266::writeable() {
+ return _esp.writeable();
+}
+
+void ESP8266::attach(Callback< void()> func, SerialBase::IrqType type) {
+ _esp.attach(func, type);
+}
diff -r 000000000000 -r df754b773321 ESP8266.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266.h Sat Oct 29 15:35:26 2016 +0000
@@ -0,0 +1,34 @@
+#ifndef ESP8266_H
+#define ESP8266_H
+
+#include "mbed.h"
+
+#define SND_BUF_SIZE 1024
+
+class ESP8266
+{
+private:
+ char _ssid[32];
+ char _pwd[32];
+ char _snd[SND_BUF_SIZE];
+ RawSerial _esp;
+ DigitalOut _reset;
+
+public:
+ ESP8266(PinName tx, PinName rx, PinName reset, char * SSID, char * password);
+ void send();
+ void send(char * command);
+ void setup();
+ void reset();
+ void baud(int baudrate);
+ void getMAC();
+ void getIP();
+
+ int putc(int c);
+ int getc();
+ int readable();
+ int writeable();
+ void attach(Callback< void()> func, SerialBase::IrqType type);
+};
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r df754b773321 Motordriver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Sat Oct 29 15:35:26 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
diff -r 000000000000 -r df754b773321 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Sat Oct 29 15:35:26 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r df754b773321 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Oct 29 15:35:26 2016 +0000
@@ -0,0 +1,186 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "rtos.h"
+#include "ESP8266.h"
+#include "motordriver.h"
+
+/* Left and right motors */
+Motor motor_l(p22, p11, p12, 1); // pwm, fwd, rev, can brake
+Motor motor_r(p21, p13, p14, 1); // pwm, fwd, rev, can brake
+
+/* Virtual USB serial port */
+RawSerial pc(USBTX, USBRX); // tx, rx
+
+/* ESP8266 wifi chip */
+ESP8266 esp(p28, p27, p26, "SSID", "password"); // tx, rx, reset, SSID, password
+#define RCV_BUF_SIZE 1024
+char rcv[RCV_BUF_SIZE];
+volatile int rcv_tail = 0;
+volatile int rcv_head = 0;
+
+/* Speaker */
+PwmOut speaker(p24);
+
+/* Servo with IR sensor mounted */
+Servo servo_ir(p23);
+
+/* IR sensor */
+AnalogIn ir_sensor(p20);
+
+/* mbed LEDs */
+DigitalOut led1(LED1);
+DigitalOut led4(LED4);
+
+/* IR sensor thread */
+void ir_thread(void const * args) {
+ while (1) {
+ if (ir_sensor > 0.8) {
+ speaker = 1;
+ } else {
+ speaker = 0;
+ }
+ Thread::wait(50);
+ }
+}
+
+/* Circular buffer to hold commands */
+static int COM_BUF_SIZE = 100;
+volatile char * command_queue;
+volatile int queue_tail = 0;
+volatile int queue_head = 0;
+
+/* Command execute thread */
+void command_exec_thread(void const *args) {
+ while (1) {
+ if (queue_tail < queue_head) {
+ /* Save comand in temporary char variable */
+ char command = command_queue[queue_tail];
+
+ /* Null the command consumed */
+ command_queue[queue_tail] = '\0';
+
+ /* Execute the command */
+ switch(command) {
+ case '\0': /* null command */
+ break;
+ case 'F': /* Move forward */
+ motor_r.speed(1);
+ motor_l.speed(1);
+ Thread::wait(400);
+ motor_r.stop(1);
+ motor_l.stop(1);
+ break;
+ case 'B': /* Move backwards */
+ motor_r.speed(-1);
+ motor_l.speed(-1);
+ Thread::wait(400);
+ motor_r.stop(1);
+ motor_l.stop(1);
+ break;
+ case 'R': /* Move right */
+ motor_l.speed(1);
+ Thread::wait(400);
+ motor_l.stop(1);
+ break;
+ case 'L': /* Move left */
+ motor_r.speed(1);
+ Thread::wait(400);
+ motor_r.stop(1);
+ break;
+ case 'S': /* Turn servo right */
+ if (servo_ir > 0.0) {
+ float val = (servo_ir - .2);
+ servo_ir = val > 0.0 ? val : 0.0;
+ }
+ break;
+ case 'P': /* Turn servo left */
+ if (servo_ir < 1.0) {
+ float val = (servo_ir + .2);
+ servo_ir = val < 1.0 ? val : 1.0;
+ }
+ break;
+ default:
+ break;
+ }
+ /* Increment command index in circular buffer */
+ queue_tail = (queue_tail + 1) % COM_BUF_SIZE;
+ }
+ Thread::wait(200);
+ }
+}
+
+
+/* Queue command thread*/
+void command_queue_thread(void const *args) {
+ while(1) {
+ if (rcv_tail < rcv_head) {
+ if (rcv[rcv_tail] == 'Z') {
+ /* Loop until valid value found */
+ while (rcv[(rcv_tail + 1) % RCV_BUF_SIZE] == '\0') {
+ Thread::wait(100);
+ }
+ char let = rcv[(rcv_tail + 1) % RCV_BUF_SIZE];
+ command_queue[queue_head] = let;
+ queue_head = (queue_head + 1) % COM_BUF_SIZE;
+ }
+ rcv[rcv_tail] = '\0'; /* Clear value */
+ rcv_tail = (rcv_tail + 1) % RCV_BUF_SIZE;
+ }
+ Thread::wait(10);
+ }
+}
+
+/* PC receive interrupt routine */
+void pc_recv() {
+ led1 = 1;
+ while(pc.readable()) {
+ /* Print out to ESP8266 hardware */
+ esp.putc(pc.getc());
+ }
+ led1 = 0;
+}
+
+/* ESP83266 receive interrupt routine */
+void dev_recv() {
+ led4 = 1;
+ while(esp.readable()) {
+ char let = esp.getc();
+ /* Echo to pc to see output */
+ pc.putc(let);
+ /* Put in receive buffer */
+ rcv[rcv_head] = let;
+ rcv_head = (rcv_head + 1) % RCV_BUF_SIZE;
+ }
+ led4 = 0;
+}
+
+/* Main code */
+int main() {
+ /* Set pc serial baud rate */
+ pc.baud(9600);
+
+ /* Set up esp */
+ esp.reset();
+ esp.baud(9600);
+ esp.setup();
+
+ /* Initialize command buffer */
+ command_queue = (char*) calloc(sizeof(char), COM_BUF_SIZE);
+
+ /* Attach interrupts */
+ pc.attach(&pc_recv, Serial::RxIrq);
+ esp.attach(&dev_recv, Serial::RxIrq);
+
+ /* Print IP and MAC */
+ esp.getIP();
+ esp.getMAC();
+
+ /* Start threads */
+ Thread command_exec_thr(command_exec_thread);
+ Thread command_queue_thr(command_queue_thread);
+ Thread ir_thr(ir_thread);
+
+ while(1) {
+ Thread::wait(10000);
+ }
+}
diff -r 000000000000 -r df754b773321 mbed-dev.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dev.lib Sat Oct 29 15:35:26 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/mbed-dev/#156823d33999
diff -r 000000000000 -r df754b773321 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sat Oct 29 15:35:26 2016 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#3da5f554d8bf