Isaac Lee
Bluetooth app controlled robot
Dependencies: ESP8266 HALLFX_ENCODER LSM9DS1_Library_cal MotorDriver PID mbed
Fork of
ESP8266_pid_redbot_webserver
by 
Bryce Williams
main.cpp@0:11bc7a815367, 2015-11-27 (annotated)
- Committer:
- electromotivated
- Date:
- Fri Nov 27 15:30:19 2015 +0000
- Revision:
- 0:11bc7a815367
- Child:
- 1:d4a95e3a8aeb
Banishing of a magic number
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| electromotivated | 0:11bc7a815367 | 1 | /* |
| electromotivated | 0:11bc7a815367 | 2 | Uses the ESP8266 WiFi Chip to set up a WiFi Webserver used to control |
| electromotivated | 0:11bc7a815367 | 3 | the position or speed of a motor using a PID controller. USE FIREFOX |
| electromotivated | 0:11bc7a815367 | 4 | Web Browser |
| electromotivated | 0:11bc7a815367 | 5 | |
| electromotivated | 0:11bc7a815367 | 6 | NOTES: |
| electromotivated | 0:11bc7a815367 | 7 | 1. Webpage Handling in this program is specific to a CUSTOM |
| electromotivated | 0:11bc7a815367 | 8 | WEBPAGE. Program must be modified to handle specfically a new |
| electromotivated | 0:11bc7a815367 | 9 | webpage. A copy of the webpage for this program can be found at |
| electromotivated | 0:11bc7a815367 | 10 | the end of this program page. Simply copy and past text into a |
| electromotivated | 0:11bc7a815367 | 11 | html file and save as the given name. |
| electromotivated | 0:11bc7a815367 | 12 | |
| electromotivated | 0:11bc7a815367 | 13 | 2. Developed and tested with FireFox 42.0 Web Browser. Does not seem to work |
| electromotivated | 0:11bc7a815367 | 14 | well with Google Chrome or Internet Explorer for some reason... they seem |
| electromotivated | 0:11bc7a815367 | 15 | to generate two post requests which messes with the user input values. |
| electromotivated | 0:11bc7a815367 | 16 | |
| electromotivated | 0:11bc7a815367 | 17 | 3. There are a bunch of printf statements in the code that can be |
| electromotivated | 0:11bc7a815367 | 18 | uncommented for debugging in a serial terminal progrom. |
| electromotivated | 0:11bc7a815367 | 19 | |
| electromotivated | 0:11bc7a815367 | 20 | |
| electromotivated | 0:11bc7a815367 | 21 | TODO: ESP8366 has a max packet send size. Make sure we implement |
| electromotivated | 0:11bc7a815367 | 22 | a method to send webpages that exceed this value. The max size is |
| electromotivated | 0:11bc7a815367 | 23 | listed in the official ESP8266 AT Commands Documentation, I think |
| electromotivated | 0:11bc7a815367 | 24 | it is 2048 bytes/chars |
| electromotivated | 0:11bc7a815367 | 25 | |
| electromotivated | 0:11bc7a815367 | 26 | TODO: CREATE CONFIG FUNCTION TO SET SSID, PASSWORD, BAUDRATE ETC. |
| electromotivated | 0:11bc7a815367 | 27 | Perhaps have a serial terminal method to take user input, and |
| electromotivated | 0:11bc7a815367 | 28 | put the function call into a #ifdef WiFiConfig statement, so |
| electromotivated | 0:11bc7a815367 | 29 | that the user can enable it to config Wifi module then turn |
| electromotivated | 0:11bc7a815367 | 30 | it off once Wifi module is configed so that this program can |
| electromotivated | 0:11bc7a815367 | 31 | run in a "stand alone" mode. |
| electromotivated | 0:11bc7a815367 | 32 | |
| electromotivated | 0:11bc7a815367 | 33 | TODO: Implement stop button in webpage |
| electromotivated | 0:11bc7a815367 | 34 | */ |
| electromotivated | 0:11bc7a815367 | 35 | |
| electromotivated | 0:11bc7a815367 | 36 | |
| electromotivated | 0:11bc7a815367 | 37 | #include "mbed.h" |
| electromotivated | 0:11bc7a815367 | 38 | #include "SDFileSystem.h" |
| electromotivated | 0:11bc7a815367 | 39 | #include "PID.h" |
| electromotivated | 0:11bc7a815367 | 40 | #include "QEI.h" |
| electromotivated | 0:11bc7a815367 | 41 | #include <algorithm> |
| electromotivated | 0:11bc7a815367 | 42 | |
| electromotivated | 0:11bc7a815367 | 43 | //#define DEBUG // Uncomment for serial terminal print debugging |
| electromotivated | 0:11bc7a815367 | 44 | // Comment out to turn prints off for normal op |
| electromotivated | 0:11bc7a815367 | 45 | |
| electromotivated | 0:11bc7a815367 | 46 | /*********PID CONTROLLER SPECIFIC DECLARATIONS********************************/ |
| electromotivated | 0:11bc7a815367 | 47 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 48 | |
| electromotivated | 0:11bc7a815367 | 49 | float setpoint, feedback, output; // Should these be volatile? |
| electromotivated | 0:11bc7a815367 | 50 | const float output_lower_limit = -1.0; |
| electromotivated | 0:11bc7a815367 | 51 | const float output_upper_limit = 1.0; |
| electromotivated | 0:11bc7a815367 | 52 | const float FEEDBACK_SCALE = 1.0/3000.0; // Scale feedback to 1rev/3000cnts |
| electromotivated | 0:11bc7a815367 | 53 | // this is encoder specific. |
| electromotivated | 0:11bc7a815367 | 54 | enum CONTROL_MODE{POSITION = 0, SPEED = 1}; |
| electromotivated | 0:11bc7a815367 | 55 | bool control_mode = POSITION; |
| electromotivated | 0:11bc7a815367 | 56 | float kp, ki, kd; // Gain variables for working |
| electromotivated | 0:11bc7a815367 | 57 | const float Ts = 0.04; // 25Hz Sample Freq (40ms Sample Time) |
| electromotivated | 0:11bc7a815367 | 58 | const float Ts_PID_CALLBACK = Ts/2.0; // Update Motors and sensers twice as |
| electromotivated | 0:11bc7a815367 | 59 | // fast as PID sample rate, ensures |
| electromotivated | 0:11bc7a815367 | 60 | // PID feedback is upto date every |
| electromotivated | 0:11bc7a815367 | 61 | // time PID calculations run |
| electromotivated | 0:11bc7a815367 | 62 | |
| electromotivated | 0:11bc7a815367 | 63 | // Vars to store gains for Speed and Position when switching Control modes |
| electromotivated | 0:11bc7a815367 | 64 | const float kp_init = 2.5; // Good Kp for Position Control |
| electromotivated | 0:11bc7a815367 | 65 | const float ki_init = 5.0; // Good Ki for Position Control |
| electromotivated | 0:11bc7a815367 | 66 | const float kd_init = 0.25; // Good Kd for Position Control |
| electromotivated | 0:11bc7a815367 | 67 | |
| electromotivated | 0:11bc7a815367 | 68 | PID pid(&setpoint, &feedback, &output, |
| electromotivated | 0:11bc7a815367 | 69 | output_lower_limit, output_upper_limit, |
| electromotivated | 0:11bc7a815367 | 70 | kp_init, ki_init, kd_init, Ts); // Init for position control |
| electromotivated | 0:11bc7a815367 | 71 | QEI encoder(p15, p16); |
| electromotivated | 0:11bc7a815367 | 72 | PwmOut mtr_pwm(p25); |
| electromotivated | 0:11bc7a815367 | 73 | DigitalOut mtr_dir(p24); |
| electromotivated | 0:11bc7a815367 | 74 | void pid_callback(); // Updates encoder feedback and motor output |
| electromotivated | 0:11bc7a815367 | 75 | Ticker motor; |
| electromotivated | 0:11bc7a815367 | 76 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 77 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 78 | |
| electromotivated | 0:11bc7a815367 | 79 | /**********WEB SERVER SPECIFIC DECLARTATIONS**********************************/ |
| electromotivated | 0:11bc7a815367 | 80 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 81 | SDFileSystem sd(p5,p6,p7,p8,"sd"); // MOSI, MISO, SCLK, CS, |
| electromotivated | 0:11bc7a815367 | 82 | // Virtual File System Name |
| electromotivated | 0:11bc7a815367 | 83 | Serial esp(p13, p14); // tx, rx |
| electromotivated | 0:11bc7a815367 | 84 | DigitalOut espRstPin(p26); // ESP Reset |
| electromotivated | 0:11bc7a815367 | 85 | DigitalOut led(LED4); |
| electromotivated | 0:11bc7a815367 | 86 | |
| electromotivated | 0:11bc7a815367 | 87 | Timer t1; |
| electromotivated | 0:11bc7a815367 | 88 | Timer t2; |
| electromotivated | 0:11bc7a815367 | 89 | |
| electromotivated | 0:11bc7a815367 | 90 | void init(char* buffer, int size); |
| electromotivated | 0:11bc7a815367 | 91 | void getreply(int timeout_ms, char* buffer, int size, int numBytes); |
| electromotivated | 0:11bc7a815367 | 92 | void startserver(char* buffer, int size); |
| electromotivated | 0:11bc7a815367 | 93 | void update_webpage(char* webpage, float setpoint, float kp, float ki, float kd); |
| electromotivated | 0:11bc7a815367 | 94 | void parse_input(char* webpage_user_data, bool* control_mode, float* setpoint, float* kp, float* ki, float* kd); |
| electromotivated | 0:11bc7a815367 | 95 | int port =80; // set server port |
| electromotivated | 0:11bc7a815367 | 96 | int serverTimeout_secs =5; // set server timeout in seconds in case |
| electromotivated | 0:11bc7a815367 | 97 | // link breaks. |
| electromotivated | 0:11bc7a815367 | 98 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 99 | /*****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 100 | |
| electromotivated | 0:11bc7a815367 | 101 | // Common Application Declarations |
| electromotivated | 0:11bc7a815367 | 102 | Serial pc(USBTX, USBRX); |
| electromotivated | 0:11bc7a815367 | 103 | float clip(float value, float lower, float upper); |
| electromotivated | 0:11bc7a815367 | 104 | |
| electromotivated | 0:11bc7a815367 | 105 | int main() |
| electromotivated | 0:11bc7a815367 | 106 | { |
| electromotivated | 0:11bc7a815367 | 107 | printf("Starting\n"); |
| electromotivated | 0:11bc7a815367 | 108 | |
| electromotivated | 0:11bc7a815367 | 109 | /****************** Load Webpage from SD Card***************************************/ |
| electromotivated | 0:11bc7a815367 | 110 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 111 | char file[] = "/sd/pid_dual.html"; |
| electromotivated | 0:11bc7a815367 | 112 | |
| electromotivated | 0:11bc7a815367 | 113 | // Get file size so we can dynamically allocate buffer size |
| electromotivated | 0:11bc7a815367 | 114 | int num_chars = 0; |
| electromotivated | 0:11bc7a815367 | 115 | FILE *fp = fopen(file, "r"); |
| electromotivated | 0:11bc7a815367 | 116 | while(!feof(fp)){ |
| electromotivated | 0:11bc7a815367 | 117 | fgetc(fp); |
| electromotivated | 0:11bc7a815367 | 118 | num_chars++; |
| electromotivated | 0:11bc7a815367 | 119 | } |
| electromotivated | 0:11bc7a815367 | 120 | rewind(fp); // Go to beginning of file |
| electromotivated | 0:11bc7a815367 | 121 | |
| electromotivated | 0:11bc7a815367 | 122 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 123 | printf("Webpage Data Size: %d byte\r\n", num_chars); |
| electromotivated | 0:11bc7a815367 | 124 | #endif |
| electromotivated | 0:11bc7a815367 | 125 | |
| electromotivated | 0:11bc7a815367 | 126 | const int WEBPAGE_SIZE = num_chars; |
| electromotivated | 0:11bc7a815367 | 127 | char webpage[WEBPAGE_SIZE]; |
| electromotivated | 0:11bc7a815367 | 128 | webpage[0] = NULL; // Init our array so that element zero contains a null |
| electromotivated | 0:11bc7a815367 | 129 | // This is important, ensures strings are placed into |
| electromotivated | 0:11bc7a815367 | 130 | // buffer starting at element 0... not some random |
| electromotivated | 0:11bc7a815367 | 131 | // elment |
| electromotivated | 0:11bc7a815367 | 132 | // Read in and buffer file to memory |
| electromotivated | 0:11bc7a815367 | 133 | if(fp == NULL){ |
| electromotivated | 0:11bc7a815367 | 134 | printf("Error: No Such File or something :("); |
| electromotivated | 0:11bc7a815367 | 135 | return 1; |
| electromotivated | 0:11bc7a815367 | 136 | } |
| electromotivated | 0:11bc7a815367 | 137 | else{ |
| electromotivated | 0:11bc7a815367 | 138 | while(!feof(fp)){ |
| electromotivated | 0:11bc7a815367 | 139 | fgets(webpage + strlen(webpage), WEBPAGE_SIZE, fp); // Get a string from stream, add to buffer |
| electromotivated | 0:11bc7a815367 | 140 | } |
| electromotivated | 0:11bc7a815367 | 141 | } |
| electromotivated | 0:11bc7a815367 | 142 | fclose(fp); |
| electromotivated | 0:11bc7a815367 | 143 | printf("Webpage Buffer Size: %d bytes\r\n", sizeof(webpage)); |
| electromotivated | 0:11bc7a815367 | 144 | update_webpage(webpage, setpoint, kp_init, ki_init, kd_init); // Update Webpage for |
| electromotivated | 0:11bc7a815367 | 145 | // Position Mode |
| electromotivated | 0:11bc7a815367 | 146 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 147 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 148 | |
| electromotivated | 0:11bc7a815367 | 149 | /***************BRING UP SERVER*****************************************************/ |
| electromotivated | 0:11bc7a815367 | 150 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 151 | char buff[5000]; // Working buffer |
| electromotivated | 0:11bc7a815367 | 152 | init(buff, sizeof(buff)); // Init ESP8266 |
| electromotivated | 0:11bc7a815367 | 153 | |
| electromotivated | 0:11bc7a815367 | 154 | esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F |
| electromotivated | 0:11bc7a815367 | 155 | |
| electromotivated | 0:11bc7a815367 | 156 | startserver(buff, sizeof(buff)); // Configure the ESP8266 and Setup as Server |
| electromotivated | 0:11bc7a815367 | 157 | |
| electromotivated | 0:11bc7a815367 | 158 | printf(buff); // If start successful buff contains IP address... |
| electromotivated | 0:11bc7a815367 | 159 | // if not if contains an error. |
| electromotivated | 0:11bc7a815367 | 160 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 161 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 162 | |
| electromotivated | 0:11bc7a815367 | 163 | /************Initialize the PID*****************************************************/ |
| electromotivated | 0:11bc7a815367 | 164 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 165 | setpoint = 0.0; |
| electromotivated | 0:11bc7a815367 | 166 | encoder.reset(); |
| electromotivated | 0:11bc7a815367 | 167 | feedback = encoder.read(); |
| electromotivated | 0:11bc7a815367 | 168 | |
| electromotivated | 0:11bc7a815367 | 169 | // Init the motor |
| electromotivated | 0:11bc7a815367 | 170 | mtr_dir = 0; // Can be 0 or 1, sets the direction |
| electromotivated | 0:11bc7a815367 | 171 | mtr_pwm = 0.0; |
| electromotivated | 0:11bc7a815367 | 172 | |
| electromotivated | 0:11bc7a815367 | 173 | // Update sensors and feedback twice as fast as PID sample time |
| electromotivated | 0:11bc7a815367 | 174 | // this makes pid react in real-time avoiding errors due to |
| electromotivated | 0:11bc7a815367 | 175 | // missing counts etc. |
| electromotivated | 0:11bc7a815367 | 176 | motor.attach(&pid_callback, Ts_PID_CALLBACK); |
| electromotivated | 0:11bc7a815367 | 177 | |
| electromotivated | 0:11bc7a815367 | 178 | // Start PID sampling |
| electromotivated | 0:11bc7a815367 | 179 | pid.start(); |
| electromotivated | 0:11bc7a815367 | 180 | |
| electromotivated | 0:11bc7a815367 | 181 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 182 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 183 | |
| electromotivated | 0:11bc7a815367 | 184 | while(1){ |
| electromotivated | 0:11bc7a815367 | 185 | /**************SERVICE WEBPAGE******************************************************/ |
| electromotivated | 0:11bc7a815367 | 186 | /***********************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 187 | if(esp.readable()){ |
| electromotivated | 0:11bc7a815367 | 188 | getreply(500, buff, sizeof(buff), sizeof(buff) -1); // Get full buff, leave last element for null char |
| electromotivated | 0:11bc7a815367 | 189 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 190 | printf("\r\n*************WORKING BUFFER******************************\r\n"); |
| electromotivated | 0:11bc7a815367 | 191 | printf(buff); printf("\n"); |
| electromotivated | 0:11bc7a815367 | 192 | printf("\r\n**************END WORKING BUFFER**************************\r\n"); |
| electromotivated | 0:11bc7a815367 | 193 | #endif |
| electromotivated | 0:11bc7a815367 | 194 | // If Recieved Data get ID, Length, and Data |
| electromotivated | 0:11bc7a815367 | 195 | char* rqstPnt = strstr(buff, "+IPD"); |
| electromotivated | 0:11bc7a815367 | 196 | if(rqstPnt != NULL){ |
| electromotivated | 0:11bc7a815367 | 197 | int id, len; |
| electromotivated | 0:11bc7a815367 | 198 | char type[10]; memset(type, '\0', sizeof(type)); // Create and null out data buff |
| electromotivated | 0:11bc7a815367 | 199 | sscanf(rqstPnt, "+IPD,%d,%d:%s ", &id, &len, type); |
| electromotivated | 0:11bc7a815367 | 200 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 201 | printf("ID: %i\nLen: %i\nType: %s\n", id, len, type); |
| electromotivated | 0:11bc7a815367 | 202 | #endif |
| electromotivated | 0:11bc7a815367 | 203 | // If GET or POST request "type" parse and update user input then send webpage |
| electromotivated | 0:11bc7a815367 | 204 | if(strstr(type, "GET") != NULL || strstr(type, "POST") != NULL){ |
| electromotivated | 0:11bc7a815367 | 205 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 206 | printf("I got web request\n"); |
| electromotivated | 0:11bc7a815367 | 207 | #endif |
| electromotivated | 0:11bc7a815367 | 208 | /* Read Webpage <Form> data sent using "method=POST"... |
| electromotivated | 0:11bc7a815367 | 209 | Note: Input elements in the <Form> need a set name attribute to |
| electromotivated | 0:11bc7a815367 | 210 | appear in the returned HTML body. Thus to "POST" data ensure: |
| electromotivated | 0:11bc7a815367 | 211 | <Form method="POST"> <input type="xxx" name="xxx" value="xxx"> |
| electromotivated | 0:11bc7a815367 | 212 | <input type="xxx" value="xxx"> </Form> |
| electromotivated | 0:11bc7a815367 | 213 | Only the input with name="xxx" will appear in body of HTML |
| electromotivated | 0:11bc7a815367 | 214 | */ |
| electromotivated | 0:11bc7a815367 | 215 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 216 | printf("\r\n*************USER INPUT**********************************\r\n"); |
| electromotivated | 0:11bc7a815367 | 217 | #endif |
| electromotivated | 0:11bc7a815367 | 218 | |
| electromotivated | 0:11bc7a815367 | 219 | parse_input(buff, &control_mode, &setpoint, &kp, &ki, &kd); |
| electromotivated | 0:11bc7a815367 | 220 | setpoint = clip(setpoint, -999.99, 999.99); |
| electromotivated | 0:11bc7a815367 | 221 | kp = clip(kp, 0.00, 999.99); |
| electromotivated | 0:11bc7a815367 | 222 | ki = clip(ki, 0.00, 999.99); |
| electromotivated | 0:11bc7a815367 | 223 | kd = clip(kd, 0.00, 999.99); |
| electromotivated | 0:11bc7a815367 | 224 | |
| electromotivated | 0:11bc7a815367 | 225 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 226 | printf("User Entered: \ncontrol_mode: %i\nSetpoint: %7.4f\nKp: %6.4f\nKi: %6.4f\nKd: %6.4f\n", |
| electromotivated | 0:11bc7a815367 | 227 | control_mode, setpoint, kp, ki, kd); |
| electromotivated | 0:11bc7a815367 | 228 | #endif |
| electromotivated | 0:11bc7a815367 | 229 | |
| electromotivated | 0:11bc7a815367 | 230 | pid.set_parameters(kp, ki, kd, Ts); // Updata PID params |
| electromotivated | 0:11bc7a815367 | 231 | |
| electromotivated | 0:11bc7a815367 | 232 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 233 | printf("Updated to Kp: %1.4f Ki: %1.4f Kd: %1.4f Ts: %1.4f\r\n", |
| electromotivated | 0:11bc7a815367 | 234 | pid.getKp(), pid.getKi(), pid.getKd(), pid.getTs()); |
| electromotivated | 0:11bc7a815367 | 235 | printf("Setpoint: %1.4f\r\n", setpoint); |
| electromotivated | 0:11bc7a815367 | 236 | printf("Output: %1.4f\r\n", output); |
| electromotivated | 0:11bc7a815367 | 237 | printf("\r\n*************END USER INPUT******************************\r\n"); |
| electromotivated | 0:11bc7a815367 | 238 | #endif |
| electromotivated | 0:11bc7a815367 | 239 | |
| electromotivated | 0:11bc7a815367 | 240 | // Update Webpage to reflect new values POSTED by client |
| electromotivated | 0:11bc7a815367 | 241 | static bool isFirstRequest = true; |
| electromotivated | 0:11bc7a815367 | 242 | if(!isFirstRequest) update_webpage(webpage, setpoint, kp, ki, kd); |
| electromotivated | 0:11bc7a815367 | 243 | else isFirstRequest = false; // First Request just send page with initial values |
| electromotivated | 0:11bc7a815367 | 244 | |
| electromotivated | 0:11bc7a815367 | 245 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 246 | printf(webpage); // DEBUGGING ONLY!!! REMOVE FOR RELEASE!!! |
| electromotivated | 0:11bc7a815367 | 247 | #endif |
| electromotivated | 0:11bc7a815367 | 248 | |
| electromotivated | 0:11bc7a815367 | 249 | // Command TCP/IP Data Tx |
| electromotivated | 0:11bc7a815367 | 250 | esp.printf("AT+CIPSEND=%d,%d\r\n", id, strlen(webpage)); |
| electromotivated | 0:11bc7a815367 | 251 | getreply(200, buff, sizeof(buff), 15); /*TODO: Wait for "OK\r\n>"*/ |
| electromotivated | 0:11bc7a815367 | 252 | |
| electromotivated | 0:11bc7a815367 | 253 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 254 | printf(buff); printf("\n"); |
| electromotivated | 0:11bc7a815367 | 255 | #endif |
| electromotivated | 0:11bc7a815367 | 256 | |
| electromotivated | 0:11bc7a815367 | 257 | // Send webpage |
| electromotivated | 0:11bc7a815367 | 258 | // while(!esp.writeable()); // Wait until esp ready to send data |
| electromotivated | 0:11bc7a815367 | 259 | int idx = 0; |
| electromotivated | 0:11bc7a815367 | 260 | while(webpage[idx] != '\0'){ |
| electromotivated | 0:11bc7a815367 | 261 | esp.putc(webpage[idx]); |
| electromotivated | 0:11bc7a815367 | 262 | idx++; |
| electromotivated | 0:11bc7a815367 | 263 | } |
| electromotivated | 0:11bc7a815367 | 264 | |
| electromotivated | 0:11bc7a815367 | 265 | // Check status - Success: close channel and update PID controller, Error: reconnect |
| electromotivated | 0:11bc7a815367 | 266 | bool weberror = true; |
| electromotivated | 0:11bc7a815367 | 267 | t2.reset(); t2.start(); |
| electromotivated | 0:11bc7a815367 | 268 | while(weberror ==1 && t2.read_ms() < 5000){ |
| electromotivated | 0:11bc7a815367 | 269 | getreply(500, buff, sizeof(buff), 24); |
| electromotivated | 0:11bc7a815367 | 270 | if(strstr(buff, "SEND OK") != NULL) weberror = false; |
| electromotivated | 0:11bc7a815367 | 271 | } |
| electromotivated | 0:11bc7a815367 | 272 | if(weberror){ |
| electromotivated | 0:11bc7a815367 | 273 | esp.printf("AT+CIPMUX=1\r\n"); |
| electromotivated | 0:11bc7a815367 | 274 | getreply(500, buff, sizeof(buff), 10); |
| electromotivated | 0:11bc7a815367 | 275 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 276 | printf(buff); printf("\n"); |
| electromotivated | 0:11bc7a815367 | 277 | #endif |
| electromotivated | 0:11bc7a815367 | 278 | esp.printf("AT+CIPSERVER=1,%d\r\n", port); |
| electromotivated | 0:11bc7a815367 | 279 | getreply(500, buff, sizeof(buff), 10); |
| electromotivated | 0:11bc7a815367 | 280 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 281 | printf(buff); printf("\n"); |
| electromotivated | 0:11bc7a815367 | 282 | #endif |
| electromotivated | 0:11bc7a815367 | 283 | } |
| electromotivated | 0:11bc7a815367 | 284 | else{ |
| electromotivated | 0:11bc7a815367 | 285 | esp.printf("AT+CIPCLOSE=%d\r\n", id); // Notice id is an int formatted to string |
| electromotivated | 0:11bc7a815367 | 286 | getreply(500, buff, sizeof(buff), 24); |
| electromotivated | 0:11bc7a815367 | 287 | #ifdef DEBUG |
| electromotivated | 0:11bc7a815367 | 288 | printf(buff); printf("\n"); |
| electromotivated | 0:11bc7a815367 | 289 | #endif |
| electromotivated | 0:11bc7a815367 | 290 | } |
| electromotivated | 0:11bc7a815367 | 291 | } |
| electromotivated | 0:11bc7a815367 | 292 | } |
| electromotivated | 0:11bc7a815367 | 293 | } |
| electromotivated | 0:11bc7a815367 | 294 | /*********************************************************************/ |
| electromotivated | 0:11bc7a815367 | 295 | /*********************************************************************/ |
| electromotivated | 0:11bc7a815367 | 296 | |
| electromotivated | 0:11bc7a815367 | 297 | |
| electromotivated | 0:11bc7a815367 | 298 | } |
| electromotivated | 0:11bc7a815367 | 299 | } |
| electromotivated | 0:11bc7a815367 | 300 | |
| electromotivated | 0:11bc7a815367 | 301 | // Initialize ESP8266 |
| electromotivated | 0:11bc7a815367 | 302 | void init(char* buffer, int size){ |
| electromotivated | 0:11bc7a815367 | 303 | // Hardware Reset ESP |
| electromotivated | 0:11bc7a815367 | 304 | espRstPin=0; |
| electromotivated | 0:11bc7a815367 | 305 | wait(0.5); |
| electromotivated | 0:11bc7a815367 | 306 | espRstPin=1; |
| electromotivated | 0:11bc7a815367 | 307 | // Get start up junk from ESP8266 |
| electromotivated | 0:11bc7a815367 | 308 | getreply(6000, buffer, size, 500); |
| electromotivated | 0:11bc7a815367 | 309 | } |
| electromotivated | 0:11bc7a815367 | 310 | |
| electromotivated | 0:11bc7a815367 | 311 | // Get Command and ESP status replies |
| electromotivated | 0:11bc7a815367 | 312 | void getreply(int timeout_ms, char* buffer, int size, int numBytes) |
| electromotivated | 0:11bc7a815367 | 313 | { |
| electromotivated | 0:11bc7a815367 | 314 | memset(buffer, '\0', size); // Null out buffer |
| electromotivated | 0:11bc7a815367 | 315 | t1.reset(); |
| electromotivated | 0:11bc7a815367 | 316 | t1.start(); |
| electromotivated | 0:11bc7a815367 | 317 | int idx = 0; |
| electromotivated | 0:11bc7a815367 | 318 | while(t1.read_ms()< timeout_ms && idx < numBytes) { |
| electromotivated | 0:11bc7a815367 | 319 | if(esp.readable()) { |
| electromotivated | 0:11bc7a815367 | 320 | buffer[idx] = esp.getc(); |
| electromotivated | 0:11bc7a815367 | 321 | idx++; |
| electromotivated | 0:11bc7a815367 | 322 | } |
| electromotivated | 0:11bc7a815367 | 323 | } |
| electromotivated | 0:11bc7a815367 | 324 | t1.stop(); |
| electromotivated | 0:11bc7a815367 | 325 | } |
| electromotivated | 0:11bc7a815367 | 326 | |
| electromotivated | 0:11bc7a815367 | 327 | // Starts and restarts webserver if errors detected. |
| electromotivated | 0:11bc7a815367 | 328 | void startserver(char* buffer, int size) |
| electromotivated | 0:11bc7a815367 | 329 | { |
| electromotivated | 0:11bc7a815367 | 330 | esp.printf("AT+RST\r\n"); // BWW: Reset the ESP8266 |
| electromotivated | 0:11bc7a815367 | 331 | getreply(8000, buffer, size, 1000); |
| electromotivated | 0:11bc7a815367 | 332 | |
| electromotivated | 0:11bc7a815367 | 333 | if (strstr(buffer, "OK") != NULL) { |
| electromotivated | 0:11bc7a815367 | 334 | // BWW: Set ESP8266 for multiple connections |
| electromotivated | 0:11bc7a815367 | 335 | esp.printf("AT+CIPMUX=1\r\n"); |
| electromotivated | 0:11bc7a815367 | 336 | getreply(500, buffer, size, 20); |
| electromotivated | 0:11bc7a815367 | 337 | |
| electromotivated | 0:11bc7a815367 | 338 | // BWW: Set ESP8266 as Server on given port |
| electromotivated | 0:11bc7a815367 | 339 | esp.printf("AT+CIPSERVER=1,%d\r\n", port); |
| electromotivated | 0:11bc7a815367 | 340 | getreply(500, buffer, size, 20); // BWW: Wait for reply |
| electromotivated | 0:11bc7a815367 | 341 | |
| electromotivated | 0:11bc7a815367 | 342 | // BWW: Set ESP8266 Server Timeout |
| electromotivated | 0:11bc7a815367 | 343 | esp.printf("AT+CIPSTO=%d\r\n", serverTimeout_secs); |
| electromotivated | 0:11bc7a815367 | 344 | getreply(500, buffer, size, 50); // BWW: Wait for reply |
| electromotivated | 0:11bc7a815367 | 345 | |
| electromotivated | 0:11bc7a815367 | 346 | // BWW: Request IP Address from router for ESP8266 |
| electromotivated | 0:11bc7a815367 | 347 | int weberror = 0; |
| electromotivated | 0:11bc7a815367 | 348 | while(weberror==0) { |
| electromotivated | 0:11bc7a815367 | 349 | esp.printf("AT+CIFSR\r\n"); |
| electromotivated | 0:11bc7a815367 | 350 | getreply(2500, buffer, size, 200); |
| electromotivated | 0:11bc7a815367 | 351 | if(strstr(buffer, "0.0.0.0") == NULL) { |
| electromotivated | 0:11bc7a815367 | 352 | weberror=1; // wait for valid IP |
| electromotivated | 0:11bc7a815367 | 353 | } |
| electromotivated | 0:11bc7a815367 | 354 | } |
| electromotivated | 0:11bc7a815367 | 355 | } |
| electromotivated | 0:11bc7a815367 | 356 | // else ESP8266 did not reply "OK" something is messed up |
| electromotivated | 0:11bc7a815367 | 357 | else { |
| electromotivated | 0:11bc7a815367 | 358 | strcpy(buffer, "ESP8266 Error\n"); |
| electromotivated | 0:11bc7a815367 | 359 | } |
| electromotivated | 0:11bc7a815367 | 360 | } |
| electromotivated | 0:11bc7a815367 | 361 | |
| electromotivated | 0:11bc7a815367 | 362 | /* |
| electromotivated | 0:11bc7a815367 | 363 | update_webpage() updates output fields based on webpage user inputs "POSTED" |
| electromotivated | 0:11bc7a815367 | 364 | Preconditions: webpage[] must have the following elements |
| electromotivated | 0:11bc7a815367 | 365 | "kp_output" value="xxx.xx" |
| electromotivated | 0:11bc7a815367 | 366 | "ki_output" value="xxx.xx" |
| electromotivated | 0:11bc7a815367 | 367 | "kp_output" value="xxx.xx" |
| electromotivated | 0:11bc7a815367 | 368 | @param webpage Pointer to webpage char[] |
| electromotivated | 0:11bc7a815367 | 369 | @param kp New kp value posted by user |
| electromotivated | 0:11bc7a815367 | 370 | @param ki New ki value posted by user |
| electromotivated | 0:11bc7a815367 | 371 | @param kd New kd value posted by user |
| electromotivated | 0:11bc7a815367 | 372 | |
| electromotivated | 0:11bc7a815367 | 373 | NOTE: THIS IS WEBPAGE SPECIFIC!!!! CHANGE THE CODE IN HERE TO SUITE THE |
| electromotivated | 0:11bc7a815367 | 374 | SPECIFIC APPLICATION WEBPAGE!!! ALSO USED TO REFLECT THE CUSTOM |
| electromotivated | 0:11bc7a815367 | 375 | IMPLEMENTATION OF THE parse_intput() function. MAKE SURE THESE TWO FUNCTIONS |
| electromotivated | 0:11bc7a815367 | 376 | INTEGRATE PROPERLY!!! |
| electromotivated | 0:11bc7a815367 | 377 | */ |
| electromotivated | 0:11bc7a815367 | 378 | void update_webpage(char* webpage, float setpoint, float kp, float ki, float kd){ |
| electromotivated | 0:11bc7a815367 | 379 | // Change output value to reflect new control mode, setpoint, kp, ki, kd values |
| electromotivated | 0:11bc7a815367 | 380 | char* begin; |
| electromotivated | 0:11bc7a815367 | 381 | char temp[8]; |
| electromotivated | 0:11bc7a815367 | 382 | int idx; |
| electromotivated | 0:11bc7a815367 | 383 | |
| electromotivated | 0:11bc7a815367 | 384 | // Update Control Mode Radio Buttons |
| electromotivated | 0:11bc7a815367 | 385 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 386 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 387 | begin = strstr(webpage, "name=\"control_mode\" value=\"") + |
| electromotivated | 0:11bc7a815367 | 388 | sizeof("name=\"control_mode\" value=\"0"); // Update Control Mode Position Radio Button |
| electromotivated | 0:11bc7a815367 | 389 | if(control_mode == POSITION) sprintf(temp, "%s", "checked");// If Position active "check" it |
| electromotivated | 0:11bc7a815367 | 390 | else sprintf(temp, "%s", " "); // else "clear" it |
| electromotivated | 0:11bc7a815367 | 391 | while(temp[idx] != '\0'){ // Write "checked"/" " to field |
| electromotivated | 0:11bc7a815367 | 392 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 393 | idx++; |
| electromotivated | 0:11bc7a815367 | 394 | } |
| electromotivated | 0:11bc7a815367 | 395 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 396 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 397 | begin = strstr(webpage, "name=\"control_mode\" value=\"") + |
| electromotivated | 0:11bc7a815367 | 398 | sizeof("name=\"control_mode\" value=\"0\""); // Nav to first Control Mode Radio Button (Position) |
| electromotivated | 0:11bc7a815367 | 399 | begin = strstr(begin, "name=\"control_mode\" value=\"") + |
| electromotivated | 0:11bc7a815367 | 400 | sizeof("name=\"control_mode\" value=\"1"); // Nav to second Control Mode Radio Button (Speed) |
| electromotivated | 0:11bc7a815367 | 401 | if(control_mode == SPEED) sprintf(temp, "%s", "checked"); // If Speed active "check" it |
| electromotivated | 0:11bc7a815367 | 402 | else sprintf(temp, "%s", " "); // else "clear" it |
| electromotivated | 0:11bc7a815367 | 403 | while(temp[idx] != '\0'){ // Write "checked"/" " to field |
| electromotivated | 0:11bc7a815367 | 404 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 405 | idx++; |
| electromotivated | 0:11bc7a815367 | 406 | } |
| electromotivated | 0:11bc7a815367 | 407 | |
| electromotivated | 0:11bc7a815367 | 408 | // Update Kp Paramater Field |
| electromotivated | 0:11bc7a815367 | 409 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 410 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 411 | begin = strstr(webpage, "name=\"kp_input\" value=\"") + |
| electromotivated | 0:11bc7a815367 | 412 | sizeof("name=\"kp_input\" value="); // Points to start of kp_output field |
| electromotivated | 0:11bc7a815367 | 413 | // Determine precision of float such temp string has no empty spaces; |
| electromotivated | 0:11bc7a815367 | 414 | // i.e. each space must have a value or a decimal point, other wise webbrowser may not recognize value |
| electromotivated | 0:11bc7a815367 | 415 | if(kp >= 100) sprintf(temp, "%6.2f", kp); // xxx.00 |
| electromotivated | 0:11bc7a815367 | 416 | else if(10 <= kp && kp < 100) sprintf(temp, "%6.3f", kp); // xx.000 |
| electromotivated | 0:11bc7a815367 | 417 | else sprintf(temp, "%6.4f", kp); // x.0000 |
| electromotivated | 0:11bc7a815367 | 418 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
| electromotivated | 0:11bc7a815367 | 419 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 420 | idx++; |
| electromotivated | 0:11bc7a815367 | 421 | } |
| electromotivated | 0:11bc7a815367 | 422 | |
| electromotivated | 0:11bc7a815367 | 423 | // Update Ki Parameter Field |
| electromotivated | 0:11bc7a815367 | 424 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 425 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 426 | begin = strstr(webpage, "name=\"ki_input\" value=\"") + |
| electromotivated | 0:11bc7a815367 | 427 | sizeof("name=\"ki_input\" value="); // Points to start of ki_output field |
| electromotivated | 0:11bc7a815367 | 428 | // Determine precision of float such temp string has no empty spaces; |
| electromotivated | 0:11bc7a815367 | 429 | // i.e. each space must have a value or a decimal point, other wise webbrowser may not recognize value |
| electromotivated | 0:11bc7a815367 | 430 | if(ki >= 100) sprintf(temp, "%6.2f", ki); // xxx.00 |
| electromotivated | 0:11bc7a815367 | 431 | else if(10 <= ki && ki < 100) sprintf(temp, "%6.3f", ki); // xx.000 |
| electromotivated | 0:11bc7a815367 | 432 | else sprintf(temp, "%6.4f", ki); // x.0000 |
| electromotivated | 0:11bc7a815367 | 433 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
| electromotivated | 0:11bc7a815367 | 434 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 435 | idx++; |
| electromotivated | 0:11bc7a815367 | 436 | } |
| electromotivated | 0:11bc7a815367 | 437 | |
| electromotivated | 0:11bc7a815367 | 438 | // Update Kd Parameter Field |
| electromotivated | 0:11bc7a815367 | 439 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 440 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 441 | begin = strstr(webpage, "name=\"kd_input\" value=\"")+ |
| electromotivated | 0:11bc7a815367 | 442 | sizeof("name=\"kd_input\" value="); // Points to start of kd_output field |
| electromotivated | 0:11bc7a815367 | 443 | // Determine precision of float such temp string has no empty spaces; |
| electromotivated | 0:11bc7a815367 | 444 | // i.e. each space must have a value or a decimal point, other wise webbrowser may not recognize value |
| electromotivated | 0:11bc7a815367 | 445 | if(kd >= 100) sprintf(temp, "%6.2f", kd); // xxx.00 |
| electromotivated | 0:11bc7a815367 | 446 | else if(10 <= kd && kd < 100) sprintf(temp, "%6.3f", kd); // xx.000 |
| electromotivated | 0:11bc7a815367 | 447 | else sprintf(temp, "%6.4f", kd); // x.0000 |
| electromotivated | 0:11bc7a815367 | 448 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
| electromotivated | 0:11bc7a815367 | 449 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 450 | idx++; |
| electromotivated | 0:11bc7a815367 | 451 | } |
| electromotivated | 0:11bc7a815367 | 452 | |
| electromotivated | 0:11bc7a815367 | 453 | // Update Setpoint Parameter Field |
| electromotivated | 0:11bc7a815367 | 454 | // Determine precision of float such temp string has no empty spaces; |
| electromotivated | 0:11bc7a815367 | 455 | // i.e. each space must have a value or a decimal point or neg sign, |
| electromotivated | 0:11bc7a815367 | 456 | // other wise webbrowser may not recognize value |
| electromotivated | 0:11bc7a815367 | 457 | memset(temp, '\0', sizeof(temp)); |
| electromotivated | 0:11bc7a815367 | 458 | idx = 0; |
| electromotivated | 0:11bc7a815367 | 459 | begin = strstr(webpage, "name=\"setpoint_input\" value=\"")+ |
| electromotivated | 0:11bc7a815367 | 460 | sizeof("name=\"setpoint_input\" value="); // Points to start of kp_output field |
| electromotivated | 0:11bc7a815367 | 461 | // Determine precision of float such temp string has no empty spaces; |
| electromotivated | 0:11bc7a815367 | 462 | // i.e. each space must have a value or a decimal point, other wise webbrowser may not recognize value |
| electromotivated | 0:11bc7a815367 | 463 | if(setpoint >= 0.00){ |
| electromotivated | 0:11bc7a815367 | 464 | if(setpoint >= 100) sprintf(temp, "%6.3f", setpoint); // xxx.000 |
| electromotivated | 0:11bc7a815367 | 465 | else if(10 <= setpoint && setpoint < 100) sprintf(temp, "%7.4f", setpoint); // xx.0000 |
| electromotivated | 0:11bc7a815367 | 466 | else sprintf(temp, "%6.5f", setpoint); // x.00000 |
| electromotivated | 0:11bc7a815367 | 467 | } |
| electromotivated | 0:11bc7a815367 | 468 | else{ |
| electromotivated | 0:11bc7a815367 | 469 | if(setpoint <= -100) sprintf(temp, "%6.2f", setpoint); // -xxx.00 |
| electromotivated | 0:11bc7a815367 | 470 | else if(-100 < setpoint && setpoint <= -10) sprintf(temp, "%6.3f", setpoint); // -xx.000 |
| electromotivated | 0:11bc7a815367 | 471 | else sprintf(temp, "%6.4f", setpoint); // -x.0000 |
| electromotivated | 0:11bc7a815367 | 472 | } |
| electromotivated | 0:11bc7a815367 | 473 | while(temp[idx] != '\0'){ // Overwrite old digits with new digits |
| electromotivated | 0:11bc7a815367 | 474 | begin[idx] = temp[idx]; |
| electromotivated | 0:11bc7a815367 | 475 | idx++; |
| electromotivated | 0:11bc7a815367 | 476 | } |
| electromotivated | 0:11bc7a815367 | 477 | } |
| electromotivated | 0:11bc7a815367 | 478 | |
| electromotivated | 0:11bc7a815367 | 479 | /* |
| electromotivated | 0:11bc7a815367 | 480 | parse_input() take a char*, in particular a pointer to Webpage User |
| electromotivated | 0:11bc7a815367 | 481 | Input Data, for example: |
| electromotivated | 0:11bc7a815367 | 482 | char str[] = "+IPD,0,44:kp_input=0.12&ki_input=14.25&kd_input=125.42"; |
| electromotivated | 0:11bc7a815367 | 483 | |
| electromotivated | 0:11bc7a815367 | 484 | and parses out the Setpoint Kp, Ki, Kd values that the user entered |
| electromotivated | 0:11bc7a815367 | 485 | and posted in the webpage. Values are converted to floats and |
| electromotivated | 0:11bc7a815367 | 486 | assigned to the given argurments. |
| electromotivated | 0:11bc7a815367 | 487 | |
| electromotivated | 0:11bc7a815367 | 488 | NOTE: THIS IS WEBPAGE SPECIFIC!!!! CHANGE THE CODE IN HERE TO SUITE THE |
| electromotivated | 0:11bc7a815367 | 489 | SPECIFIC APPLICATION WEBPAGE!!! THESE EXTRACTED VALUES WILL BE USED IN |
| electromotivated | 0:11bc7a815367 | 490 | THE update_webpage() function. MAKE SURE THESE TWO FUNCTIONS INTEGRATE |
| electromotivated | 0:11bc7a815367 | 491 | PROPERLY!!! |
| electromotivated | 0:11bc7a815367 | 492 | */ |
| electromotivated | 0:11bc7a815367 | 493 | void parse_input(char* webpage_user_data, bool* control_mode, float *setpoint, float* kp, float* ki, float* kd){ |
| electromotivated | 0:11bc7a815367 | 494 | char keys[] = {'&', '\0'}; |
| electromotivated | 0:11bc7a815367 | 495 | |
| electromotivated | 0:11bc7a815367 | 496 | // Parse out user input values |
| electromotivated | 0:11bc7a815367 | 497 | char input_buff[50]; |
| electromotivated | 0:11bc7a815367 | 498 | char* begin; |
| electromotivated | 0:11bc7a815367 | 499 | char* end; |
| electromotivated | 0:11bc7a815367 | 500 | |
| electromotivated | 0:11bc7a815367 | 501 | // Parse and Update Control Mode Value |
| electromotivated | 0:11bc7a815367 | 502 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
| electromotivated | 0:11bc7a815367 | 503 | begin = strstr(webpage_user_data, "control_mode=") + |
| electromotivated | 0:11bc7a815367 | 504 | sizeof("control_mode"); // Points to start of setpoint_input value |
| electromotivated | 0:11bc7a815367 | 505 | end = begin + strcspn(begin, keys); // Points to end of setpoint_input value |
| electromotivated | 0:11bc7a815367 | 506 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
| electromotivated | 0:11bc7a815367 | 507 | input_buff[i] = begin[i]; |
| electromotivated | 0:11bc7a815367 | 508 | } |
| electromotivated | 0:11bc7a815367 | 509 | *control_mode = atoi(input_buff); |
| electromotivated | 0:11bc7a815367 | 510 | |
| electromotivated | 0:11bc7a815367 | 511 | // Parse and Update Setpoint Value |
| electromotivated | 0:11bc7a815367 | 512 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
| electromotivated | 0:11bc7a815367 | 513 | begin = strstr(webpage_user_data, "setpoint_input=") + |
| electromotivated | 0:11bc7a815367 | 514 | sizeof("setpoint_input"); // Points to start of setpoint_input value |
| electromotivated | 0:11bc7a815367 | 515 | end = begin + strcspn(begin, keys); // Points to end of setpoint_input value |
| electromotivated | 0:11bc7a815367 | 516 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
| electromotivated | 0:11bc7a815367 | 517 | input_buff[i] = begin[i]; |
| electromotivated | 0:11bc7a815367 | 518 | } |
| electromotivated | 0:11bc7a815367 | 519 | *setpoint = atof(input_buff); |
| electromotivated | 0:11bc7a815367 | 520 | |
| electromotivated | 0:11bc7a815367 | 521 | // Parse and Update Kp Value |
| electromotivated | 0:11bc7a815367 | 522 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
| electromotivated | 0:11bc7a815367 | 523 | begin = strstr(webpage_user_data, "kp_input=") + |
| electromotivated | 0:11bc7a815367 | 524 | sizeof("kp_input"); // Points to start of kp_input value |
| electromotivated | 0:11bc7a815367 | 525 | end = begin + strcspn(begin, keys); // Points to end of kp_input value |
| electromotivated | 0:11bc7a815367 | 526 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
| electromotivated | 0:11bc7a815367 | 527 | input_buff[i] = begin[i]; |
| electromotivated | 0:11bc7a815367 | 528 | } |
| electromotivated | 0:11bc7a815367 | 529 | *kp = atof(input_buff); |
| electromotivated | 0:11bc7a815367 | 530 | |
| electromotivated | 0:11bc7a815367 | 531 | // Parse and Update Ki Value |
| electromotivated | 0:11bc7a815367 | 532 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
| electromotivated | 0:11bc7a815367 | 533 | begin = strstr(webpage_user_data, "ki_input=") + |
| electromotivated | 0:11bc7a815367 | 534 | sizeof("ki_input"); // Points to start of ki_input value |
| electromotivated | 0:11bc7a815367 | 535 | end = begin + strcspn(begin, keys); // Points to end of ki_input value |
| electromotivated | 0:11bc7a815367 | 536 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
| electromotivated | 0:11bc7a815367 | 537 | input_buff[i] = begin[i]; |
| electromotivated | 0:11bc7a815367 | 538 | } |
| electromotivated | 0:11bc7a815367 | 539 | *ki = atof(input_buff); |
| electromotivated | 0:11bc7a815367 | 540 | |
| electromotivated | 0:11bc7a815367 | 541 | // Parse and Update Kd Value |
| electromotivated | 0:11bc7a815367 | 542 | memset(input_buff, '\0', sizeof(input_buff)); // Null out input buff |
| electromotivated | 0:11bc7a815367 | 543 | begin = strstr(webpage_user_data, "kd_input=") + |
| electromotivated | 0:11bc7a815367 | 544 | sizeof("kd_input"); // Points to start of kd_input value |
| electromotivated | 0:11bc7a815367 | 545 | end = begin + strcspn(begin, keys); // Points to end of kd_input value |
| electromotivated | 0:11bc7a815367 | 546 | for(long i = 0; i < end - begin; i++){ // Parse out the value one char at a time |
| electromotivated | 0:11bc7a815367 | 547 | input_buff[i] = begin[i]; |
| electromotivated | 0:11bc7a815367 | 548 | } |
| electromotivated | 0:11bc7a815367 | 549 | *kd = atof(input_buff); |
| electromotivated | 0:11bc7a815367 | 550 | } |
| electromotivated | 0:11bc7a815367 | 551 | |
| electromotivated | 0:11bc7a815367 | 552 | void pid_callback(){ |
| electromotivated | 0:11bc7a815367 | 553 | // If control_mode is POSITION run position pid |
| electromotivated | 0:11bc7a815367 | 554 | if(control_mode == POSITION){ |
| electromotivated | 0:11bc7a815367 | 555 | // Update motor |
| electromotivated | 0:11bc7a815367 | 556 | if(output >= 0.0) mtr_dir = 1; // Set direction to sign of output |
| electromotivated | 0:11bc7a815367 | 557 | else mtr_dir = 0; |
| electromotivated | 0:11bc7a815367 | 558 | mtr_pwm = abs(output); // Apply motor output |
| electromotivated | 0:11bc7a815367 | 559 | |
| electromotivated | 0:11bc7a815367 | 560 | // Update feedback |
| electromotivated | 0:11bc7a815367 | 561 | feedback = encoder.read()*FEEDBACK_SCALE;// Scale feedback to num wheel revs |
| electromotivated | 0:11bc7a815367 | 562 | } |
| electromotivated | 0:11bc7a815367 | 563 | // else control_mode must be SPEED, run speed pid |
| electromotivated | 0:11bc7a815367 | 564 | else{ |
| electromotivated | 0:11bc7a815367 | 565 | if(setpoint >= 0.0) mtr_dir = 1; // Set motor direction based on setpoint |
| electromotivated | 0:11bc7a815367 | 566 | else mtr_dir = 0; |
| electromotivated | 0:11bc7a815367 | 567 | if(-0.001 < setpoint && setpoint < 0.001){ |
| electromotivated | 0:11bc7a815367 | 568 | /* Setpoint = 0 is a special case, we allow output to control speed AND |
| electromotivated | 0:11bc7a815367 | 569 | direction to fight intertia and/or downhill roll. */ |
| electromotivated | 0:11bc7a815367 | 570 | if(output >= 0.0) mtr_dir = 1; |
| electromotivated | 0:11bc7a815367 | 571 | else mtr_dir = 0; |
| electromotivated | 0:11bc7a815367 | 572 | mtr_pwm = abs(output); |
| electromotivated | 0:11bc7a815367 | 573 | } |
| electromotivated | 0:11bc7a815367 | 574 | else{ |
| electromotivated | 0:11bc7a815367 | 575 | if(mtr_dir == 1){ // If CW then apply positive outputs |
| electromotivated | 0:11bc7a815367 | 576 | if(output >= 0.0) mtr_pwm = output; |
| electromotivated | 0:11bc7a815367 | 577 | else mtr_pwm = 0.0; |
| electromotivated | 0:11bc7a815367 | 578 | } |
| electromotivated | 0:11bc7a815367 | 579 | else{ // If CCW then apply negative outputs |
| electromotivated | 0:11bc7a815367 | 580 | if(output <= 0.0) mtr_pwm = abs(output); |
| electromotivated | 0:11bc7a815367 | 581 | else mtr_pwm = 0.0; |
| electromotivated | 0:11bc7a815367 | 582 | } |
| electromotivated | 0:11bc7a815367 | 583 | } |
| electromotivated | 0:11bc7a815367 | 584 | float k = Ts/2.0; // Discrete time, (Ts/2 because this callback is called |
| electromotivated | 0:11bc7a815367 | 585 | // at interval of Ts/2... or twice as fast as pid controller) |
| electromotivated | 0:11bc7a815367 | 586 | |
| electromotivated | 0:11bc7a815367 | 587 | /* TODO: Implement a "rolling"/"moving" average */ |
| electromotivated | 0:11bc7a815367 | 588 | static int last_count = 0; |
| electromotivated | 0:11bc7a815367 | 589 | int count = encoder.read(); |
| electromotivated | 0:11bc7a815367 | 590 | float raw_speed = ((count - last_count)*FEEDBACK_SCALE) / k; |
| electromotivated | 0:11bc7a815367 | 591 | float rpm_speed = raw_speed * 60.0; // Convert speed to RPM |
| electromotivated | 0:11bc7a815367 | 592 | |
| electromotivated | 0:11bc7a815367 | 593 | last_count = count; // Save last count |
| electromotivated | 0:11bc7a815367 | 594 | feedback = rpm_speed; |
| electromotivated | 0:11bc7a815367 | 595 | } |
| electromotivated | 0:11bc7a815367 | 596 | } |
| electromotivated | 0:11bc7a815367 | 597 | |
| electromotivated | 0:11bc7a815367 | 598 | /* |
| electromotivated | 0:11bc7a815367 | 599 | Clips value to lower/ uppper |
| electromotivated | 0:11bc7a815367 | 600 | @param value The value to clip |
| electromotivated | 0:11bc7a815367 | 601 | @param lower The mininum allowable value |
| electromotivated | 0:11bc7a815367 | 602 | @param upper The maximum allowable value |
| electromotivated | 0:11bc7a815367 | 603 | @return The resulting clipped value |
| electromotivated | 0:11bc7a815367 | 604 | */ |
| electromotivated | 0:11bc7a815367 | 605 | float clip(float value, float lower, float upper){ |
| electromotivated | 0:11bc7a815367 | 606 | return std::max(lower, std::min(value, upper)); |
| electromotivated | 0:11bc7a815367 | 607 | } |
| electromotivated | 0:11bc7a815367 | 608 | |
| electromotivated | 0:11bc7a815367 | 609 | /**************************WEB PAGE TEXT**************************************/ |
| electromotivated | 0:11bc7a815367 | 610 | /***************************************************************************** |
| electromotivated | 0:11bc7a815367 | 611 | Copy and past text below into a html file and save as the given file name to |
| electromotivated | 0:11bc7a815367 | 612 | your SD card. |
| electromotivated | 0:11bc7a815367 | 613 | |
| electromotivated | 0:11bc7a815367 | 614 | file name: pid_dual.html |
| electromotivated | 0:11bc7a815367 | 615 | |
| electromotivated | 0:11bc7a815367 | 616 | html text: |
| electromotivated | 0:11bc7a815367 | 617 | |
| electromotivated | 0:11bc7a815367 | 618 | <!DOCTYPE html> |
| electromotivated | 0:11bc7a815367 | 619 | <html> |
| electromotivated | 0:11bc7a815367 | 620 | <head> |
| electromotivated | 0:11bc7a815367 | 621 | <title>PID Motor Control</title> |
| electromotivated | 0:11bc7a815367 | 622 | </head> |
| electromotivated | 0:11bc7a815367 | 623 | <body> |
| electromotivated | 0:11bc7a815367 | 624 | <h1>PID Motor Control</h1> |
| electromotivated | 0:11bc7a815367 | 625 | <h2>Motor Status</h2> |
| electromotivated | 0:11bc7a815367 | 626 | <p> |
| electromotivated | 0:11bc7a815367 | 627 | <form title="Motor Status"> |
| electromotivated | 0:11bc7a815367 | 628 | <input type="text" value="Some user information" size="25" readonly /><br> |
| electromotivated | 0:11bc7a815367 | 629 | Current Setpoint: |
| electromotivated | 0:11bc7a815367 | 630 | <input type="number" name="current_setpoint" value="0000.00" readonly /><br> |
| electromotivated | 0:11bc7a815367 | 631 | Current Position: |
| electromotivated | 0:11bc7a815367 | 632 | <input type="number" name="current_position" value="0000.00" readonly /><br> |
| electromotivated | 0:11bc7a815367 | 633 | </form> |
| electromotivated | 0:11bc7a815367 | 634 | </p> |
| electromotivated | 0:11bc7a815367 | 635 | <h2>PID Status</h2> |
| electromotivated | 0:11bc7a815367 | 636 | <form title="User Input" method="post"> |
| electromotivated | 0:11bc7a815367 | 637 | PID Controls: <br> |
| electromotivated | 0:11bc7a815367 | 638 | <input type="radio" name="control_mode" value="0"checked>Position(#Revolutions) |
| electromotivated | 0:11bc7a815367 | 639 | <br> |
| electromotivated | 0:11bc7a815367 | 640 | <input type="radio" name="control_mode" value="1" >Speed(RPM) |
| electromotivated | 0:11bc7a815367 | 641 | <br> |
| electromotivated | 0:11bc7a815367 | 642 | Setpoint: |
| electromotivated | 0:11bc7a815367 | 643 | <input type="number" name="setpoint_input" value="0000.00" step="0.0000001" size="6" /><br> |
| electromotivated | 0:11bc7a815367 | 644 | Proportional Gain: (Good Starting Values: Position = 2.50 Speed = 0.01)<br> |
| electromotivated | 0:11bc7a815367 | 645 | <input type="number" name="kp_input" value="002.50" step="0.0000001" size="6" /><br> |
| electromotivated | 0:11bc7a815367 | 646 | Integral Gain: (Good Starting Values: Position = 5.0 Speed = 0.015)<br> |
| electromotivated | 0:11bc7a815367 | 647 | <input type="number" name="ki_input" value="005.00" step="0.0000001" size="6" /><br> |
| electromotivated | 0:11bc7a815367 | 648 | Derivative Gain: (Good Starting Values: Position = 0.25 Speed = 0.0001)<br> |
| electromotivated | 0:11bc7a815367 | 649 | <input type="number" name="kd_input" value="000.25" step="0.0000001" size="6" /><br> |
| electromotivated | 0:11bc7a815367 | 650 | <br> |
| electromotivated | 0:11bc7a815367 | 651 | <input type="submit" value="Update" /> |
| electromotivated | 0:11bc7a815367 | 652 | </form> |
| electromotivated | 0:11bc7a815367 | 653 | </body> |
| electromotivated | 0:11bc7a815367 | 654 | </html> |
| electromotivated | 0:11bc7a815367 | 655 | |
| electromotivated | 0:11bc7a815367 | 656 | *****************************************************************************/ |
| electromotivated | 0:11bc7a815367 | 657 | /*****************************************************************************/ |