DongEun Koak
Electric Skateboard using Wi-Fi controller.
Dependencies: Servo WizFi250Interface mbed
Diff: main.cpp
- Revision:
- 0:aca1f2f5443d
- Child:
- 1:a710607c27cd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 28 11:25:26 2015 +0000
@@ -0,0 +1,314 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "WizFi250Interface.h"
+
+#define SECURE WizFi250::SEC_WPA2_MIXED
+#define SSID "Kaizen_Skate"
+#define PASS "qwertyuiop"
+
+#define SERVER_PORT 5000
+#define STOP_MOTOR 50
+
+
+#if defined(TARGET_WIZwiki_W7500P)
+ WizFi250Interface wizfi250(PC_2,PC_3,PC_13,PC_14,PC_12,NC,115200);
+ Serial pc(USBTX, USBRX);
+ Servo motor_speed(PC_8); // it used to percentage value ( 0 ~ 1 )
+ DigitalOut green_led(LED2);
+ DigitalOut red_led(LED1);
+ DigitalOut blue_led(LED3);
+#endif
+
+//#define START_SIGNAL 0x0102FEFD
+//#define END_SIGNAL 0x0201FDFE
+//#define CONTROL_UP 0x0304FCFB
+//#define CONTROL_DOWN 0x0403FBFD
+//#define CONTROL_CRUISER 0x0506FAF9
+//
+//#define STATUS_CMD_OK 0x10101010
+//#define STATUS_CMD_FAIL 0x01010101
+
+#define START_MSG "START"
+#define END_MSG "END\n"
+#define CONTROL_UP "UPXX"
+#define CONTROL_DOWN "DOWN"
+#define CONTROL_CRUISER "CRUI"
+#define CONTROL_STOP "STOP"
+
+#define STATUS_CMD_OK "OKXX"
+#define STATUS_CMD_FAIL "FAIL"
+
+#define CONTROL_MSG_SIZE 19
+
+// Control Pkt Format : START,CONTROL,SPEED_VALUE,END
+// START,UPXX,500,END
+// Status Pkt Format : START,CONTROL,SPEED_VALUE,STATUS,END
+
+struct control_pkt{
+ char start_msg[6];
+ char control_msg[5];
+ char speed_msg[4];
+ char end_msg[4];
+};
+void parse(char buffer[], int *j, char *string);
+//struct status_pkt{
+// char start_msg[6];
+// char speed_msg[4];
+// char status_msg[5];
+// char end_msg[4];
+//}
+
+int main() {
+ int recv_cnt,j;
+ volatile float speed_value = 0.5;
+ char recv_control_msg[100];
+ char status_msg[100];
+ control_pkt control;
+
+ pc.baud(115200);
+ green_led = 1; red_led = 1; blue_led = 1;
+
+ wizfi250.init();
+ wizfi250.setAntMode(WizFi250::PCB);
+ wizfi250.setAddress("192.168.100.2","255.255.255.0","192.168.100.1");
+ if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP))
+ {
+ red_led = 0;
+ return -1;
+ }
+ printf("IP Address is %s\r\n", wizfi250.getIPAddress());
+ green_led = 0; red_led = 0; blue_led = 0;
+
+ TCPSocketServer server;
+ TCPSocketConnection client;
+
+ while(true)
+ {
+ if( client.is_connected() == false )
+ {
+ green_led = 1; red_led = 1; blue_led = 0;
+ client.close();
+ server.close();
+
+ if(speed_value == 0.5)
+ {
+ server.bind(SERVER_PORT);
+ server.listen();
+
+ printf("\nWait for new connection...\r\n");
+ server.accept(client);
+ client.set_blocking(false, 1500);
+ }
+ else if(speed_value <= 0.45)
+ {
+ printf("Speed decrease +\r\n");
+ speed_value += 0.05;
+ motor_speed = speed_value;
+ }
+ else if(speed_value >= 0.55)
+ {
+ printf("Speed decrease -\r\n");
+ speed_value -= 0.05;
+ motor_speed = speed_value;
+ }
+ }
+ else
+ {
+ motor_speed = speed_value;
+
+ green_led = 0; red_led = 1; blue_led = 1;
+ //recv_cnt = client.receive_all((char*)recv_control_msg, sizeof(control)-1);
+ recv_cnt = client.receive_all((char*)recv_control_msg, sizeof(control));
+
+ j=0;
+ parse(recv_control_msg, &j, control.start_msg);
+ parse(recv_control_msg, &j, control.control_msg);
+ parse(recv_control_msg, &j, control.speed_msg);
+ parse(recv_control_msg, &j, control.end_msg);
+
+ if(recv_cnt > 0)
+ {
+ if( (strncmp(control.start_msg,START_MSG,sizeof(control.start_msg)) != 0) ||
+ (strncmp(control.end_msg,END_MSG,sizeof(control.end_msg)) != 0) )
+ {
+ printf("TEST Error\r\n");
+ sprintf(status_msg,"%s,%03d,%s,%s\n",START_MSG,int(speed_value*100),STATUS_CMD_FAIL,END_MSG);
+ client.send_all((char*)status_msg,strlen(status_msg));
+ continue;
+ }
+
+ if( strncmp(control.control_msg,CONTROL_UP,sizeof(control.control_msg)) == 0 )
+ {
+ speed_value += 0.05;
+ motor_speed = speed_value;
+ printf("TEST UP %f\r\n",speed_value);
+ }
+ else if( strncmp(control.control_msg,CONTROL_DOWN,sizeof(control.control_msg)) == 0)
+ {
+ speed_value -= 0.05;
+ motor_speed = speed_value;
+ printf("TEST DOWN %f\r\n",speed_value);
+ }
+ else if( strncmp(control.control_msg,CONTROL_CRUISER,sizeof(control.control_msg)) == 0)
+ {
+ printf("TEST CRUISER\r\n");
+ speed_value = (float)(atoi(control.speed_msg)) / 100;
+ motor_speed = speed_value;
+ }
+ else if( strncmp(control.control_msg,CONTROL_STOP,sizeof(control.control_msg)) == 0)
+ {
+ speed_value = 0.5;
+ motor_speed = speed_value;
+ printf("TEST STOP\r\n");
+ }
+ else
+ {
+ printf("TEST Error 1-2\r\n");
+ sprintf(status_msg,"%s,%03d,%s,%s\n",START_MSG,int(speed_value*100),STATUS_CMD_FAIL,END_MSG);
+ client.send_all((char*)status_msg,strlen(status_msg));
+ continue;
+ }
+
+ sprintf(status_msg,"%s,%03d,%s,%s\n",START_MSG,int(speed_value*100),STATUS_CMD_OK,END_MSG);
+ client.send_all((char*)status_msg,strlen(status_msg));
+ }
+ else
+ {
+ sprintf(status_msg,"%s,%03d,%s,%s\n",START_MSG,int(speed_value*100),STATUS_CMD_OK,END_MSG);
+ client.send_all((char*)status_msg,strlen(status_msg));
+ }
+ }
+ }// while
+}
+
+/*
+int main() {
+ int recv_cnt;
+ volatile float speed_value = 0.5;
+ control_pkt skate_control_pkt;
+ status_pkt skate_status_pkt;
+ char recv_control_msg[100];
+
+
+ pc.baud(115200);
+ green_led = 1; red_led = 1; blue_led = 1;
+
+ wizfi250.init();
+ wizfi250.setAntMode(WizFi250::UFL);
+ wizfi250.setAddress("192.168.100.2","255.255.255.0","192.168.100.1");
+ if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP))
+ {
+ red_led = 0;
+ return -1;
+ }
+ printf("IP Address is %s\r\n", wizfi250.getIPAddress());
+ green_led = 0; red_led = 0; blue_led = 0;
+
+ TCPSocketServer server;
+ TCPSocketConnection client;
+
+ while(true)
+ {
+ if( client.is_connected() == false )
+ {
+ green_led = 1; red_led = 1; blue_led = 0;
+ client.close();
+ server.close();
+
+ if(speed_value == 0.5)
+ {
+ server.bind(SERVER_PORT);
+ server.listen();
+
+ printf("\nWait for new connection...\r\n");
+ server.accept(client);
+ client.set_blocking(false, 1500);
+ }
+ else if(speed_value <= 0.45)
+ {
+ speed_value += 0.005;
+ motor_speed = speed_value;
+ }
+ else if(speed_value >= 0.55)
+ {
+ speed_value -= 0.005;
+ motor_speed = speed_value;
+ }
+ }
+ else
+ {
+ motor_speed = speed_value;
+
+ green_led = 0; red_led = 1; blue_led = 1;
+ //recv_cnt = client.receive_all((char*)&skate_control_pkt, sizeof(skate_control_pkt));
+ recv_cnt = client.receive_all((char*)recv_control_msg, sizeof(recv_control_msg));
+
+ if(recv_cnt > 0)
+ {
+ //printf("%x,%x,%x,%x\r\n",skate_control_pkt.start_signal,skate_control_pkt.control,skate_control_pkt.speed_value,skate_control_pkt.end_signal);
+
+ printf("TEST %s\r\n",
+ if( (skate_control_pkt.start_signal != START_SIGNAL) || (skate_control_pkt.end_signal != END_SIGNAL) )
+ {
+ printf("TEST 100\r\n");
+ skate_status_pkt.start_signal = START_SIGNAL;
+ skate_status_pkt.end_signal = END_SIGNAL;
+ skate_status_pkt.speed_value = speed_value * 100;
+ skate_status_pkt.status = STATUS_CMD_FAIL;
+ client.send_all((char*)&skate_status_pkt, sizeof(skate_status_pkt));
+ continue;
+ }
+
+ if( skate_control_pkt.control == CONTROL_UP )
+ {
+ speed_value += 0.005;
+ motor_speed = speed_value;
+ printf("TEST UP %f\r\n",speed_value);
+ }
+ else if( skate_control_pkt.control == CONTROL_DOWN )
+ {
+ speed_value -= 0.005;
+ motor_speed = speed_value;
+ printf("TEST DOWN %f\r\n",speed_value);
+ }
+ else if( skate_control_pkt.control == CONTROL_CRUISER )
+ {
+ speed_value = skate_control_pkt.speed_value / 100;
+ motor_speed = speed_value;
+ printf("TEST CRUISER\r\n");
+ }
+ else
+ {
+ printf("TEST 101\r\n");
+ skate_status_pkt.start_signal = START_SIGNAL;
+ skate_status_pkt.end_signal = END_SIGNAL;
+ skate_status_pkt.status = STATUS_CMD_FAIL;
+ skate_status_pkt.speed_value = speed_value * 100;
+ client.send_all((char*)&skate_status_pkt, sizeof(skate_status_pkt));
+ continue;
+ }
+ printf("TEST 103\r\n");
+
+ skate_status_pkt.start_signal = START_SIGNAL;
+ skate_status_pkt.end_signal = END_SIGNAL;
+ skate_status_pkt.status = STATUS_CMD_OK;
+ skate_status_pkt.speed_value = speed_value * 100;
+ client.send_all((char*)&skate_status_pkt, sizeof(skate_status_pkt));
+ }
+ }
+ }// while
+}
+*/
+
+void parse(char buffer[], int *j, char *string) {
+//extracts next location string data item from buffer
+ int i=0;
+ for (i=0; i<=strlen(buffer); i++) { //TOTAL SIZE OF RETURNED DATA
+ if ((buffer[*j+i] == ',')||(buffer[*j+i] == '\0' )) { //IF comma or end of string
+ //comma is the string field delimiter
+ string[i]=0; //SETS END OF SRTRING TO 0
+ *j=*j+i+1; //UPDATES to 1 after comma seperated value
+ break;
+ } else string[i]=buffer[*j+i]; //Keep adding to the string
+ }
+}