Kentaro Allen / Mbed 2 deprecated websocketmbed

This is the mbed code for handling Wifi websocket control from a Python based Tornado Web Server.

Dependencies:   ESP8266Interface HTTPClient Motordriver WebSocketClient mbed

Fork of ESP8266_WebSockets_HelloWorld by ESP8266

main.cpp@15:b3e0f8ccd08f, 2015-10-21 (annotated)

Committer:
kentaroallen
Date:
Wed Oct 21 14:30:37 2015 +0000
Revision:
15:b3e0f8ccd08f
Parent:
14:4ee468971ae0 
The mbed software for controlling a robot through wifi websockets from a Python Tornado Web Server.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
michaeljkoster 0:6a891da014a3 1 #include "mbed.h"
michaeljkoster 0:6a891da014a3 2 #include "ESP8266Interface.h"
mbedAustin 9:91fe783e1dd4 3 #include "TCPSocketConnection.h"
sarahmarshy 12:978788c2156c 4 #include "TCPSocketServer.h"
sarahmarshy 12:978788c2156c 5 #include "Websocket.h"
kentaroallen 15:b3e0f8ccd08f 6 #include "motordriver.h"
kentaroallen 15:b3e0f8ccd08f 7 #include "HTTPClient.h"
sarahmarshy 12:978788c2156c 8
kentaroallen 15:b3e0f8ccd08f 9 ESP8266Interface wifi(p28,p27,p26,"HOME-0392","D64D858A064D14BF",115200); // TX,RX,Reset,SSID,Password,Baud
kentaroallen 15:b3e0f8ccd08f 10 Motor r(p22, p18, p17, 1);
kentaroallen 15:b3e0f8ccd08f 11 Motor m(p21, p20, p19, 1); // pwm, fwd, rev
kentaroallen 15:b3e0f8ccd08f 12 DigitalOut led1(LED1);
kentaroallen 15:b3e0f8ccd08f 13 DigitalOut led2(LED2);
kentaroallen 15:b3e0f8ccd08f 14 DigitalOut led3(LED3);
kentaroallen 15:b3e0f8ccd08f 15 DigitalOut led4(LED4);
kentaroallen 15:b3e0f8ccd08f 16 Serial pc(USBTX, USBRX);
sarahmarshy 12:978788c2156c 17
kentaroallen 15:b3e0f8ccd08f 18 void forward()
kentaroallen 15:b3e0f8ccd08f 19 {
kentaroallen 15:b3e0f8ccd08f 20 led1 = 1;
kentaroallen 15:b3e0f8ccd08f 21 r.speed(.6f);
kentaroallen 15:b3e0f8ccd08f 22 m.speed(.6f);
kentaroallen 15:b3e0f8ccd08f 23 wait(1.5);
kentaroallen 15:b3e0f8ccd08f 24 r.coast();
kentaroallen 15:b3e0f8ccd08f 25 m.coast();
kentaroallen 15:b3e0f8ccd08f 26 led1 = 0;
kentaroallen 15:b3e0f8ccd08f 27 }
kentaroallen 15:b3e0f8ccd08f 28 void backward()
kentaroallen 15:b3e0f8ccd08f 29 {
kentaroallen 15:b3e0f8ccd08f 30 led2 = 1;
kentaroallen 15:b3e0f8ccd08f 31 r.speed(-.6f);
kentaroallen 15:b3e0f8ccd08f 32 m.speed(-.6f);
kentaroallen 15:b3e0f8ccd08f 33 wait(1.5);
kentaroallen 15:b3e0f8ccd08f 34 r.coast();
kentaroallen 15:b3e0f8ccd08f 35 m.coast();
kentaroallen 15:b3e0f8ccd08f 36 led2 = 0;
kentaroallen 15:b3e0f8ccd08f 37 }
kentaroallen 15:b3e0f8ccd08f 38 void left()
kentaroallen 15:b3e0f8ccd08f 39 {
kentaroallen 15:b3e0f8ccd08f 40 led3 = 1;
kentaroallen 15:b3e0f8ccd08f 41 wait(.5);
kentaroallen 15:b3e0f8ccd08f 42 r.speed(.6f);
kentaroallen 15:b3e0f8ccd08f 43 m.speed(-.6f);
kentaroallen 15:b3e0f8ccd08f 44 wait(1.5);
kentaroallen 15:b3e0f8ccd08f 45 r.coast();
kentaroallen 15:b3e0f8ccd08f 46 m.coast();
kentaroallen 15:b3e0f8ccd08f 47 led3 = 0;
kentaroallen 15:b3e0f8ccd08f 48 }
kentaroallen 15:b3e0f8ccd08f 49 void right()
kentaroallen 15:b3e0f8ccd08f 50 {
kentaroallen 15:b3e0f8ccd08f 51 led4 = 1;
kentaroallen 15:b3e0f8ccd08f 52 wait(.5);
kentaroallen 15:b3e0f8ccd08f 53 r.speed(-.6f);
kentaroallen 15:b3e0f8ccd08f 54 m.speed(.6f);
kentaroallen 15:b3e0f8ccd08f 55 wait(1.5);
kentaroallen 15:b3e0f8ccd08f 56 r.coast();
kentaroallen 15:b3e0f8ccd08f 57 m.coast();
kentaroallen 15:b3e0f8ccd08f 58 led4 = 0;
kentaroallen 15:b3e0f8ccd08f 59 }
kentaroallen 15:b3e0f8ccd08f 60
kentaroallen 15:b3e0f8ccd08f 61 int main()
kentaroallen 15:b3e0f8ccd08f 62 {
sarahmarshy 12:978788c2156c 63 wifi.init(); //Reset
sarahmarshy 12:978788c2156c 64 wifi.connect(); //Use DHCP
kentaroallen 15:b3e0f8ccd08f 65 pc.printf("IP Address is %s\n", wifi.getIPAddress());
kentaroallen 15:b3e0f8ccd08f 66
kentaroallen 15:b3e0f8ccd08f 67 Websocket ws("ws://10.0.0.16:8080/ws");
kentaroallen 15:b3e0f8ccd08f 68 if(!ws.connect()) {
sarahmarshy 12:978788c2156c 69 ws.close();
kentaroallen 15:b3e0f8ccd08f 70 } else {
kentaroallen 15:b3e0f8ccd08f 71 char str[10];
kentaroallen 15:b3e0f8ccd08f 72 char a;
kentaroallen 15:b3e0f8ccd08f 73 while(1) {
kentaroallen 15:b3e0f8ccd08f 74 //ready for new control
kentaroallen 15:b3e0f8ccd08f 75 sprintf(str, "1");
kentaroallen 15:b3e0f8ccd08f 76 pc.printf("%d",str);
kentaroallen 15:b3e0f8ccd08f 77 ws.send(str); //send to server stating ready for new instruction
kentaroallen 15:b3e0f8ccd08f 78 //memset(str,0,10);
sarahmarshy 12:978788c2156c 79 wait(0.5f);
kentaroallen 15:b3e0f8ccd08f 80
kentaroallen 15:b3e0f8ccd08f 81 if(ws.read(str)) {
kentaroallen 15:b3e0f8ccd08f 82 pc.printf("%s\n", *str);
kentaroallen 15:b3e0f8ccd08f 83 a = str[0];
kentaroallen 15:b3e0f8ccd08f 84 pc.printf("%s",a);
kentaroallen 15:b3e0f8ccd08f 85 if(a=='1') {
kentaroallen 15:b3e0f8ccd08f 86 forward();
kentaroallen 15:b3e0f8ccd08f 87 }
kentaroallen 15:b3e0f8ccd08f 88 if(a=='2') {
kentaroallen 15:b3e0f8ccd08f 89 backward();
kentaroallen 15:b3e0f8ccd08f 90 }
kentaroallen 15:b3e0f8ccd08f 91 if(a=='3') {
kentaroallen 15:b3e0f8ccd08f 92 left();
kentaroallen 15:b3e0f8ccd08f 93 }
kentaroallen 15:b3e0f8ccd08f 94 if(a=='4') {
kentaroallen 15:b3e0f8ccd08f 95 right();
kentaroallen 15:b3e0f8ccd08f 96 }
kentaroallen 15:b3e0f8ccd08f 97 } else {
kentaroallen 15:b3e0f8ccd08f 98 //led1=led2=led3=led4=1;
sarahmarshy 12:978788c2156c 99 }
kentaroallen 15:b3e0f8ccd08f 100 //memset(str,0,10);
kentaroallen 15:b3e0f8ccd08f 101 wait(3);
sarahmarshy 12:978788c2156c 102 }
sarahmarshy 12:978788c2156c 103 }
kentaroallen 15:b3e0f8ccd08f 104
mbedAustin 9:91fe783e1dd4 105 }