Diff: main.cpp

Revision:

15:b3e0f8ccd08f

Parent:

14:4ee468971ae0

--- a/main.cpp	Mon Jun 08 21:32:56 2015 +0000
+++ b/main.cpp	Wed Oct 21 14:30:37 2015 +0000
@@ -3,42 +3,103 @@
 #include "TCPSocketConnection.h"
 #include "TCPSocketServer.h"
 #include "Websocket.h"
+#include "motordriver.h"
+#include "HTTPClient.h"
 
-
+ESP8266Interface wifi(p28,p27,p26,"HOME-0392","D64D858A064D14BF",115200); // TX,RX,Reset,SSID,Password,Baud
+Motor r(p22, p18, p17, 1);
+Motor m(p21, p20, p19, 1); // pwm, fwd, rev
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+Serial pc(USBTX, USBRX);
 
-ESP8266Interface wifi(D1,D0,D10,"demossid","password",115200); // TX,RX,Reset,SSID,Password,Baud
- 
-int main() {
+void forward()
+{
+    led1 = 1;
+    r.speed(.6f);
+    m.speed(.6f);
+    wait(1.5);
+    r.coast();
+    m.coast();
+    led1 = 0;
+}
+void backward()
+{
+    led2 = 1;
+    r.speed(-.6f);
+    m.speed(-.6f);
+    wait(1.5);
+    r.coast();
+    m.coast();
+    led2 = 0;
+}
+void left()
+{
+    led3 = 1;
+    wait(.5);
+    r.speed(.6f);
+    m.speed(-.6f);
+    wait(1.5);
+    r.coast();
+    m.coast();
+    led3 = 0;
+}
+void right()
+{
+    led4 = 1;
+    wait(.5);
+    r.speed(-.6f);
+    m.speed(.6f);
+    wait(1.5);
+    r.coast();
+    m.coast();
+    led4 = 0;
+}
+
+int main()
+{
     wifi.init(); //Reset
     wifi.connect(); //Use DHCP
-    printf("IP Address is %s\n", wifi.getIPAddress());
-    
-    Websocket ws("ws://192.168.1.20:8888/ws");
-    
-    //Check for successful socket connection
-    if(!ws.connect())
+    pc.printf("IP Address is %s\n", wifi.getIPAddress());
+
+    Websocket ws("ws://10.0.0.16:8080/ws");
+    if(!ws.connect()) {
         ws.close();
-    else{
-        char str[100];
-        
-        for(int i=0; i<0x7fffffff; ++i) {
-            // string with a message
-            sprintf(str, "%d WebSocket Hello World over wifi", i);
-            printf("send: %s\n",str);
-            ws.send(str);
-        
-            // clear the buffer and wait a sec...
-            memset(str, 0, 100);
+    } else {
+        char str[10];
+        char a;
+        while(1) {
+            //ready for new control
+            sprintf(str, "1");
+            pc.printf("%d",str);
+            ws.send(str); //send to server stating ready for new instruction
+            //memset(str,0,10);
             wait(0.5f);
-        
-            // websocket server should echo whatever we sent it
-            if (ws.read(str)) {
-                printf("rcv'd: %s\n", str);
+
+            if(ws.read(str)) {
+                pc.printf("%s\n", *str);
+                a = str[0];
+                pc.printf("%s",a);
+                if(a=='1') {
+                    forward();
+                }
+                if(a=='2') {
+                    backward();
+                }
+                if(a=='3') {
+                    left();
+                }
+                if(a=='4') {
+                    right();
+                }
+            } else {
+                //led1=led2=led3=led4=1;
             }
+            //memset(str,0,10);
+            wait(3);
         }
     }
-    ws.close();
-    
-    while(true) {}
+
 }
- 
\ No newline at end of file