From f1bf7be6ff010c2bc088a52fa486a962314895c0 Mon Sep 17 00:00:00 2001
From: 42loop <ulf.freyhoff@hfbk-hamburg.de>
Date: Thu, 3 Mar 2022 16:51:22 +0100
Subject: [PATCH] clean up, added speed slider & status feedback from machine
---
data/index.html | 30 +++++++--------
rolli_websock.ino | 94 ++++++++++++++++++++++++++++-------------------
2 files changed, 71 insertions(+), 53 deletions(-)
diff --git a/data/index.html b/data/index.html
index a6d7a9d..c820a2d 100644
--- a/data/index.html
+++ b/data/index.html
@@ -33,7 +33,9 @@
</div>
</main>
+ <br>
+<p><span id="status">0</span></p>
<script>
@@ -61,21 +63,14 @@
}
var bgcolor = [
- 'rgba(255, 99, 132, 0.2)',
'rgba(54, 162, 235, 0.2)',
- 'rgba(255, 206, 86, 0.2)',
- 'rgba(75, 192, 192, 0.2)',
- 'rgba(153, 102, 255, 0.2)',
- 'rgba(255, 159, 64, 0.2)'
- ]
+ 'rgba(255, 99, 132, 0.2)',
+
+ ]
var bordercolor = [
- 'rgba(255, 99, 132, 1)',
'rgba(54, 162, 235, 1)',
- 'rgba(255, 206, 86, 1)',
- 'rgba(75, 192, 192, 1)',
- 'rgba(153, 102, 255, 1)',
- 'rgba(255, 159, 64, 1)'
+ 'rgba(255, 99, 132, 1)',
]
var lschartoptions=Object.create(defaultoptions);
@@ -111,7 +106,7 @@
- lschart.config.options.scales.y.max=1000;
+ lschart.config.options.scales.y.max=4000;
lschart.update();
@@ -138,7 +133,7 @@
},
options: rschartoptions
});
- rschart.config.options.scales.y.max=1000;
+ rschart.config.options.scales.y.max=4000;
rschart.update();
ctx = document.getElementById('rightpowerchart').getContext('2d');
@@ -218,12 +213,17 @@
function onMessage(event) {
var state;
let data = JSON.parse(event.data);
-
+console.log(data);
var x = (new Date()).getTime(),
ls = parseFloat(data.leftsens),
rs = parseFloat(data.rightsens),
lp = parseFloat(data.leftpower),
- rp = parseFloat(data.rightpower);
+ rp = parseFloat(data.rightpower),
+ status = data.status;
+
+ var o = document.getElementById("status");
+ o.innerHTML = status;
+
if (lschart.config.data.labels.length>50)
{
diff --git a/rolli_websock.ino b/rolli_websock.ino
index f8dd0d6..a78c461 100644
--- a/rolli_websock.ino
+++ b/rolli_websock.ino
@@ -1,5 +1,7 @@
// use websocket
+//#define NOROLLI
+
#include "credentials.h"
const char* host = "rolli";
@@ -13,6 +15,7 @@ const int rpowerlimit=1000;
const int ldistlimit=400;
const int rdistlimit=400;
+char rollistat[100]="Ok\0";
char cmd[20];
/*
@@ -77,6 +80,8 @@ const int r_step=1;
volatile int tcount=0;
+volatile byte lscount=0;
+volatile byte rscount=0;
//pins:
@@ -106,7 +111,7 @@ Adafruit_MPU6050 mpu;
Adafruit_VL53L0X sensors[] = {Adafruit_VL53L0X(),Adafruit_VL53L0X()};
const int xshutpin[]={32,33};
-volatile int dist[]={0,0};
+volatile int dist[]={450,450};
const int freq = 5000;
const int resolution = 8;
@@ -157,13 +162,11 @@ void IRAM_ATTR TimerHandler0(void)
void sensortask( void * parameter) {
for(;;){
+
powerl=analogRead(power_lpin);
powerr=analogRead(power_rpin);
-
- log_to_websocket();
- delay(250);
-continue;
-
+
+#ifndef NOROLLI
mpu.getEvent(&a, &g, &temp);
VL53L0X_RangingMeasurementData_t measure;
@@ -177,8 +180,13 @@ continue;
//Serial.println(" out of range ");
}
}
-
- Serial.print("LP: ");
+#else
+ dist[0]=random(350,800);
+ dist[1]=random(350,800);
+
+#endif
+
+/* Serial.print("LP: ");
Serial.print(powerl);Serial.print("\t");
Serial.print("RP: ");
Serial.print(powerr);Serial.print("\t");
@@ -194,9 +202,8 @@ continue;
Serial.print(", Y: ");
Serial.print(a.acceleration.y);
Serial.println();
-
-
-
+*/
+
/*
X - vorne / hinten
Y - links /rechts
@@ -205,32 +212,45 @@ continue;
ledstate=!ledstate;
digitalWrite(ledpin,ledstate);
-
- if (dist[0]<ldistlimit) {Serial.println("LEFT SENSOR!, turn right");turnright();}
- if (dist[1]<rdistlimit) {Serial.println("RIGHT SENSOR!, turn left");turnleft();}
+ int action=0;
+
+ if (dist[0]<ldistlimit) lscount+=1;
+ if (dist[1]<rdistlimit) rscount+=1;
+
+ if (lscount==2) {lscount=0;Serial.println("LEFT SENSOR!, turn right");strcpy(rollistat,"left sensor, turning right");action=1;}
+ if (rscount==2) {rscount=0;Serial.println("RIGHT SENSOR!, turn left");strcpy(rollistat,"right sensor, turning left");action=2;}
if ((powerl>lpowerlimit) and (powerr>rpowerlimit))
{Serial.println("collision");
- turnaround();}
-
+ strcpy(rollistat,"frontal collision, turning around");
+ action=3;
+ }
else {
if (powerl>lpowerlimit)
{Serial.println("LEFT POWER!, turn right");
- turnright();}
+ strcpy(rollistat,"left power, turning right");
+ action=1;}
if (powerr>rpowerlimit)
{Serial.println("RIGHT POWER!, turn left");
- turnleft();}
+ strcpy(rollistat,"right power, turning left");
+ action=2;}
}
-
- mytime+=1;
- if (mytime==4)
- {
- //log_to_websocket();
- mytime=0;
- }
+ if (action==0) strcpy(rollistat,"Ok");
+ else digitalWrite(ledpin,HIGH);
+
+//notify first
+ wsnotifyClients();
+
+//actions with delays:
+ switch (action)
+ {
+ case 1:turnright();break;
+ case 2:turnleft();break;
+ case 3:turnaround();break;
+ }
delay(250);
@@ -238,20 +258,14 @@ continue;
}
-void log_to_websocket()
-{
- //Serial.println("notify...");
- wsnotifyClients();
-}
-
void wsnotifyClients() {
- char buffer[200];
- //limit dist to 2048:
-
- sprintf(buffer, "{\"leftsens\":\"%i\",\"rightsens\":\"%i\",\"leftpower\":\"%i\",\"rightpower\":\"%i\"}", random(0,100),random(0,100),random(0,100),random(0,100));
+ char buffer[300];
+ sprintf(buffer, "{\"leftsens\":\"%i\",\"rightsens\":\"%i\",\"leftpower\":\"%i\",\"rightpower\":\"%i\",\"status\":\"%s\"}", dist[0],dist[1],powerl,powerr,rollistat);
+ Serial.println(buffer);
ws.textAll(buffer);
}
+
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len) {
AwsFrameInfo *info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) {
@@ -402,9 +416,13 @@ void setup(void) {
initWebSocket();
//init i2c devices
-
- //setID();
- //mpu_init();
+
+ #ifndef NOROLLI
+ setID();
+ mpu_init();
+ #else
+
+ #endif
//scan i2c devices
i2c_scanner();
--
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