inicial

pruebas/pruebaMotoresyJostick.cpp

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+#include <ESP8266WiFi.h>
+#include <WebSocketsServer.h>
+#include <ESP8266WebServer.h>
+#include <ESP8266mDNS.h>
+#include "FS.h"
+
+volatile int estado = HIGH;
+
+volatile int left_motor, throttle_left_motor, throttle_counter_left_motor, throttle_left_motor_memory;
+volatile int right_motor, throttle_right_motor, throttle_counter_right_motor, throttle_right_motor_memory;
+
+unsigned long loop_timer;
+unsigned char Dir_m_left=D5;
+unsigned char Step_m_left=D6;
+unsigned char Dir_m_right=D3;
+unsigned char Step_m_right=D4;
+bool FWD=HIGH;
+bool BWD=LOW;
+ volatile int valor=0;
+
+int descI=0;
+int descR=0;
+
+
+extern "C" {
+#include "user_interface.h"
+}
+
+os_timer_t myTimer;
+
+bool tickOccured;
+
+// start of timerCallback
+void timerCallback(void *pArg) {
+  throttle_counter_left_motor ++;                                           //Increase the throttle_counter_left_motor variable by 1 every time this routine is executed
+      if(throttle_counter_left_motor > throttle_left_motor_memory){             //If the number of loops is larger then the throttle_left_motor_memory variable
+          throttle_counter_left_motor = 0;                                        //Reset the throttle_counter_left_motor variable
+          throttle_left_motor_memory = throttle_left_motor;                       //Load the next throttle_left_motor variable
+    if(throttle_left_motor_memory < 0){                                     //If the throttle_left_motor_memory is negative
+          digitalWrite(Dir_m_left,BWD);                                                //Set output 3 low to reverse the direction of the stepper controller
+          throttle_left_motor_memory *= -1;                                     //Invert the throttle_left_motor_memory variable
+    }
+    else digitalWrite(Dir_m_left,FWD);                                               //Set output 3 high for a forward direction of the stepper motor
+  }
+  else if(throttle_counter_left_motor == 1)digitalWrite(Step_m_left,HIGH);             //Set output 2 high to create a pulse for the stepper controller
+  else if(throttle_counter_left_motor == 2)digitalWrite(Step_m_left,LOW);             //Set output 2 low because the pulse only has to last for 20us
+
+  //right motor pulse calculations
+  throttle_counter_right_motor ++;                                          //Increase the throttle_counter_right_motor variable by 1 every time the routine is executed
+  if(throttle_counter_right_motor > throttle_right_motor_memory){           //If the number of loops is larger then the throttle_right_motor_memory variable
+    throttle_counter_right_motor = 0;                                       //Reset the throttle_counter_right_motor variable
+    throttle_right_motor_memory = throttle_right_motor;                     //Load the next throttle_right_motor variable
+    if(throttle_right_motor_memory < 0){                                    //If the throttle_right_motor_memory is negative
+      digitalWrite(Dir_m_right,BWD);                                                     //Set output 5 low to reverse the direction of the stepper controller
+      throttle_right_motor_memory *= -1;                                    //Invert the throttle_right_motor_memory variable
+    }
+    else digitalWrite(Dir_m_right,FWD);;                                               //Set output 5 high for a forward direction of the stepper motor
+  }
+  else if(throttle_counter_right_motor == 1)digitalWrite(Step_m_right,HIGH);             //Set output 4 high to create a pulse for the stepper controller
+  else if(throttle_counter_right_motor == 2)digitalWrite(Step_m_right,LOW);
+
+
+} // End of timerCallback
+
+
+
+void user_init(void) {
+
+      os_timer_setfn(&myTimer, timerCallback, NULL);
+      os_timer_arm(&myTimer, 1, true);
+} // End of user_init
+
+const char* ssid = "mdchaparror";
+const char* password = "un260874";
+int contconexion = 0;
+
+
+ESP8266WebServer server = ESP8266WebServer(80);
+
+void setup() {
+ pinMode(Dir_m_left,OUTPUT);
+ pinMode(Step_m_left,OUTPUT);
+ pinMode(Dir_m_right,OUTPUT);
+ pinMode(Step_m_right,OUTPUT);
+ //digitalWrite(Dir_m_left,HIGH);
+
+
+ Serial.begin(115200);
+ SPIFFS.begin();
+
+
+ Serial.println("");
+ Serial.println("--------------------------");
+ Serial.println("ESP8266 Motor Test");
+ Serial.println("--------------------------");
+
+ user_init();
+
+
+
+ WiFi.mode(WIFI_STA); //para que no inicie el SoftAP en el modo normal
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED and contconexion <50) { //Cuenta hasta 50 si no se puede conectar lo cancela
+    ++contconexion;
+    delay(500);
+    Serial.print(".");
+  }
+  if (contconexion <50) {
+
+      Serial.println("");
+      Serial.println("WiFi conectado");
+      Serial.println(WiFi.localIP());
+  }
+  else {
+      Serial.println("");
+      Serial.println("Error de conexion");
+  }
+
+
+  if(MDNS.begin("motores")) {
+    Serial.println("MDNS responder started");
+  }
+
+  // handle index
+  server.on("/", []() {
+      File index = SPIFFS.open("/index.html", "r");
+    server.streamFile(index, "text/html");
+    index.close();
+  });
+
+  server.on("/stick", []() {                  // Recibe los datos (dx y dy)
+    String dx=server.arg("dx");
+    String dy=server.arg("dy");
+    server.send(200);
+    int x = dx.toInt();                       // Convierte los datos de tipo String a Int
+    int y = dy.toInt();
+
+
+  valor = map(abs(y),0,255,20,3);
+  if (y==0)valor=0;
+  if(y<0) valor*=-1;
+
+if(x>100){
+  descI =3;
+  descR =-3;
+}
+if(x<-100) {
+ descI =-3;
+ descR =3;
+
+}
+if(x<=100 && x>=-100) {
+ descI =0;
+ descR =0;
+
+}
+
+
+  throttle_left_motor = valor+descI;
+  throttle_right_motor = valor+descR;
+
+Serial.println(valor);
+
+   // Serial.print(x);  Serial.print("  ");  Serial.println(y);
+  });
+
+  server.begin();
+
+  // Add service to MDNS
+  MDNS.addService("http", "tcp", 80);
+  MDNS.addService("ws", "tcp", 81);
+
+}
+
+void loop() {
+
+
+  server.handleClient();
+  // throttle_left_motor = 10;
+  //throttle_right_motor = 10;
+  while(loop_timer > micros());
+  loop_timer += 4000;
+
+}