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Martin Daniel Chaparro Ruiz
2018-07-02 21:56:34 -05:00
parent 5bb74adf96
commit 56581a0a5b
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.gitignore vendored Normal file
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.pioenvs
.piolibdeps
.clang_complete
.gcc-flags.json

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# Continuous Integration (CI) is the practice, in software
# engineering, of merging all developer working copies with a shared mainline
# several times a day < http://docs.platformio.org/page/ci/index.html >
#
# Documentation:
#
# * Travis CI Embedded Builds with PlatformIO
# < https://docs.travis-ci.com/user/integration/platformio/ >
#
# * PlatformIO integration with Travis CI
# < http://docs.platformio.org/page/ci/travis.html >
#
# * User Guide for `platformio ci` command
# < http://docs.platformio.org/page/userguide/cmd_ci.html >
#
#
# Please choice one of the following templates (proposed below) and uncomment
# it (remove "# " before each line) or use own configuration according to the
# Travis CI documentation (see above).
#
#
# Template #1: General project. Test it using existing `platformio.ini`.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio run
#
# Template #2: The project is intended to by used as a library with examples
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# env:
# - PLATFORMIO_CI_SRC=path/to/test/file.c
# - PLATFORMIO_CI_SRC=examples/file.ino
# - PLATFORMIO_CI_SRC=path/to/test/directory
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

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Robot balanceador
http://www.brokking.net/yabr_main.html
http://axelsdiy.brinkeby.se/?page_id=1141
http://www.brokking.net/yabr_main.html
http://axelsdiy.brinkeby.se/?page_id=1141
https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/
https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/
- nodemcu v1.0 esp8266
- 2 motores nema 17
- 2 driver motores
- MPU6050
- 7805
- bateria LiPo

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This directory is intended for the project specific (private) libraries.
PlatformIO will compile them to static libraries and link to executable file.
The source code of each library should be placed in separate directory, like
"lib/private_lib/[here are source files]".
For example, see how can be organized `Foo` and `Bar` libraries:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) http://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- readme.txt --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Then in `src/main.c` you should use:
#include <Foo.h>
#include <Bar.h>
// rest H/C/CPP code
PlatformIO will find your libraries automatically, configure preprocessor's
include paths and build them.
More information about PlatformIO Library Dependency Finder
- http://docs.platformio.org/page/librarymanager/ldf.html

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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; http://docs.platformio.org/page/projectconf.html
[env:nodemcuv2]
platform = espressif8266
board = nodemcuv2
framework = arduino
upload_speed = 921600
build_flags = -Wl,-Teagle.flash.4m1m.ld

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#include <Arduino.h>
#include <Wire.h>
//Direccion I2C de la IMU
#define MPU 0x68
//Ratios de conversion
#define A_R 16384.0 // 32768/2
#define G_R 131.0 // 32768/250
//Conversion de radianes a grados 180/PI
#define RAD_A_DEG = 57.295779
//MPU-6050 da los valores en enteros de 16 bits
//Valores RAW
int16_t AcX, AcY, AcZ, GyX, GyY, GyZ;
//Angulos
float Acc[2];
float Gy[3];
float Angle[3];
String valores;
long tiempo_prev;
float dt;
void setup()
{
Wire.begin(D2,D1); // D2(GPIO4)=SDA / D1(GPIO5)=SCL
Wire.beginTransmission(MPU);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
Serial.begin(115200);
}
void loop()
{
//Leer los valores del Acelerometro de la IMU
Wire.beginTransmission(MPU);
Wire.write(0x3B); //Pedir el registro 0x3B - corresponde al AcX
Wire.endTransmission(false);
Wire.requestFrom(MPU,6); //A partir del 0x3B, se piden 6 registros
AcX=Wire.read()<<8|Wire.read(); //Cada valor ocupa 2 registros
AcY=Wire.read()<<8|Wire.read();
AcZ=Wire.read()<<8|Wire.read();
//A partir de los valores del acelerometro, se calculan los angulos Y, X
//respectivamente, con la formula de la tangente.
Acc[1] = atan(-1*(AcX/A_R)/sqrt(pow((AcY/A_R),2) + pow((AcZ/A_R),2)))*RAD_TO_DEG;
Acc[0] = atan((AcY/A_R)/sqrt(pow((AcX/A_R),2) + pow((AcZ/A_R),2)))*RAD_TO_DEG;
//Leer los valores del Giroscopio
Wire.beginTransmission(MPU);
Wire.write(0x43);
Wire.endTransmission(false);
Wire.requestFrom(MPU,6); //A partir del 0x43, se piden 6 registros
GyX=Wire.read()<<8|Wire.read(); //Cada valor ocupa 2 registros
GyY=Wire.read()<<8|Wire.read();
GyZ=Wire.read()<<8|Wire.read();
//Calculo del angulo del Giroscopio
Gy[0] = GyX/G_R;
Gy[1] = GyY/G_R;
Gy[2] = GyZ/G_R;
dt = (millis() - tiempo_prev) / 1000.0;
tiempo_prev = millis();
//Aplicar el Filtro Complementario
Angle[0] = 0.98 *(Angle[0]+Gy[0]*dt) + 0.02*Acc[0];
Angle[1] = 0.98 *(Angle[1]+Gy[1]*dt) + 0.02*Acc[1];
//Integración respecto del tiempo paras calcular el YAW
Angle[2] = Angle[2]+Gy[2]*dt;
//Mostrar los valores por consola
valores = "90, " +String(Angle[0]) + "," + String(Angle[1]) + "," + String(Angle[2]) + ", -90";
Serial.println(valores);
delay(10);
}

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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;
}

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<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<style>
body {
overflow : hidden;
padding : 0;
margin : 0;
background-color: #FFFFFF;
}
#info {
position : absolute;
top : 0px;
width : 100%;
padding : 5px;
text-align : center;
}
#info a {
color : #66F;
text-decoration : none;
}
#info a:hover {
text-decoration : underline;
}
#container {
width : 100%;
height : 100%;
overflow : hidden;
padding : 0;
margin : 0;
-webkit-user-select : none;
-moz-user-select : none;
}
</style>
</head>
<body>
<div id="container"></div>
<div id="info">
<b>JOYSTICK VIRTUAL</b><br><br>
<span id="result"></span>
</div>
<script>
var VirtualJoystick = function(opts)
{
opts = opts || {};
this._container = opts.container || document.body;
this._strokeStyle = opts.strokeStyle || 'cyan';
this._stickEl = opts.stickElement || this._buildJoystickStick();
this._baseEl = opts.baseElement || this._buildJoystickBase();
this._mouseSupport = opts.mouseSupport !== undefined ? opts.mouseSupport : false;
this._stationaryBase = opts.stationaryBase || false;
this._baseX = this._stickX = opts.baseX || screen.width/2
this._baseY = this._stickY = opts.baseY || screen.height/2
this._limitStickTravel = opts.limitStickTravel || true;
if (screen.width >= screen.height){
this._stickRadius = opts.stickRadius !== undefined ? opts.stickRadius : screen.height*0.35;
}
else {
this._stickRadius = opts.stickRadius !== undefined ? opts.stickRadius : screen.width*0.35;
};
this._useCssTransform = opts.useCssTransform !== undefined ? opts.useCssTransform : false
this._container.style.position = "relative"
this._container.appendChild(this._baseEl)
this._baseEl.style.position = "absolute"
this._baseEl.style.display = "none"
this._container.appendChild(this._stickEl)
this._stickEl.style.position = "absolute"
this._stickEl.style.display = "none"
this._pressed = false;
this._touchIdx = null;
if(this._stationaryBase === true){
this._baseEl.style.display = "";
this._baseEl.style.left = (this._baseX - this._baseEl.width /2)+"px";
this._baseEl.style.top = (this._baseY - this._baseEl.height/2)+"px";
}
this._transform = this._useCssTransform ? this._getTransformProperty() : false;
this._has3d = this._check3D();
var __bind = function(fn, me){ return function(){ return fn.apply(me, arguments); }; };
this._$onTouchStart = __bind(this._onTouchStart , this);
this._$onTouchEnd = __bind(this._onTouchEnd , this);
this._$onTouchMove = __bind(this._onTouchMove , this);
this._container.addEventListener( 'touchstart' , this._$onTouchStart , false );
this._container.addEventListener( 'touchend' , this._$onTouchEnd , false );
this._container.addEventListener( 'touchmove' , this._$onTouchMove , false );
if( this._mouseSupport ){
this._$onMouseDown = __bind(this._onMouseDown , this);
this._$onMouseUp = __bind(this._onMouseUp , this);
this._$onMouseMove = __bind(this._onMouseMove , this);
this._container.addEventListener( 'mousedown' , this._$onMouseDown , false );
this._container.addEventListener( 'mouseup' , this._$onMouseUp , false );
this._container.addEventListener( 'mousemove' , this._$onMouseMove , false );
}
}
VirtualJoystick.prototype.destroy = function()
{
this._container.removeChild(this._baseEl);
this._container.removeChild(this._stickEl);
this._container.removeEventListener( 'touchstart' , this._$onTouchStart , false );
this._container.removeEventListener( 'touchend' , this._$onTouchEnd , false );
this._container.removeEventListener( 'touchmove' , this._$onTouchMove , false );
if( this._mouseSupport ){
this._container.removeEventListener( 'mouseup' , this._$onMouseUp , false );
this._container.removeEventListener( 'mousedown' , this._$onMouseDown , false );
this._container.removeEventListener( 'mousemove' , this._$onMouseMove , false );
}
}
/**
* @returns {Boolean} true if touchscreen is currently available, false otherwise
*/
VirtualJoystick.touchScreenAvailable = function()
{
return 'createTouch' in document ? true : false;
}
/**
* microevents.js - https://github.com/jeromeetienne/microevent.js
*/
;(function(destObj){
destObj.addEventListener = function(event, fct){
if(this._events === undefined) this._events = {};
this._events[event] = this._events[event] || [];
this._events[event].push(fct);
return fct;
};
destObj.removeEventListener = function(event, fct){
if(this._events === undefined) this._events = {};
if( event in this._events === false ) return;
this._events[event].splice(this._events[event].indexOf(fct), 1);
};
destObj.dispatchEvent = function(event /* , args... */){
if(this._events === undefined) this._events = {};
if( this._events[event] === undefined ) return;
var tmpArray = this._events[event].slice();
for(var i = 0; i < tmpArray.length; i++){
var result = tmpArray[i].apply(this, Array.prototype.slice.call(arguments, 1))
if( result !== undefined ) return result;
}
return undefined
};
})(VirtualJoystick.prototype);
//////////////////////////////////////////////////////////////////////////////////
// //
//////////////////////////////////////////////////////////////////////////////////
VirtualJoystick.prototype.deltaX = function(){ return this._stickX - this._baseX; }
VirtualJoystick.prototype.deltaY = function(){ return this._stickY - this._baseY; }
VirtualJoystick.prototype.up = function(){
if( this._pressed === false ) return false;
var deltaX = this.deltaX();
var deltaY = this.deltaY();
if( deltaY >= 0 ) return false;
if( Math.abs(deltaX) > 2*Math.abs(deltaY) ) return false;
return true;
}
VirtualJoystick.prototype.down = function(){
if( this._pressed === false ) return false;
var deltaX = this.deltaX();
var deltaY = this.deltaY();
if( deltaY <= 0 ) return false;
if( Math.abs(deltaX) > 2*Math.abs(deltaY) ) return false;
return true;
}
VirtualJoystick.prototype.right = function(){
if( this._pressed === false ) return false;
var deltaX = this.deltaX();
var deltaY = this.deltaY();
if( deltaX <= 0 ) return false;
if( Math.abs(deltaY) > 2*Math.abs(deltaX) ) return false;
return true;
}
VirtualJoystick.prototype.left = function(){
if( this._pressed === false ) return false;
var deltaX = this.deltaX();
var deltaY = this.deltaY();
if( deltaX >= 0 ) return false;
if( Math.abs(deltaY) > 2*Math.abs(deltaX) ) return false;
return true;
}
//////////////////////////////////////////////////////////////////////////////////
// //
//////////////////////////////////////////////////////////////////////////////////
VirtualJoystick.prototype._onUp = function()
{
this._pressed = false;
this._stickEl.style.display = "none";
if(this._stationaryBase == true){
this._stickX = this._baseX;
this._stickY = this._baseY;
}
if(this._stationaryBase == false){
this._baseEl.style.display = "none";
this._stickX = this._baseX = 0;
this._stickY = this._baseY = 0;
}
}
VirtualJoystick.prototype._onDown = function(x, y)
{
this._pressed = true;
if(this._stationaryBase == false){
this._baseX = x;
this._baseY = y;
this._baseEl.style.display = "";
this._move(this._baseEl.style, (this._baseX - this._baseEl.width /2), (this._baseY - this._baseEl.height/2));
}
this._stickX = x;
this._stickY = y;
if(this._limitStickTravel === true){
var deltaX = this.deltaX();
var deltaY = this.deltaY();
var stickDistance = Math.sqrt( (deltaX * deltaX) + (deltaY * deltaY) );
if(stickDistance > this._stickRadius){
var stickNormalizedX = deltaX / stickDistance;
var stickNormalizedY = deltaY / stickDistance;
this._stickX = stickNormalizedX * this._stickRadius + this._baseX;
this._stickY = stickNormalizedY * this._stickRadius + this._baseY;
}
}
this._stickEl.style.display = "";
this._move(this._stickEl.style, (this._stickX - this._stickEl.width /2), (this._stickY - this._stickEl.height/2));
}
VirtualJoystick.prototype._onMove = function(x, y)
{
if( this._pressed === true ){
this._stickX = x;
this._stickY = y;
if(this._limitStickTravel === true){
var deltaX = this.deltaX();
var deltaY = this.deltaY();
var stickDistance = Math.sqrt( (deltaX * deltaX) + (deltaY * deltaY) );
if(stickDistance > this._stickRadius){
var stickNormalizedX = deltaX / stickDistance;
var stickNormalizedY = deltaY / stickDistance;
this._stickX = stickNormalizedX * this._stickRadius + this._baseX;
this._stickY = stickNormalizedY * this._stickRadius + this._baseY;
}
}
this._move(this._stickEl.style, (this._stickX - this._stickEl.width /2), (this._stickY - this._stickEl.height/2));
}
}
//////////////////////////////////////////////////////////////////////////////////
// bind touch events (and mouse events for debug) //
//////////////////////////////////////////////////////////////////////////////////
VirtualJoystick.prototype._onMouseUp = function(event)
{
return this._onUp();
}
VirtualJoystick.prototype._onMouseDown = function(event)
{
event.preventDefault();
var x = event.clientX;
var y = event.clientY;
return this._onDown(x, y);
}
VirtualJoystick.prototype._onMouseMove = function(event)
{
var x = event.clientX;
var y = event.clientY;
return this._onMove(x, y);
}
//////////////////////////////////////////////////////////////////////////////////
// comment //
//////////////////////////////////////////////////////////////////////////////////
VirtualJoystick.prototype._onTouchStart = function(event)
{
// if there is already a touch inprogress do nothing
if( this._touchIdx !== null ) return;
// notify event for validation
var isValid = this.dispatchEvent('touchStartValidation', event);
if( isValid === false ) return;
// dispatch touchStart
this.dispatchEvent('touchStart', event);
event.preventDefault();
// get the first who changed
var touch = event.changedTouches[0];
// set the touchIdx of this joystick
this._touchIdx = touch.identifier;
// forward the action
var x = touch.pageX;
var y = touch.pageY;
return this._onDown(x, y)
}
VirtualJoystick.prototype._onTouchEnd = function(event)
{
// if there is no touch in progress, do nothing
if( this._touchIdx === null ) return;
// dispatch touchEnd
this.dispatchEvent('touchEnd', event);
// try to find our touch event
var touchList = event.changedTouches;
for(var i = 0; i < touchList.length && touchList[i].identifier !== this._touchIdx; i++);
// if touch event isnt found,
if( i === touchList.length) return;
// reset touchIdx - mark it as no-touch-in-progress
this._touchIdx = null;
//??????
// no preventDefault to get click event on ios
event.preventDefault();
return this._onUp()
}
VirtualJoystick.prototype._onTouchMove = function(event)
{
// if there is no touch in progress, do nothing
if( this._touchIdx === null ) return;
// try to find our touch event
var touchList = event.changedTouches;
for(var i = 0; i < touchList.length && touchList[i].identifier !== this._touchIdx; i++ );
// if touch event with the proper identifier isnt found, do nothing
if( i === touchList.length) return;
var touch = touchList[i];
event.preventDefault();
var x = touch.pageX;
var y = touch.pageY;
return this._onMove(x, y)
}
//////////////////////////////////////////////////////////////////////////////////
// build default stickEl and baseEl //
//////////////////////////////////////////////////////////////////////////////////
/**
* build the canvas for joystick base
*/
VirtualJoystick.prototype._buildJoystickBase = function()
{
var canvas = document.createElement( 'canvas' );
if (screen.width >= screen.height){
canvas.width = screen.height*0.7;
}
else {
canvas.width = screen.width*0.7;
};
canvas.height = canvas.width;
var ctx = canvas.getContext('2d');
ctx.beginPath();
ctx.fillStyle = "#053a58";
ctx.arc(canvas.width/2, canvas.width/2,canvas.width/2,0,Math.PI*2,true);
ctx.closePath();
ctx.fill();
ctx.beginPath();
ctx.strokeStyle = this._strokeStyle;
ctx.lineWidth = 6;
ctx.arc( canvas.width/2, canvas.width/2, 40, 0, Math.PI*2, true);
ctx.stroke();
ctx.beginPath();
ctx.strokeStyle = "#69C";
ctx.lineWidth = 4;
ctx.arc( canvas.width/2, canvas.width/2, canvas.width/2-2, 0, Math.PI*2, true);
ctx.stroke();
ctx.beginPath();
ctx.lineWidth = 3;
ctx.moveTo(canvas.width/2,0);
ctx.lineTo(canvas.width/2,canvas.width/2);
ctx.stroke();
ctx.lineWidth = 1;
ctx.moveTo(canvas.width/2,0);
ctx.lineTo(canvas.width/2,canvas.width);
ctx.moveTo(0,canvas.width/2);
ctx.lineTo(canvas.width,canvas.width/2);
ctx.stroke();
return canvas;
}
/**
* build the canvas for joystick stick
*/
VirtualJoystick.prototype._buildJoystickStick = function()
{
var canvas = document.createElement( 'canvas' );
canvas.width = 86;
canvas.height = 86;
var ctx = canvas.getContext('2d');
ctx.beginPath();
ctx.strokeStyle = this._strokeStyle;
ctx.lineWidth = 6;
ctx.arc( canvas.width/2, canvas.width/2, 40, 0, Math.PI*2, true);
ctx.stroke();
return canvas;
}
//////////////////////////////////////////////////////////////////////////////////
// move using translate3d method with fallback to translate > 'top' and 'left'
// modified from https://github.com/component/translate and dependents
//////////////////////////////////////////////////////////////////////////////////
VirtualJoystick.prototype._move = function(style, x, y)
{
if (this._transform) {
if (this._has3d) {
style[this._transform] = 'translate3d(' + x + 'px,' + y + 'px, 0)';
} else {
style[this._transform] = 'translate(' + x + 'px,' + y + 'px)';
}
} else {
style.left = x + 'px';
style.top = y + 'px';
}
}
VirtualJoystick.prototype._getTransformProperty = function()
{
var styles = [
'webkitTransform',
'MozTransform',
'msTransform',
'OTransform',
'transform'
];
var el = document.createElement('p');
var style;
for (var i = 0; i < styles.length; i++) {
style = styles[i];
if (null != el.style[style]) {
return style;
}
}
}
VirtualJoystick.prototype._check3D = function()
{
var prop = this._getTransformProperty();
// IE8<= doesn't have `getComputedStyle`
if (!prop || !window.getComputedStyle) return module.exports = false;
var map = {
webkitTransform: '-webkit-transform',
OTransform: '-o-transform',
msTransform: '-ms-transform',
MozTransform: '-moz-transform',
transform: 'transform'
};
// from: https://gist.github.com/lorenzopolidori/3794226
var el = document.createElement('div');
el.style[prop] = 'translate3d(1px,1px,1px)';
document.body.insertBefore(el, null);
var val = getComputedStyle(el).getPropertyValue(map[prop]);
document.body.removeChild(el);
var exports = null != val && val.length && 'none' != val;
return exports;
}
</script>
<script>
console.log("touchscreen is", VirtualJoystick.touchScreenAvailable() ? "available" : "not available");
var joystick = new VirtualJoystick({
container : document.getElementById('container'),
mouseSupport : true,
});
joystick.addEventListener('touchStart', function(){
console.log('down')
})
joystick.addEventListener('touchEnd', function(){
console.log('up')
})
var deltaXprevia = 0;
var deltaYprevia = 0;
var deltaX_corregida = 0;
var deltaY_corregida = 0;
setInterval(function(){
if (screen.width >= screen.height){
var stickRadius = screen.height*0.35;
}
else {
var stickRadius = screen.width*0.35;
};
var deltaX_corregida=(joystick.deltaX()/stickRadius*255).toFixed();
var deltaY_corregida=(-joystick.deltaY()/stickRadius*255).toFixed();
var stick = Math.sqrt((deltaX_corregida*deltaX_corregida)+(deltaY_corregida*deltaY_corregida)).toFixed();
if (deltaX_corregida >= 0 & deltaY_corregida >= 0){
var angulo = (Math.atan(deltaY_corregida/deltaX_corregida)/(2*Math.PI)*360).toFixed()
}
if (deltaX_corregida < 0) {
var angulo = ((Math.atan(deltaY_corregida/deltaX_corregida)/(2*Math.PI)*360)+180).toFixed()
}
if (deltaX_corregida >= 0 & deltaY_corregida < 0){
var angulo = ((Math.atan(deltaY_corregida/deltaX_corregida)/(2*Math.PI)*360)+360).toFixed()
}
var outputEl = document.getElementById('result');
outputEl.innerHTML = '<b> dx:</b>'+deltaX_corregida
+ '<b> dy:</b>'+deltaY_corregida
+ '<b> Vector (stick):</b>'+stick
+ '<br><b> Ángulo:</b>'+angulo
+ '<b> Orientación:</b>'
+ (joystick.right() ? ' Derecha' : '')
+ (joystick.up() ? ' Arriba' : '')
+ (joystick.left() ? ' Izquierda' : '')
+ (joystick.down() ? ' Abajo' : '')
if (deltaX_corregida != deltaXprevia || deltaY_corregida != deltaYprevia ){
var req = new XMLHttpRequest();
req.open('GET', '/stick?dx=' + deltaX_corregida + '&dy=' + deltaY_corregida);
req.send(null);
deltaXprevia = deltaX_corregida;
deltaYprevia = deltaY_corregida;
}
}, 1/30 * 1000);
</script>
</body>
</html>

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src/main.cpp Normal file
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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;
}