tasks

2020-07-16 23:08:21 -05:00
parent 7604f25fca
commit de90a43021
10 changed files with 427 additions and 75 deletions
--- a/firmwareCarroEsp32/.vscode/extensions.json
+++ b/firmwareCarroEsp32/.vscode/extensions.json
@@ -1,7 +1,7 @@
 {
-	// See http://go.microsoft.com/fwlink/?LinkId=827846
-	// for the documentation about the extensions.json format
-	"recommendations": [
-		"platformio.platformio-ide"
-	]
-}
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}
--- a/firmwareCarroEsp32/data/index.html
+++ b/firmwareCarroEsp32/data/index.html
@@ -0,0 +1,222 @@
+<!doctype html>
+  <html>
+  <head>
+  <meta charset=utf-8>
+  <meta name='viewport' content='width=device-width, height=device-height, initial-scale=1.0, maximum-scale=1.0'/>
+  <title>ESP32 CARRO</title>
+
+  <style> 
+   *{-webkit-touch-callout: none;
+    -webkit-text-size-adjust: none;
+     -webkit-tap-highlight-color: #FFFFFF; 
+     -webkit-user-select: none; 
+     -webkit-tap-highlight-color: #FFFFFF;}
+     
+   	body {margin: 0px;}
+    canvas {display:block; position:absolute}
+    .containerButtons {width: auto; display: flex; justify-content: space-around;} 
+    .buttons {border: none; color: white; padding: 4px 4px; text-align: center; text-decoration: none; display: inline-block; font-size: 4.0vmin; font-weight: bold; margin: 4px 2px; 
+            -webkit-transition-duration: 0.4s; transition-duration: 0.4s; cursor: pointer; width: 25%; border-radius: 2px;}
+    .btn1 {background-color: #808080; color: #FFFFFF; border: 3px solid #808080;} .btn1:hover {background-color: #F2F2F2; color: #000000; border: 3px solid #FF0000;}
+    .btn2 {background-color: #1E90FF; color: #FFFFFF; border: 3px solid #1E90FF;} .btn2:hover {background-color: #F2F2F2; color: #000000; border: 3px solid #FF0000;}
+    .data {padding: 2px 4px; background-color: #F2F2F2; color: #000000; font-size: 3.5vmin; border: 2px solid #000000;}
+    .containerCanvas {width: auto;}
+  </style>
+
+  <body id='body'>
+  <div class='containerButtons'>
+    <button class='buttons btn1' onclick='onStatic()' autofocus>Estático</button>
+    <button class='buttons btn2' onclick='onDynamic()'>Dinámico</button>
+    <p id='txt1_id' class='buttons data'></p>
+    <p id='txt2_id' class='buttons data'></p>
+    <p id='distancia' class='buttons data'></p>
+  </div>
+
+  <script>
+
+   ///////VARIABLES GLOBALES Y OPERACIONES CON VECTORES ///////
+  var canvas, c , containerCanvas, ratioWindow, ladoMenor;
+  var estatico = true, touchStart = false, mouseDown  = false;
+  var angRad, angGrd, vectorHypot, speed;
+  var vector2 = function (x,y) {this.x= x || 0; this.y = y || 0;};
+  let distancia =0;
+  var distancia_label = document.getElementById('distancia');
+  vector2.prototype = {
+    reset:      function ( x, y )   {this.x = x;    this.y = y;     return this;},
+    copyFrom :  function (v)        {this.x = v.x;  this.y = v.y;   return this;},  
+    minusEq :   function (v)        {this.x-= v.x;  this.y-= v.y;   return this;},
+  };
+    var pos = new vector2(0,0), startPos = new vector2(0,0), vector = new vector2(0,0), posMax = new vector2(0,0); 
+
+  var connection = new WebSocket('ws://'+location.hostname+':81/', ['arduino']);
+    connection.onopen =     function ()         {connection.send('Connect ' + new Date()); };
+    connection.onerror =    function (error)    {console.log('WebSocket Error ', error);};
+    connection.onmessage =  function (event)    {
+     
+      if(!isNaN(event.data))
+       
+      distancia = parseInt(event.data,10)
+      distancia_label.innerHTML = 'Distancia<br/>'+distancia +" cm";
+      console.log('Server: ', distancia);
+      };
+
+  ///////CANVAS///////
+  setupCanvas();
+  function setupCanvas() {
+  canvas = document.createElement('canvas');
+    c = canvas.getContext('2d');
+    resetAll();
+    containerCanvas = document.createElement('div');
+    containerCanvas.className = "containerCanvas";
+    document.body.appendChild(containerCanvas);
+    containerCanvas.appendChild(canvas);
+  }
+  function resetAll () {
+    var buttonsHeight = Math.min(window.innerWidth, window.innerHeight)*0.04+44; 
+    canvas.width = window.innerWidth; canvas.height = window.innerHeight-buttonsHeight;
+    ratioWindow = canvas.width/canvas.height;  ladoMenor=Math.min(canvas.width, canvas.height); 
+    window.scrollTo(0,0);
+    c.font = Math.round(ladoMenor*0.03) + 'px sans-serif';
+    c.fillStyle = "white";
+    c.textAlign="center"; 
+    estatico? onStatic() : onDynamic();
+  }
+  function resetByOrientationchange () {
+    document.body.removeChild(containerCanvas);   
+    setTimeout(function(){
+      setupCanvas();
+      startEventListener();
+      }, 450);
+  }
+
+  ///////DETECCIÓN DE EVENTOS Y DETERMINACIÓN DEL TIPO DE DISPOSITIVO SEÑALADOR (TÁCTIL O RATÓN)///////
+  var touchable = 'createTouch' in document; 
+  startEventListener();
+  function startEventListener(){
+    window.onresize = resetAll;
+    if(touchable) {
+      canvas.addEventListener( 'touchstart', onTouchStart, false);
+      canvas.addEventListener( 'touchmove', onTouchMove, false);
+      canvas.addEventListener( 'touchend', onTouchEnd, false);
+      window.onorientationchange = resetByOrientationchange;  
+    } else {
+      canvas.addEventListener( 'mousedown', onMouseDown, false);
+      canvas.addEventListener( 'mousemove', onMouseMove, false);
+      ['mouseup', 'mouseout'].forEach(function(event){canvas.addEventListener(event,onMouseEnd,false);});
+    }
+  }
+
+  ///////ESTÁTICO / DINÁMICO///////
+  function onStatic() {
+    estatico = true;
+    document.getElementById('body').style.background= '#CECECE';
+    c.strokeStyle = '#808080';
+    drawOnCanvasStartOrMoveEnd();
+  }
+  function onDynamic() {
+    estatico = false;
+    document.getElementById('body').style.background= '#ADD8E6';
+    c.strokeStyle = '#1E90FF';
+    drawOnCanvasStartOrMoveEnd();
+  }
+
+///////GESTIÓN DE DISPOSITIVO TÁCTIL///////
+  function onTouchStart(event) {
+    touchStart = true;
+    if (estatico){
+      pos.reset(event.touches[0].clientX-canvas.getBoundingClientRect().left, event.touches[0].clientY-canvas.getBoundingClientRect().top);   
+      vector.copyFrom(pos); 
+      vector.minusEq(startPos);
+    } else {
+      startPos.reset(event.touches[0].clientX-canvas.getBoundingClientRect().left, event.touches[0].clientY-canvas.getBoundingClientRect().top);
+      pos.copyFrom(startPos); 
+    }
+  } 
+  function onTouchMove(event) {
+    if (touchStart){
+      event.preventDefault();
+      pos.reset(event.touches[0].clientX-canvas.getBoundingClientRect().left, event.touches[0].clientY-canvas.getBoundingClientRect().top);   
+      vector.copyFrom(pos); 
+      vector.minusEq(startPos);   
+    }
+  }   
+  function onTouchEnd(event) {
+    touchStart = false;
+    drawOnCanvasStartOrMoveEnd();
+    sendData ();
+  }   
+
+  ///////GESTIÓN DEL RATÓN///////
+  function onMouseDown(event) {
+    event.preventDefault();
+    mouseDown = true;
+    if (estatico){
+      pos.reset(event.offsetX, event.offsetY); 
+      vector.copyFrom(pos); 
+      vector.minusEq(startPos); 
+    } else {
+      startPos.reset(event.offsetX, event.offsetY);
+      pos.copyFrom(startPos); 
+    }
+  }
+  function onMouseMove(event) {
+    if(mouseDown){
+      pos.reset(event.offsetX, event.offsetY); 
+      vector.copyFrom(pos); 
+      vector.minusEq(startPos);
+    }
+  }
+  function onMouseEnd(event) {
+    mouseDown = false;
+    drawOnCanvasStartOrMoveEnd();
+    sendData ();
+  }
+
+  ///////DIBUJO DE LA BASE Y STICK///////
+  setInterval(drawOnMove, 1000/50); 
+  function drawOnMove() {
+    if(touchStart || mouseDown) {
+      c.clearRect(0,0,canvas.width, canvas.height);
+      drawBase (startPos.x, startPos.y);
+      newValues ();
+      drawStick ();
+      drawText ();
+      sendData ();
+    }
+  }
+  function drawOnCanvasStartOrMoveEnd(){
+    c.clearRect(0,0,canvas.width, canvas.height);
+    startPos.reset(canvas.width/2,canvas.height/2);
+    vector.reset(0,0);
+    estatico? drawBase() : c.fillText('TOCA LA PANTALLA PARA COMENZAR',canvas.width/2,canvas.height/2);
+    newValues ();
+    drawText ();
+  }
+  function newValues(){
+    angRad = Math.atan2(-vector.y,vector.x).toFixed(2);    
+    angGrd = Math.round(angRad*180/Math.PI);
+    vectorHypot = Math.hypot(vector.x,vector.y);
+    posMax.reset(startPos.x+Math.min(vectorHypot, ladoMenor*0.25)*Math.cos(angRad), startPos.y-Math.min(vectorHypot, ladoMenor*0.25)*Math.sin(angRad));
+    speed = Math.round((Math.min(vectorHypot,ladoMenor*0.25)/(ladoMenor*0.25)*100));
+  }
+  function drawBase(){ 
+    c.beginPath(); c.lineWidth = 6; c.arc(startPos.x, startPos.y, ladoMenor*0.10 ,0,Math.PI*2,true); c.stroke();
+    c.beginPath(); c.lineWidth = 2; c.arc(startPos.x, startPos.y, ladoMenor*0.35 ,0,Math.PI*2,true); c.stroke();
+  }
+  function drawStick(){
+    c.beginPath(); c.arc(posMax.x, posMax.y, ladoMenor*0.10, 0,Math.PI*2, true); c.stroke();
+  }
+
+  function drawText(){
+    document.getElementById('txt2_id').innerHTML = 'Ángulo<br/>'+angGrd+'º';
+    document.getElementById('txt1_id').innerHTML = 'Velocidad<br/>'+speed+'%';
+    
+  }
+  function sendData(){
+    var dir = 'Velocidad:'+speed+' Angulo:'+angRad;
+    console.log(dir);
+    connection.send(dir);
+  }
+  </script>
+  </body>
+  </html>
--- a/firmwareCarroEsp32/platformio.ini
+++ b/firmwareCarroEsp32/platformio.ini
@@ -13,4 +13,9 @@ platform = espressif32
 board = mhetesp32devkit
 framework = arduino

-monitor_speed = 115200
+monitor_speed = 115200
+upload_protocol = espota
+upload_port = 192.168.1.109
+upload_flags =
+  --port=3232
+  --auth=un260874
--- a/firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp
+++ b/firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp
@@ -1,10 +1,6 @@
 # include "Arduino.h"
 # include "OpenTB6612FNG.h"

-
-
-
-
 OpenTB6612FNG::OpenTB6612FNG(int TP) {

 	pinMode(AIN1, OUTPUT);
@@ -13,47 +9,16 @@ OpenTB6612FNG::OpenTB6612FNG(int TP) {
 	pinMode(BIN1, OUTPUT);
 	pinMode(BIN2, OUTPUT);
 	pinMode(PWMB, OUTPUT);
-	analogWriteFreq(20000);
-	analogWriteRange(255);
+	analogWriteResolution(10);
+	analogWriteFrequency(10000);

-	
 }

 void OpenTB6612FNG::MotorIz(int value) {
-	/* if (value >= 0) {
-		// si valor positivo vamos hacia adelante
-
-		digitalWrite(AIN1, HIGH);
-		digitalWrite(AIN2, LOW);
-	} else {
-		// si valor negativo vamos hacia atras
-
-		digitalWrite(AIN1, LOW);
-		digitalWrite(AIN2, HIGH);
-		value *= -1;
-	}
- */
-	// Setea Velocidad
-
 	analogWrite(MOTOR_IZQ, value);
 }

 void OpenTB6612FNG::MotorDe(int value) {
-	/* if (value >= 0) {
-		// si valor positivo vamos hacia adelante
-
-		digitalWrite(BIN1, HIGH);
-		digitalWrite(BIN2, LOW);
-	} else {
-		// si valor negativo vamos hacia atras
-
-		digitalWrite(BIN1, LOW);
-		digitalWrite(BIN2, HIGH);
-		value *= -1;
-	}
- */
-	// Setea Velocidad
-
 	analogWrite(MOTOR_DER, value);
 }

@@ -78,9 +43,6 @@ void OpenTB6612FNG::Backward()
  digitalWrite(BIN2, HIGH);
 }

-
-
-
 void OpenTB6612FNG::Stop()
 {
  digitalWrite(AIN1, LOW);
--- a/firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.h
+++ b/firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.h
@@ -1,12 +1,13 @@
 #ifndef OpenTB6612FNG_h
 #define OpenTB6612FNG_h
 #include "Arduino.h"
-#define PWMA D1
-#define AIN1 D2
-#define AIN2 D3
-#define BIN1 D4
-#define BIN2 D5
-#define PWMB D6
+#include <analogWrite.h>
+#define PWMA 33
+#define AIN1 26
+#define AIN2 25
+#define BIN1 27
+#define BIN2 14
+#define PWMB 13
 #define MOTOR_IZQ PWMB
 #define MOTOR_DER PWMA

@@ -14,7 +15,7 @@
 class OpenTB6612FNG{
 	public:
 	OpenTB6612FNG(int TP);
-
+    
 	void MotorIz(int value);
 	void MotorDe(int value);
 	void Motores(int left, int righ);
--- a/firmwareCarroEsp32/src/carroEsp32.h
+++ b/firmwareCarroEsp32/src/carroEsp32.h
@@ -1,10 +1,10 @@
 #ifndef CARROESP32_h
 #define CARROESP32_h
-#define OUT1 A13
-#define OUT2 A16
-#define OUT3 A15
-#define OUT4 A10
-#define OUT5 A14
+#define OUT1 36
+#define OUT2 39
+#define OUT3 34
+#define OUT4 35
+#define OUT5 32

 int sensores[5] = {0, 0, 0, 0, 0};

@@ -15,6 +15,7 @@ void readSensors()
  sensores[2] = analogRead(OUT3);
  sensores[3] = analogRead(OUT4);
  sensores[4] = analogRead(OUT5);
+
 }

 void printSensores()
@@ -35,8 +36,27 @@ void init_sensores(){
  pinMode(OUT5, INPUT);
 }

+int readSensors(int chanel)
+{

-
+  switch (chanel)
+  {
+  case 0:
+  return analogRead(OUT1);
+  case 1:
+  return analogRead(OUT2);
+  case 2:
+  return analogRead(OUT3);
+  case 3:
+  return analogRead(OUT4);
+  case 4:
+  return analogRead(OUT5);
+    
+  
+  default:
+    return 0;
+  }
+}



--- a/firmwareCarroEsp32/src/config_ota.hpp
+++ b/firmwareCarroEsp32/src/config_ota.hpp
@@ -0,0 +1,9 @@
+
+void ota_init()
+{
+    ArduinoOTA.setHostname("OtaEsp32");
+    ArduinoOTA.setPassword((const char *)"un260874");
+    ArduinoOTA.setPort(3232);
+    ArduinoOTA.begin();
+}
+
--- a/firmwareCarroEsp32/src/main.cpp
+++ b/firmwareCarroEsp32/src/main.cpp
@@ -1,30 +1,72 @@
 #include <Arduino.h>
-#include "BluetoothSerial.h"
 #include "carroEsp32.h"
 #include "OpenTB6612FNG/OpenTB6612FNG.h"
+#include "wifi_config.hpp"
+#include "SPIFFS.h"
+#include <ArduinoOTA.h>
+#include "config_ota.hpp"
+TaskHandle_t TareaProcesador1;
+TaskHandle_t TareaProcesador2;
+void loop1(void *pvParameters);
+void loop2(void *pvParameters);
+int anterior = millis();
+char sensorCadena[16];
+

 OpenTB6612FNG misMotores(0);
-BluetoothSerial ESP_BT; //Object for Bluetooth

+#include "managerServer.hpp"

-void setup() {
-  init_sensores();
+void setup()
+{
  Serial.begin(115200);
+  wifi();
+  ota_init();
+  SPIFFS.begin();
+  init_sensores();
+
+  webSocket.begin();
+  webSocket.onEvent(webSocketEvent);
+  server.begin();
+  xTaskCreatePinnedToCore(loop1, "Tarea1", 10000, NULL, 1, &TareaProcesador1, 0);
+  xTaskCreatePinnedToCore(loop2, "Tarea2", 10000, NULL, 1, &TareaProcesador2, 1);
+  delay(200);
+
  Serial.println("Carro Esp32");
-  ESP_BT.begin("CARRO ESP32"); //Name of your Bluetooth Signal
+
+  // handle index
+  server.on("/", []() {
+    File index = SPIFFS.open("/index.html", "r");
+    server.streamFile(index, "text/html");
+    index.close();
+  });
 }

-void loop() {
-  misMotores.Forward();
-  misMotores.Motores(255,255);
-  if (ESP_BT.available()) //Check if we receive anything from Bluetooth
+void loop()
+{
+}
+void loop1(void *pvParameters)
+{
+  for (;;)
  {
-    //incoming = ESP_BT.read(); //Read what we recevive
-    Serial.print("Received:"); Serial.println(ESP_BT.read());
+    webSocket.loop();
+    ArduinoOTA.handle();
+    server.handleClient();
+    delay(10);
  }
-  //readSensors();
-  //printSensores();
-  //delay(500);
-  
 }

+void loop2(void *pvParameters)
+{
+  for (;;)
+  {
+       
+    if (((millis() - anterior) > 100) && (nCliente > -1))
+    {
+      anterior = millis();
+      
+       sprintf(sensorCadena, "%d",readSensors(0));
+      webSocket.sendTXT(nCliente, sensorCadena);
+    }
+  }
+}
--- a/firmwareCarroEsp32/src/managerServer.hpp
+++ b/firmwareCarroEsp32/src/managerServer.hpp
@@ -0,0 +1,63 @@
+int nCliente = -1;
+WebServer server (80);
+WebSocketsServer webSocket = WebSocketsServer(81);
+
+
+
+void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {
+
+  switch (type) {
+    case WStype_DISCONNECTED:
+      Serial.printf("[%u] Disconnected!\n", num);
+      misMotores.Stop();
+      nCliente =-1;
+      break;
+
+    case WStype_CONNECTED: {
+        IPAddress ip = webSocket.remoteIP(num);
+        Serial.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);
+        webSocket.sendTXT(num, "Connected"); 
+        nCliente = num;         // send message to client
+      }
+      break;
+
+    case WStype_TEXT:
+      //Serial.printf("Número de conexión: %u - Texto recibido: %s\n", num, payload);
+      if (num == 0) {                                           //Únicamente va a reconocer la primera conexión (softAP).
+        String str = (char*)payload;                            //Ejemplo de texto recibido: Velocidad:100 Angulo:-1.88
+        int velocidad = str.substring(str.indexOf(':', str.indexOf("Velocidad:")) + 1, str.indexOf(' ', str.indexOf("Velocidad:"))).toInt();
+        float angulo = str.substring(str.indexOf(':', str.indexOf("Angulo:")) + 1).toFloat();
+
+        //uint8_t velocidadMax = velocidad*255/100;     //La velocidad se envía con valores entre 0 y 100. Se debe mapear a 0-255
+        uint8_t velocidadMax = 85 + velocidad * 170 / 100; //Se corrige el mapeo porque el motor entre los valores 0-84 no se mueve, se mueve ente los valores 85-255
+
+        uint8_t velocidadSin = abs(velocidadMax * sin(angulo));                   //Giro coche rápido
+        //uint8_t velocidadSin = abs(velocidadMax*sin(abs(2*angulo/3)+PI/6));         //Giro coche intermedio
+        //uint8_t velocidadSin = abs(velocidadMax*sin(abs(angulo/2)+PI/4));         //Giro coche lento
+        float anguloCos = cos(angulo);
+
+        //Sentido de giro de los motores
+        if (angulo > 0) {                                       //Primer y segundo cuadrante
+          misMotores.Forward();
+        } else if (angulo < 0) {                                 //Tercer y cuarto cuadrante
+          misMotores.Backward();
+        } else {                                                 //Parado
+          misMotores.Stop();
+        }
+        //Velocidad de los motores
+        uint8_t izq, der;
+        if (anguloCos > 0) {                                    //Primer y cuarto cuadrante
+          izq = velocidadMax;
+          der = velocidadSin;
+        } else {                                                //Segundo y tercer cuadrante
+          izq = velocidadSin;
+          der = velocidadMax;
+        }
+        misMotores.Motores(izq,der);
+        
+        Serial.print(anguloCos); Serial.print("    "); Serial.print(izq); Serial.print("    "); Serial.println(der);
+      }
+      break;
+  }
+}
+
--- a/firmwareCarroEsp32/src/wifi_config.hpp
+++ b/firmwareCarroEsp32/src/wifi_config.hpp
@@ -0,0 +1,28 @@
+#include <Arduino.h>
+#include <WiFi.h>
+#include <WebServer.h>
+#include <WebSocketsServer.h>
+
+const char* ssid = "mdchaparror";
+const char* password = "un260874";
+int contconexion = 0;
+void wifi(){
+//setup wifi
+  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");
+  }
+}