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This commit is contained in:
Martin Daniel Chaparro Ruiz
2020-07-16 23:08:21 -05:00
parent 7604f25fca
commit de90a43021
10 changed files with 427 additions and 75 deletions
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12
firmwareCarroEsp32/.vscode/extensions.json vendored
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@@ -1,7 +1,7 @@
{ {
// See http://go.microsoft.com/fwlink/?LinkId=827846 // See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format // for the documentation about the extensions.json format
"recommendations": [ "recommendations": [
"platformio.platformio-ide" "platformio.platformio-ide"
] ]
} }

222
firmwareCarroEsp32/data/index.html Normal file
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@@ -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>

7
firmwareCarroEsp32/platformio.ini
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@@ -13,4 +13,9 @@ platform = espressif32
board = mhetesp32devkit board = mhetesp32devkit
framework = arduino framework = arduino
monitor_speed = 115200 monitor_speed = 115200
upload_protocol = espota
upload_port = 192.168.1.109
upload_flags =
--port=3232
--auth=un260874

42
firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp
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@@ -1,10 +1,6 @@
# include "Arduino.h" # include "Arduino.h"
# include "OpenTB6612FNG.h" # include "OpenTB6612FNG.h"
OpenTB6612FNG::OpenTB6612FNG(int TP) { OpenTB6612FNG::OpenTB6612FNG(int TP) {
pinMode(AIN1, OUTPUT); pinMode(AIN1, OUTPUT);
@@ -13,47 +9,16 @@ OpenTB6612FNG::OpenTB6612FNG(int TP) {
pinMode(BIN1, OUTPUT); pinMode(BIN1, OUTPUT);
pinMode(BIN2, OUTPUT); pinMode(BIN2, OUTPUT);
pinMode(PWMB, OUTPUT); pinMode(PWMB, OUTPUT);
analogWriteFreq(20000); analogWriteResolution(10);
analogWriteRange(255); analogWriteFrequency(10000);
} }
void OpenTB6612FNG::MotorIz(int value) { 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); analogWrite(MOTOR_IZQ, value);
} }
void OpenTB6612FNG::MotorDe(int 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); analogWrite(MOTOR_DER, value);
} }
@@ -78,9 +43,6 @@ void OpenTB6612FNG::Backward()
digitalWrite(BIN2, HIGH); digitalWrite(BIN2, HIGH);
} }
void OpenTB6612FNG::Stop() void OpenTB6612FNG::Stop()
{ {
digitalWrite(AIN1, LOW); digitalWrite(AIN1, LOW);

15
firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.h
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@@ -1,12 +1,13 @@
#ifndef OpenTB6612FNG_h #ifndef OpenTB6612FNG_h
#define OpenTB6612FNG_h #define OpenTB6612FNG_h
#include "Arduino.h" #include "Arduino.h"
#define PWMA D1 #include <analogWrite.h>
#define AIN1 D2 #define PWMA 33
#define AIN2 D3 #define AIN1 26
#define BIN1 D4 #define AIN2 25
#define BIN2 D5 #define BIN1 27
#define PWMB D6 #define BIN2 14
#define PWMB 13
#define MOTOR_IZQ PWMB #define MOTOR_IZQ PWMB
#define MOTOR_DER PWMA #define MOTOR_DER PWMA
@@ -14,7 +15,7 @@
class OpenTB6612FNG{ class OpenTB6612FNG{
public: public:
OpenTB6612FNG(int TP); OpenTB6612FNG(int TP);
void MotorIz(int value); void MotorIz(int value);
void MotorDe(int value); void MotorDe(int value);
void Motores(int left, int righ); void Motores(int left, int righ);

32
firmwareCarroEsp32/src/carroEsp32.h
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@@ -1,10 +1,10 @@
#ifndef CARROESP32_h #ifndef CARROESP32_h
#define CARROESP32_h #define CARROESP32_h
#define OUT1 A13 #define OUT1 36
#define OUT2 A16 #define OUT2 39
#define OUT3 A15 #define OUT3 34
#define OUT4 A10 #define OUT4 35
#define OUT5 A14 #define OUT5 32
int sensores[5] = {0, 0, 0, 0, 0}; int sensores[5] = {0, 0, 0, 0, 0};
@@ -15,6 +15,7 @@ void readSensors()
sensores[2] = analogRead(OUT3); sensores[2] = analogRead(OUT3);
sensores[3] = analogRead(OUT4); sensores[3] = analogRead(OUT4);
sensores[4] = analogRead(OUT5); sensores[4] = analogRead(OUT5);
} }
void printSensores() void printSensores()
@@ -35,8 +36,27 @@ void init_sensores(){
pinMode(OUT5, INPUT); 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;
}
}

9
firmwareCarroEsp32/src/config_ota.hpp Normal file
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@@ -0,0 +1,9 @@
void ota_init()
{
ArduinoOTA.setHostname("OtaEsp32");
ArduinoOTA.setPassword((const char *)"un260874");
ArduinoOTA.setPort(3232);
ArduinoOTA.begin();
}

72
firmwareCarroEsp32/src/main.cpp
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@@ -1,30 +1,72 @@
#include <Arduino.h> #include <Arduino.h>
#include "BluetoothSerial.h"
#include "carroEsp32.h" #include "carroEsp32.h"
#include "OpenTB6612FNG/OpenTB6612FNG.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); OpenTB6612FNG misMotores(0);
BluetoothSerial ESP_BT; //Object for Bluetooth
#include "managerServer.hpp"
void setup() { void setup()
init_sensores(); {
Serial.begin(115200); 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"); 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() { void loop()
misMotores.Forward(); {
misMotores.Motores(255,255); }
if (ESP_BT.available()) //Check if we receive anything from Bluetooth void loop1(void *pvParameters)
{
for (;;)
{ {
//incoming = ESP_BT.read(); //Read what we recevive webSocket.loop();
Serial.print("Received:"); Serial.println(ESP_BT.read()); 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);
}
}
}

63
firmwareCarroEsp32/src/managerServer.hpp Normal file
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@@ -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;
}
}

28
firmwareCarroEsp32/src/wifi_config.hpp Normal file
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@@ -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");
}
}