roller w/ 2 motors (wip)
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43
roller2/platformio.ini
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43
roller2/platformio.ini
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; < NOTE >
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; to enable verbose output add option -->
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; $ platformio run --verbose
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; to make this permanent for the proj. -->
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; $ platformio settings set force_verbose Yes
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; then confirm the change -->
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; $ platformio settings get
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; // pio v 4.0 'Build options'
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; - build_type
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; - build_flags
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; - src_build_flags
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; - build_unflags
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; - src_filter
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; - targets
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[platformio]
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default_envs = d1_mini_pro
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[env]
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framework = arduino
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upload_port = /dev/ttyUSB0
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lib_deps =
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721 ; TaskScheduler
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[env:nodemcuv2]
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platform = espressif8266
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board = nodemcuv2
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lib_deps =
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${env.lib_deps}
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upload_speed = 921600 ; 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600
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[env:d1_mini_pro]
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platform = espressif8266
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board = d1_mini_pro
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lib_deps =
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${env.lib_deps}
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upload_speed = 460800 ; 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600
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406
roller2/src/main.cpp
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406
roller2/src/main.cpp
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//
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// wirelessly connected cloud (based on ESP-NOW, a kind of LPWAN?)
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//
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//
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// Conversation about the ROOT @ SEMA storage, Seoul
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//
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//
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// 2021 02 15
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//
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// this module will be an esp-now node in a group.
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// like, a bird in a group of birds.
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//
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// esp-now @ esp8266 w/ broadcast address (FF:FF:FF:FF:FF:FF)
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// always broadcasting. everyone is 'talkative'.
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//
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// then, let it save a value in EEPROM (object with memory=mind?)
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//============<identities>============
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//
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#define MY_GROUP_ID (4000)
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#define MY_ID (MY_GROUP_ID + 401)
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#define MY_SIGN ("ROLLER2")
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//
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//============</identities>============
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//==========<list-of-configurations>===========
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//
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// 'HAVE_CLIENT'
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// --> i have a client. enable the client task.
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//
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// 'SERIAL_SWAP'
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// --> UART pin swapped.
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// you want this, when you want a bi-directional comm. to external client boards (e.g. teensy).
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//
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// 'DISABLE_AP'
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// --> (questioning)...
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//
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// 'HAVE_CLIENT_I2C'
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// --> i have a client w/ I2C i/f. enable the I2C client task.
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//
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//==========</list-of-configurations>==========
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//
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// (EMPTY)
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//============<parameters>============
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//
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#define LED_PERIOD (11111)
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#define LED_ONTIME (1)
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#define LED_GAPTIME (222)
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//
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#define WIFI_CHANNEL 5
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//
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// 'MONITORING_SERIAL'
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//
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// --> sometimes, the 'Serial' is in use (for example, 'osc' node)
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// then, use 'Serial1' - D4/GPIO2/TDX1 @ nodemcu (this is TX only.)
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//
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// --> otherwise, MONITORING_SERIAL == Serial.
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//
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#if defined(SERIAL_SWAP)
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#define MONITORING_SERIAL (Serial1)
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#else
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#define MONITORING_SERIAL (Serial)
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#endif
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//
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//============</parameters>===========
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//============<board-specifics>============
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#if defined(ARDUINO_FEATHER_ESP32) // featheresp32
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#define LED_PIN 13
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#else
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#define LED_PIN 2
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#endif
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//============</board-specifics>===========
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//arduino
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#include <Arduino.h>
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//post & addresses
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#include "../../post.h"
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//espnow
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#include <ESP8266WiFi.h>
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#include <espnow.h>
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//task
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#include <TaskScheduler.h>
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Scheduler runner;
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//-*-*-*-*-*-*-*-*-*-*-*-*-
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// servo
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#define MOTOR_1A (D6)
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#define MOTOR_1B (D5)
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// my tasks
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int speed = 0;
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bool isactive = false;
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void set_speed() {
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int r = speed;
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//
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if (r >= 0) {
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digitalWrite(MOTOR_1A, LOW);
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analogWrite(MOTOR_1B, r);
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} else {
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digitalWrite(MOTOR_1B, LOW);
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analogWrite(MOTOR_1A, r*(-1));
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}
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MONITORING_SERIAL.print("set_speed:");
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MONITORING_SERIAL.println(r);
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isactive = true;
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}
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Task set_speed_task(0, TASK_ONCE, &set_speed);
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//
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void rest() {
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analogWrite(MOTOR_1A, LOW);
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analogWrite(MOTOR_1B, LOW);
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isactive = false;
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}
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Task rest_task(0, TASK_ONCE, &rest);
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//
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uint8_t watch_counter = 0;
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void watcher() {
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if (isactive) {
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if (watch_counter > 3) {
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rest_task.restartDelayed(10);
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watch_counter = 0;
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} else {
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watch_counter++;
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}
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}
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}
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Task watcher_task(1000, TASK_FOREVER, &watcher, &runner, true);
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//
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#define MOTOR_2A (D8)
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#define MOTOR_2B (D7)
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// my tasks
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int speed2 = 0;
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bool isactive2 = false;
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void set_speed2() {
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int r = speed2;
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//
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if (r >= 0) {
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digitalWrite(MOTOR_2A, LOW);
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analogWrite(MOTOR_2B, r);
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} else {
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digitalWrite(MOTOR_2B, LOW);
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analogWrite(MOTOR_2A, r*(-1));
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}
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MONITORING_SERIAL.print("set_speed2:");
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MONITORING_SERIAL.println(r);
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isactive2 = true;
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}
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Task set_speed2_task(0, TASK_ONCE, &set_speed2);
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//
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void rest2() {
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analogWrite(MOTOR_2A, LOW);
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analogWrite(MOTOR_2B, LOW);
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isactive2 = false;
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}
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Task rest2_task(0, TASK_ONCE, &rest2);
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//
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uint8_t watch2_counter = 0;
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void watcher2() {
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if (isactive2) {
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if (watch2_counter > 3) {
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rest2_task.restartDelayed(10);
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watch2_counter = 0;
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} else {
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watch2_counter++;
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}
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}
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}
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Task watcher2_task(1000, TASK_FOREVER, &watcher2, &runner, true);
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//*-*-*-*-*-*-*-*-*-*-*-*-*
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//
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extern Task hello_task;
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static int hello_delay = 2000;
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void hello() {
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//
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byte mac[6];
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WiFi.macAddress(mac);
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uint32_t mac32 = (((((mac[2] << 8) + mac[3]) << 8) + mac[4]) << 8) + mac[5];
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//
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Hello hello(String(MY_SIGN), MY_ID, mac32); // the most basic 'hello'
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// and you can append some floats
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static int count = 0;
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count++;
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hello.h1 = (count % 1000);
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hello.h2 = speed;
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hello.h3 = (isactive ? 1 : 0);
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hello.h4 = speed2;
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//
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uint8_t frm_size = sizeof(Hello) + 2;
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uint8_t frm[frm_size];
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frm[0] = '{';
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memcpy(frm + 1, (uint8_t *) &hello, sizeof(Hello));
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frm[frm_size - 1] = '}';
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//
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esp_now_send(NULL, frm, frm_size); // to all peers in the list.
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//
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MONITORING_SERIAL.write(frm, frm_size);
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MONITORING_SERIAL.println(" ==(esp_now_send/0)==> ");
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//
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if (hello_delay > 0) {
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if (hello_delay < 100) hello_delay = 100;
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hello_task.restartDelayed(hello_delay);
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}
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}
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Task hello_task(0, TASK_ONCE, &hello, &runner, false);
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//task #0 : blink led
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extern Task blink_task;
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void blink() {
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//
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static int count = 0;
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count++;
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//
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switch (count % 4) {
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case 0:
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digitalWrite(LED_PIN, LOW); // first ON
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blink_task.delay(LED_ONTIME);
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break;
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case 1:
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digitalWrite(LED_PIN, HIGH); // first OFF
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blink_task.delay(LED_GAPTIME);
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break;
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case 2:
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digitalWrite(LED_PIN, LOW); // second ON
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blink_task.delay(LED_ONTIME);
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break;
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case 3:
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digitalWrite(LED_PIN, HIGH); // second OFF
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blink_task.delay(LED_PERIOD - 2* LED_ONTIME - LED_GAPTIME);
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break;
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}
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}
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Task blink_task(0, TASK_FOREVER, &blink, &runner, true); // -> ENABLED, at start-up.
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// on 'Note'
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void onNoteHandler(Note & n) {
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//is it for me?
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if (n.id == MY_GROUP_ID || n.id == MY_ID) {
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//
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if (n.pitch == 0) {
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speed = n.velocity;
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//
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if (n.onoff == 1) {
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set_speed_task.restartDelayed(10);
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watch_counter = 0;
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} else if (n.onoff == 0) {
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rest_task.restartDelayed(10);
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}
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}
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//
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else if (n.pitch == 1) {
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speed2 = n.velocity;
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//
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if (n.onoff == 1) {
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set_speed2_task.restartDelayed(10);
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watch2_counter = 0;
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} else if (n.onoff == 0) {
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rest2_task.restartDelayed(10);
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}
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}
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//
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}
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}
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// on 'receive'
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void onDataReceive(uint8_t * mac, uint8_t *incomingData, uint8_t len) {
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//
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//MONITORING_SERIAL.write(incomingData, len);
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//
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#if defined(HAVE_CLIENT)
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Serial.write(incomingData, len); // we pass it over to the client.
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#endif
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// open => identify => use.
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if (incomingData[0] == '{' && incomingData[len - 1] == '}' && len == (sizeof(Hello) + 2)) {
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Hello hello("");
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memcpy((uint8_t *) &hello, incomingData + 1, sizeof(Hello));
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//
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MONITORING_SERIAL.println(hello.to_string());
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//
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}
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// open => identify => use.
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if (incomingData[0] == '[' && incomingData[len - 1] == ']' && len == (sizeof(Note) + 2)) {
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Note note;
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memcpy((uint8_t *) ¬e, incomingData + 1, sizeof(Note));
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onNoteHandler(note);
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//is it for me?
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if (note.id == MY_GROUP_ID || note.id == MY_ID) {
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hello_delay = note.ps;
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if (hello_delay > 0 && hello_task.isEnabled() == false) {
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hello_task.restart();
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}
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}
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MONITORING_SERIAL.println(note.to_string());
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}
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}
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// on 'sent'
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void onDataSent(uint8_t *mac_addr, uint8_t sendStatus) {
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if (sendStatus != 0) MONITORING_SERIAL.println("Delivery failed!");
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}
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//
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void setup() {
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//led
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pinMode(LED_PIN, OUTPUT);
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//pwm freq.
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analogWriteFreq(40000);
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//serial
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Serial.begin(115200);
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delay(100);
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//info
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Serial.println();
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Serial.println();
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Serial.println("\"hi, i m your postman.\"");
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Serial.println("-");
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Serial.println("- my id: " + String(MY_ID) + ", gid: " + String(MY_GROUP_ID) + ", call me ==> \"" + String(MY_SIGN) + "\"");
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Serial.println("- mac address: " + WiFi.macAddress() + ", channel: " + String(WIFI_CHANNEL));
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#if defined(HAVE_CLIENT)
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Serial.println("- ======== 'HAVE_CLIENT' ========");
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#endif
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#if defined(SERIAL_SWAP)
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Serial.println("- ======== 'SERIAL_SWAP' ========");
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#endif
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#if defined(DISABLE_AP)
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Serial.println("- ======== 'DISABLE_AP' ========");
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#endif
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#if defined(HAVE_CLIENT_I2C)
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Serial.println("- ======== 'HAVE_CLIENT_I2C' ========");
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#endif
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Serial.println("-");
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//wifi
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WiFiMode_t node_type = WIFI_AP_STA;
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#if defined(DISABLE_AP)
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system_phy_set_max_tpw(0);
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node_type = WIFI_STA;
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#endif
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WiFi.mode(node_type);
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//esp-now
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if (esp_now_init() != 0) {
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Serial.println("Error initializing ESP-NOW");
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return;
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}
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esp_now_set_self_role(ESP_NOW_ROLE_COMBO);
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esp_now_register_send_cb(onDataSent);
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esp_now_register_recv_cb(onDataReceive);
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//
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Serial.println("- ! (esp_now_add_peer) ==> add a 'broadcast peer' (FF:FF:FF:FF:FF:FF).");
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uint8_t broadcastmac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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esp_now_add_peer(broadcastmac, ESP_NOW_ROLE_COMBO, 1, NULL, 0);
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//
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Serial.println("-");
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Serial.println("\".-.-.-. :)\"");
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Serial.println();
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#if defined(SERIAL_SWAP)
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Serial.println("- ======== 'SERIAL_SWAP' ========");
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// a proper say goodbye.
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Serial.println("\"bye, i will do 'swap' in 1 second. find me on alternative pins!\"");
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Serial.println("\" hint: osc wiring ==> esp8266(serial.swap) <-> teensy(serial3)\"");
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Serial.println("-");
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Serial.println("\".-.-.-. :)\"");
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delay(1000); // flush out unsent serial messages.
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// moving...
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Serial.swap(); // use RXD2/TXD2 pins, afterwards.
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delay(100); // wait re-initialization of the 'Serial'
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#endif
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//random seed
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randomSeed(analogRead(0));
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//tasks
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runner.addTask(set_speed_task);
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runner.addTask(rest_task);
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rest_task.restartDelayed(500);
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//
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runner.addTask(set_speed2_task);
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runner.addTask(rest2_task);
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rest2_task.restartDelayed(500);
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}
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void loop() {
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//
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runner.execute();
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//
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}
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