170 lines
3.4 KiB
C++
170 lines
3.4 KiB
C++
//motor A connected between A01 and A02
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//motor B connected between B01 and B02
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// http://opensource.org/licenses/mit-license.php
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#include <WiFly.h>
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#include <SPI.h>
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int STBY = 10; //standby
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//Motor A
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int PWMA = 3; //Speed control
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int AIN1 = 9; //Direction
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int AIN2 = 8; //Direction
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//Motor B
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int PWMB = 5; //Speed control
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int BIN1 = 11; //Direction
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int BIN2 = 12; //Direction
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int infoled = 13;
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//char ssid[] = "Chua Family";
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//char passphrase[] = "chua2680";
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WiFlyServer server(44);
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String readString = "";
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String dir;
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void setup(){
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Serial.begin(9600);
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pinMode(STBY, OUTPUT);
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pinMode(PWMA, OUTPUT);
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pinMode(AIN1, OUTPUT);
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pinMode(AIN2, OUTPUT);
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pinMode(PWMB, OUTPUT);
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pinMode(BIN1, OUTPUT);
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pinMode(BIN2, OUTPUT);
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WiFly.setUart(&Serial);
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WiFly.begin(true);
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// if (!WiFly.join(ssid, passphrase)) {
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if (!WiFly.createAdHocNetwork("wifly")) {
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while (1) {
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// Hang on failure.
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digitalWrite(infoled, HIGH);
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delay(300);
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digitalWrite(infoled, LOW);
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delay(500);
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}
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}
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Serial.println(WiFly.ip());
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server.begin();
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}
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void loop() {
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WiFlyClient client = server.available();
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if (client) {
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digitalWrite(infoled, HIGH);
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while (client.connected()) {
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if (client.available()) {
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char c = client.read();
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// if (readString.length() < 100) {
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// readString += c;
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// }
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String d = (String) c;
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parseanddo(d);
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// client.println("LEEEEEEL: " + d);
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}
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}
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// give the web browser time to receive the data
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// delay(200);
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readString = "";
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client.stop();
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digitalWrite(infoled, LOW);
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}
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}
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void parseanddo(String incar) {
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if (incar == "w") {
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move(1, 255, 0);
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move(2, 255, 0);
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}
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else if (incar == "s") {
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move(1, 255, 1);
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move(2, 255, 1);
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}
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else if (incar == "a") {
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move(1, 255, 0);
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move(2, 0, 0);
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}
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else if (incar == "d") {
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move(1, 0, 0);
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move(2, 255, 0);
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}
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else if (incar == "q") {
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move(1, 255, 0);
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move(2, 127, 0);
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}
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else if (incar == "e") {
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move(1, 127, 0);
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move(2, 255, 0);
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}
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else {
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stop();
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}
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}
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//void blink() {
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//
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// digitalWrite(infoled, HIGH);
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// delay(300);
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// digitalWrite(infoled, LOW);
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// delay(500);
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// digitalWrite(infoled, HIGH);
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// delay(300);
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// digitalWrite(infoled, LOW);
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// delay(500);
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// digitalWrite(infoled, HIGH);
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// delay(300);
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// digitalWrite(infoled, LOW);
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// delay(500);
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// digitalWrite(infoled, HIGH);
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// delay(300);
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// digitalWrite(infoled, LOW);
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// delay(500);
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// digitalWrite(infoled, HIGH);
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// delay(300);
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// digitalWrite(infoled, LOW);
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// delay(500);
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//
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//}
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void move(int motor, int speed, int direction){
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//Move specific motor at speed and direction
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//motor: 0 for B 1 for A
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//speed: 0 is off, and 255 is full speed
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//direction: 0 clockwise, 1 counter-clockwise
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digitalWrite(STBY, HIGH); //disable standby
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boolean inPin1 = LOW;
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boolean inPin2 = HIGH;
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if(direction == 1){
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inPin1 = HIGH;
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inPin2 = LOW;
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}
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if(motor == 1){
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digitalWrite(AIN1, inPin1);
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digitalWrite(AIN2, inPin2);
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analogWrite(PWMA, speed);
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}
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else{
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digitalWrite(BIN1, inPin1);
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digitalWrite(BIN2, inPin2);
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analogWrite(PWMB, speed);
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}
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}
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void stop(){
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//enable standby
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digitalWrite(STBY, LOW);
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}
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