Merge branch 'master' of git.uclalemur.com:mehtank/paperbot

26946de8 · mehtank · 26946de8 · 26946de8 · 26946de8 · 26946de8
Commit 26946de8 authored Feb 21, 2017 by mehtank
10 changed files
--- a/README.md
+++ b/README.md
+## Wireless Servo Control, with ESP as Access Point
+
+### Usage: 
+- Connect phone or laptop to "ESP_XXXX" wireless network, where XXXX is the ID of the robot
+- Go to 192.168.4.1. 
+- A webpage with four buttons should appear. Click them to move the robot.
+
+### Installation: 
+- In Arduino, go to Tools > ESP8266 Sketch Data Upload to upload the files from ./data to the ESP
+- Then, in Arduino, compile and upload sketch to the ESP
+
+### Requirements:
+#### Arduino support for ESP8266 board
+- In Arduino, add URL to Files > Preferences > Additional Board Managers URL.
+- See https://learn.sparkfun.com/tutorials/esp8266-thing-hookup-guide/installing-the-esp8266-arduino-addon
+
+#### Websockets library
+- To install, Sketch > Include Library > Manage Libraries... > Websockets > Install
+- https://github.com/Links2004/arduinoWebSockets
+
+#### ESP8266FS tool
+- To install, create "tools" folder in Arduino, download, and unzip. See 
+- https://github.com/esp8266/Arduino/blob/master/doc/filesystem.md#uploading-files-to-file-system
+
+### Hardware: 
+- NodeMCU Amica DevKit Board (ESP8266 chip)
+- Motorshield for NodeMCU 
+- 2 continuous rotation servos plugged into motorshield pins D1, D2
+- Paper chassis (see below)
+
+Red lines: cut / 
+Blue dotted lines: mountain fold / 
+Green dotted lines: valley fold
+![Paper chassis](/paperbot.png "Paper chassis")
+
--- a/data/controls.html
+++ b/data/controls.html
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset=utf-8 />
+  <title>whooo control robots</title>
+
+  <link rel="stylesheet" type="text/css" href="style.css">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
+</head>
+
+<body>
+  <h1>Yay Robots!</h1>
+
+  <table width="100%">
+    <tr>
+      <td>
+        <input type="range" name="slide" id="ltSlider" orient="vertical" min=0 max=180 value=90/>
+      </td>
+      <td>
+        <table class=btns>
+          <tr>
+            <td><button id="leftup"    name="bt" value="UL" class="smbutton">⏫</button></td>
+            <td><button id="forward"   name="bt" value="FD" class="button">▲</button></td>
+            <td><button id="rightup"   name="bt" value="UR" class="smbutton">⏫</button></td>
+          </tr>
+          <tr>
+            <td><button id="left"      name="bt" value="LT" class="button">◀</button></td>
+            <td><button id="center"    name="bt" value="CC" class="smbutton">❤</button></td>
+            <td><button id="right"     name="bt" value="RT" class="button">▶</button></td>
+          </tr>
+          <tr>
+            <td><button id="leftdown"  name="bt" value="DL" class="smbutton">⏬</button></td>
+            <td><button id="backward"  name="bt" value="BK" class="button">▼</button></td>
+            <td><button id="rightdown" name="bt" value="DR" class="smbutton">⏬</button></td>
+            <td></td>
+          </tr>
+        </table>
+      </td>
+      <td>
+        <input type="range" name="slide" id="rtSlider" orient="vertical" min=0 max=180 value=90/>
+      </td>
+    </tr>
+  </table>
+
+  <table class=wslog> <tr>
+      <td width="50%" valign="top">
+        <div id="wsRx" class="log"></div>
+      </td>
+      <td width="50%" valign="top">
+        <div id="wsTx" class="log"></div>
+      </td>
+  </tr></table>
+
+  <script>
+    /* Handle button / slider clicks + touches */
+
+    window.onload = function () {
+      var ltSlider = document.getElementById("ltSlider");
+      var rtSlider = document.getElementById("rtSlider");
+
+      var btns = document.getElementsByName("slide");
+      for (var i = 0; i < btns.length; i++) {
+          btns[i].oninput = function(e) {sliderSend(); e.stopPropagation(); e.preventDefault();};
+          btns[i].onchange = function() {btnRelease(); e.stopPropagation(); e.preventDefault();}
+      }
+
+      var btns = document.getElementsByName("bt");
+      for (var i = 0; i < btns.length; i++) {
+          btns[i].ontouchstart = function(e) {btnSend(this.value); e.stopPropagation(); e.preventDefault();};
+          btns[i].onmousedown = function(e) {btnSend(this.value); e.stopPropagation(); e.preventDefault();};
+          btns[i].ontouchend = function() {btnRelease(); e.stopPropagation(); e.preventDefault();}
+          btns[i].onmouseup = function() {btnRelease(); e.stopPropagation(); e.preventDefault();}
+      }
+    }
+
+    /* Handle keyboard commands */
+    document.onkeydown = function(e) {
+        e = e || window.event;
+        switch(e.which || e.keyCode) {
+        case 38:
+            btnSend("FD");
+            console.log("Up key");
+            break;
+        case 40:
+            btnSend("BK");
+            console.log("Down key");
+            break;
+        case 37:
+            btnSend("LT");
+            console.log("Left key");
+            break;
+        case 39:
+            btnSend("RT");
+            console.log("Right key");
+            break;
+      }
+    }
+    document.onkeyup = function(e) {
+        btnRelease();
+        console.log("Key up");
+    }
+
+    /* Logging */
+    var wsRx = document.getElementById("wsRx");
+    var wsTx = document.getElementById("wsTx");
+    function rxLog(text) {
+      wsRx.innerHTML = text + wsRx.innerHTML.split("<br>").slice(0, 4).join("<br>") ;
+    }
+    function txLog(text) {
+      wsTx.innerHTML = text + wsTx.innerHTML.split("<br>").slice(0, 4).join("<br>") ;
+    }
+
+    /* WebSocket utilities */
+    var connection = new WebSocket('ws://'+location.hostname+':81/', ['arduino']);
+    connection.onopen = function(){
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : CONNECTED <br>";
+      connection.send('Connect ' + new Date()); 
+      txLog(text);
+    };
+    connection.onerror = function(error){
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : EE = " + error + "<br>";
+      console.log('WebSocket Error ', error);
+      txLog(text);
+    };
+    connection.onmessage = function(e){
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : RX = " + e.data + "<br>";
+      console.log('Server: ', e.data);
+      rxLog(text);
+    };
+
+    /* Commands */
+
+    function sliderSend() {
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : TX = ~(" + ltSlider.value + ", " + rtSlider.value + ")<br>";
+      txLog(text);
+
+      var bbuf = new Uint8Array(3);
+      bbuf[0] = 126; // ~
+      bbuf[1] = ltSlider.value;
+      bbuf[2] = rtSlider.value;
+
+      console.log("Slider moved, sending ~(" + ltSlider.value + ", " + rtSlider.value + ")");
+      connection.send(bbuf.buffer);
+    }
+
+    function btnSend(val) {
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : TX = #" + val + "<br>";
+      txLog(text);
+
+      console.log('Button pressed, sending #'+val); 
+      connection.send('#'+val);
+    }
+
+    function btnRelease() {
+      var timeStr = new Date().toLocaleTimeString();
+      var text = "(" + timeStr + ") : TX = #0<br>";
+      txLog(text);
+
+      ltSlider.value = 90;
+      rtSlider.value = 90;
+
+      console.log('Button released'); 
+      connection.send('#0');
+    }
+
+  </script>
+
+
+  </body>
+</html>
--- a/data/style.css
+++ b/data/style.css
+h1 {
+  text-align: center;
+}
+
+.btns {
+    width: 200px;
+    text-align: center;
+    margin: 0 auto;
+}
+
+.wslog {
+  width: 100%;
+}
+
+button {
+  background-color:#ffaa42;
+  -moz-border-radius:13px;
+  -webkit-border-radius:13px;
+  border-radius:13px;
+  display:inline-block;
+  cursor:pointer;
+  color:#ffffff;
+  font-family:Arial;
+  font-size:20px;
+  font-weight:bold;
+  padding:20px 20px;
+  text-decoration:none;
+
+  -webkit-touch-callout: none; /* iOS Safari */
+    -webkit-user-select: none; /* Chrome/Safari/Opera */
+     -khtml-user-select: none; /* Konqueror */
+       -moz-user-select: none; /* Firefox */
+        -ms-user-select: none; /* Internet Explorer/Edge */
+            user-select: none; /* Non-prefixed version, currently */
+}
+
+.smbutton {
+  padding: 5px 5px;
+}
+
+button:hover {
+  background-color:#ff8c00;
+}
+
+button:active {
+  position:relative;
+  top:1px;
+}
+
+button:focus {
+  outline:0;
+}
+
+input[type=range][orient=vertical]
+{
+    writing-mode: bt-lr; /* IE */
+    -webkit-appearance: slider-vertical; /* WebKit */
+    width: 10px;
+    height: 200px;
+    padding: 0 0;
+}
--- a/debug.h
+++ b/debug.h
+#ifndef __DEBUG_H
+#define __DEBUG_H
+
+#  define DEBUG_ENABLED
+
+#  ifndef DEBUG_ENABLED
+#    define DEBUG1(str) (void)0
+#    define DEBUG2(str, var) (void)0
+#  else
+#    define DEBUG1(str) Serial.println(str)
+#    define DEBUG2(str, var) {Serial.print(str); Serial.println(var);}
+#  endif
+
+#  define GET_MACRO(_1,_2,NAME,...) NAME
+#  define DEBUG(...) GET_MACRO(__VA_ARGS__, DEBUG2, DEBUG1)(__VA_ARGS__)
+
+#  define LED_PIN D0
+#  define LED_ON digitalWrite(LED_PIN, LOW)
+#  define LED_OFF digitalWrite(LED_PIN, HIGH)
+
+#endif
--- a/file.cpp
+++ b/file.cpp
+#include <Arduino.h>
+#include "debug.h"
+
+#include <FS.h>
+
+bool isFileSetup = false;
+
+void setupFile() {
+    DEBUG("Prepare file system");
+    SPIFFS.begin();
+    isFileSetup = true;
+}
+
+String loadFile(const char* filename) {
+    if (!isFileSetup)
+        setupFile();
+
+    File file = SPIFFS.open(filename, "r");
+    if (!file) {
+        DEBUG("File open failed");  
+    } else {
+        DEBUG("File open success");
+
+        String text = "";
+        while (file.available()) {
+            text += file.readStringUntil('\n');
+            text += "\n";
+        }
+        file.close();
+        return text;
+    }
+}
--- a/file.h
+++ b/file.h
+#ifndef __FILE_H
+#define __FILE_H
+
+void setupFile();
+String loadFile(const char* filename);
+
+#endif
--- a/paperbot.ino
+++ b/paperbot.ino
+/*
+  Wireless Servo Control, with ESP as Access Point
+
+  Usage: 
+    Connect phone or laptop to "ESP_XXXX" wireless network, where XXXX is the ID of the robot
+    Go to 192.168.4.1. 
+    A webpage with four buttons should appear. Click them to move the robot.
+
+  Installation: 
+    In Arduino, go to Tools > ESP8266 Sketch Data Upload to upload the files from ./data to the ESP
+    Then, in Arduino, compile and upload sketch to the ESP
+
+  Requirements:
+    Arduino support for ESP8266 board
+      In Arduino, add URL to Files > Preferences > Additional Board Managers URL.
+      See https://learn.sparkfun.com/tutorials/esp8266-thing-hookup-guide/installing-the-esp8266-arduino-addon
+
+    Websockets library
+      To install, Sketch > Include Library > Manage Libraries... > Websockets > Install
+      https://github.com/Links2004/arduinoWebSockets
+    
+    ESP8266FS tool
+      To install, create "tools" folder in Arduino, download, and unzip. See 
+      https://github.com/esp8266/Arduino/blob/master/doc/filesystem.md#uploading-files-to-file-system
+
+  Hardware: 
+  * NodeMCU Amica DevKit Board (ESP8266 chip)
+  * Motorshield for NodeMCU 
+  * 2 continuous rotation servos plugged into motorshield pins D1, D2
+  * Paper chassis
+
+*/
+
+#include <Arduino.h>
+
+#include <Hash.h>
+#include <FS.h>
+#include <ESP8266WiFi.h>
+#include <WiFiClient.h>
+#include <ESP8266WebServer.h>
+#include <WebSocketsServer.h>
+#include <ESP8266mDNS.h>
+
+#include <Servo.h>
+
+#include "debug.h"
+#include "file.h"
+#include "server.h"
+
+
+const int SERVO_LEFT = D1;
+const int SERVO_RIGHT = D2;
+Servo servo_left;
+Servo servo_right;
+int servo_left_ctr = 90;
+int servo_right_ctr = 90;
+
+
+// WiFi AP parameters
+char ap_ssid[13];
+char* ap_password = "";
+
+// WiFi STA parameters
+char* sta_ssid = 
+  "...";
+char* sta_password = 
+  "...";
+
+char* mDNS_name = "paperbot";
+
+String html;
+String css;
+
+void setup() {
+    setupPins();
+
+    sprintf(ap_ssid, "ESP_%08X", ESP.getChipId());
+
+    for(uint8_t t = 4; t > 0; t--) {
+        Serial.printf("[SETUP] BOOT WAIT %d...\n", t);
+        Serial.flush();
+        LED_ON;
+        delay(500);
+        LED_OFF;
+        delay(500);
+    }
+    LED_ON;
+    //setupSTA(sta_ssid, sta_password);
+    setupAP(ap_ssid, ap_password);
+    LED_OFF;
+
+    setupFile();
+    html = loadFile("/controls.html");
+    css = loadFile("/style.css");
+    registerPage("/", "text/html", html);
+    registerPage("/style.css", "text/css", css);
+
+    setupHTTP();
+    setupWS(webSocketEvent);
+    //setupMDNS(mDNS_name);
+
+    stop();
+}
+
+void loop() {
+    wsLoop();
+    httpLoop();
+}
+
+
+//
+// Movement Functions //
+//
+
+void drive(int left, int right) {
+  servo_left.write(left);
+  servo_right.write(right);
+}
+
+void stop() {
+  DEBUG("stop");
+  drive(servo_left_ctr, servo_right_ctr);
+  LED_OFF;
+}
+
+void forward() {
+  DEBUG("forward");
+  drive(0, 180);
+}
+
+void backward() {
+  DEBUG("backward");
+  drive(180, 0);
+}
+
+void left() {
+  DEBUG("left");
+  drive(180, 180);
+}
+
+void right() {
+  DEBUG("right");
+  drive(0, 0);
+}
+
+
+
+//
+// Setup //
+//
+
+void setupPins() {
+    // setup Serial, LEDs and Motors
+    Serial.begin(115200);
+    DEBUG("Started serial.");
+
+    pinMode(LED_PIN, OUTPUT);    //Pin D0 is LED
+    LED_OFF;                     //Turn off LED
+    DEBUG("Setup LED pin.");
+
+    servo_left.attach(SERVO_LEFT);
+    servo_right.attach(SERVO_RIGHT);
+    DEBUG("Setup motor pins");
+}
+
+void webSocketEvent(uint8_t id, WStype_t type, uint8_t * payload, size_t length) {
+
+    switch(type) {
+        case WStype_DISCONNECTED:
+            DEBUG("Web socket disconnected, id = ", id);
+            break;
+        case WStype_CONNECTED: 
+        {
+            // IPAddress ip = webSocket.remoteIP(id);
+            // Serial.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", id, ip[0], ip[1], ip[2], ip[3], payload);
+            DEBUG("Web socket connected, id = ", id);
+
+            // send message to client
+            wsSend(id, "Connected to ");
+            wsSend(id, ap_ssid);
+            break;
+        }
+        case WStype_BIN:
+            DEBUG("On connection #", id)
+            DEBUG("  got binary of length ", length);
+            for (int i = 0; i < length; i++)
+              DEBUG("    char : ", payload[i]);
+
+            if (payload[0] == '~') 
+              drive(180-payload[1], payload[2]);
+
+        case WStype_TEXT:
+            DEBUG("On connection #", id)
+            DEBUG("  got text: ", (char *)payload);
+
+            if (payload[0] == '#') {
+                if(payload[1] == 'C') {
+                  LED_ON;
+                  wsSend(id, "Hello world!");
+                }
+                else if(payload[1] == 'F') 
+                  forward();
+                else if(payload[1] == 'B') 
+                  backward();
+                else if(payload[1] == 'L') 
+                  left();
+                else if(payload[1] == 'R') 
+                  right();
+                else if(payload[1] == 'U') {
+                  if(payload[2] == 'L') 
+                    servo_left_ctr -= 1;
+                  else if(payload[2] == 'R') 
+                    servo_right_ctr += 1;
+                  char tx[20] = "Zero @ (xxx, xxx)";
+                  sprintf(tx, "Zero @ (%3d, %3d)", servo_left_ctr, servo_right_ctr);
+                  wsSend(id, tx);
+                }
+                else if(payload[1] == 'D') {
+                  if(payload[2] == 'L') 
+                    servo_left_ctr += 1;
+                  else if(payload[2] == 'R') 
+                    servo_right_ctr -= 1;
+                  char tx[20] = "Zero @ (xxx, xxx)";
+                  sprintf(tx, "Zero @ (%3d, %3d)", servo_left_ctr, servo_right_ctr);
+                  wsSend(id, tx);
+                }
+                else 
+                  stop();
+            }
+
+            break;
+    }
+}
--- a/paperbot.png
+++ b/paperbot.png
--- a/server.cpp
+++ b/server.cpp
+#include <Arduino.h>
+#include "server.h"
+#include "debug.h"
+
+#include <ESP8266WiFi.h>
+#include <WiFiClient.h>
+
+#include <ESP8266WebServer.h>
+#include <WebSocketsServer.h>
+
+#include <ESP8266mDNS.h>
+
+#define STA_MAXTRIES 10
+
+ESP8266WebServer httpServer = ESP8266WebServer(80);
+WebSocketsServer wsServer = WebSocketsServer(81);
+
+//
+// Setup //
+//
+
+void setupSTA(char* ssid, char* password) {
+    DEBUG("Connecting to STA");
+    WiFi.begin(ssid, password);
+
+    int tries = 0;
+    while (WiFi.status() != WL_CONNECTED) {
+        if (tries++ > STA_MAXTRIES) {
+            DEBUG("  giving up.");
+            return;
+        }
+        delay(500);
+        DEBUG("  ... waiting");
+    }
+
+    IPAddress myIP = WiFi.localIP();
+    DEBUG("STA IP address: ");
+    DEBUG(myIP.toString());
+}
+
+void setupAP(char* ssid, char* password) {
+    WiFi.softAP(ssid, password);
+
+    IPAddress myIP = WiFi.softAPIP();
+    DEBUG("AP IP address: ");
+    DEBUG(myIP.toString());
+}
+
+void registerPage(const char* url, const char* type, String &content) {
+    httpServer.on(url,  [&type, &content]() { httpServer.send(200, type, content); }); 
+}
+
+void setupHTTP() {
+    httpServer.begin();
+}
+
+void setupWS(ws_callback_t callback) {
+    // start webSocket server
+    wsServer.begin();
+    wsServer.onEvent(callback);
+}
+
+void setupMDNS(char* name) {
+    if(MDNS.begin(name)) {
+        // Add services to mDNS
+        MDNS.addService("http", "tcp", 80);
+        MDNS.addService("ws", "tcp", 81);
+        DEBUG("mDNS responder started");
+    } else {
+        DEBUG("mDNS failed\n");
+    }
+}
+
+void httpLoop() {
+	httpServer.handleClient();                                                       
+}
+
+void wsLoop() {
+	wsServer.loop();
+}
+
+void wsSend(int id, char* txt) {
+    wsServer.sendTXT(id, txt);
+