Spideruino Core

spideruino.cpp

const char *ssid = "The cake is a lie.";

ESP8266WebServer server(80);

Servo servoLeft, servoMid, servoRight;

long posLeft = 90, posMid = 90, posRight = 90;

int forward[4][3] = {{70, 95, 60}, {110, 93, 100}, {110, 83, 100}, {80, 85, 70}};
int backward[4][3] = {{70, 95, 60}, {80, 85, 70}, {110, 83, 100}, {110, 93, 100}};
int left[4][3] = {{115, 95, 60}, {100, 98, 100}, {100, 80, 100}, {115, 90, 60}};
int right[4][3] = {{115, 82, 70}, {90, 82, 110}, {90, 95, 110}, {116, 97, 75}};

void setup() {
  Serial.begin(115200);

  servoLeft.attach(13);
  servoMid.attach(12);
  servoRight.attach(14);

  Serial.println();
  Serial.print("Configuring access point...");
  
  WiFi.softAP(ssid);

  IPAddress myIP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(myIP);
	
  server.on("/", handleRoot);
  server.on("/position", handlePosition);
  server.on("/forward", handleForward);
  server.on("/backward", handleBackward);
  server.on("/left", handleLeft);
  server.on("/right", handleRight);
  server.on("/reset", handleReset);
  server.begin();
  Serial.println("HTTP server started. Waiting for client requests...");
}

void loop() {
  server.handleClient();
}

void handleRoot() {
  server.send(200, "text/html", "<h1>You are connected</h1>");
}

void handleForward() {
  handleMovement(forward);
}

void handleMovement(int coords[4][3]) {
  resetPosition();

  for (int i = 0; i <= 3; i++) {
    int left = coords[i][0];
    int mid = coords[i][1];
    int right = coords[i][2];

    run(left, mid, right);

    delay(150);
  }
  responseOK();
}

void run(int left, int mid, int right) {
  servoLeft.write(left);
  servoMid.write(mid);
  servoRight.write(right);
}

void responseOK() {
  server.send(200, "text/plain", "all good");
}