Fabulous Car!

README.md

Fabulous Car

This is an attempt to make it easy to control motors with a remote control over wifi using the ESP8266 board.

fabulous-car-continuous-servo.ino

// CODE FOR REMOTE CONTROLLED CAR USING 2 CONTINUOUS SERVOS

#include <Arduino.h>

#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <WebSocketsServer.h>
#include <ESP8266WebServer.h>
#include <ESP8266mDNS.h>
#include <Hash.h>
#include <Servo.h>

#define USE_SERIAL Serial

Servo servo1, servo2;

ESP8266WiFiMulti WiFiMulti;
//const char *ssid = "espicross01";
//const char *password = "password";

ESP8266WebServer server = ESP8266WebServer(80);
WebSocketsServer webSocket = WebSocketsServer(81);

void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {

    switch(type) {
        case WStype_DISCONNECTED:
            USE_SERIAL.printf("[%u] Disconnected!\n", num);
            break;
        case WStype_CONNECTED: {
            IPAddress ip = webSocket.remoteIP(num);
            USE_SERIAL.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);

            // send message to client
            webSocket.sendTXT(num, "Connected");
        }
            break;
        case WStype_TEXT:
            USE_SERIAL.printf("[%u] get Text: %s\n", num, payload);
            String str((char*)payload);
            parse_instructions(str);
            break;
    }

}

void parse_instructions(String str)
{
  int delimiter_pos = str.indexOf(" ");
  String command = str.substring(0, delimiter_pos); // command
  String params = str.substring(delimiter_pos+1); // parameter
  
    if(command.equals("m1f")) {
       // Motor 1 forward
       servo1.attach(12);
       servo1.write(180);
    }
    if(command.equals("m1b")) {
       // Motor 1 backward
       servo1.attach(12);
       servo1.write(0);
    }
    if(command.equals("m1s")) {
       // Motor 1 stop
       servo1.detach();
    }
    if(command.equals("m2f")) {
       // Motor 2 forward
       servo2.attach(13);
       servo2.write(0);
    }
    if(command.equals("m2b")) {
       // Motor 2 backward
       servo2.attach(13);
       servo2.write(180);
    }
    if(command.equals("m2s")) {
       // Motor 2 stop
       servo2.detach();
    }
    if(command.equals("m1p")) {
       // Motor 1 pwm
       servo1.attach(12);
       servo1.write(params.toInt());
    }
    if(command.equals("m2p")) {
       // Motor 2 pwm
       servo2.attach(13);
       servo2.write(params.toInt());
    }
}

void setup() {
    //USE_SERIAL.begin(921600);
    USE_SERIAL.begin(115200);

    servo1.attach(12);
    servo2.attach(13);

    USE_SERIAL.setDebugOutput(true);

    USE_SERIAL.println();
    USE_SERIAL.println();
    USE_SERIAL.println();

    for(uint8_t t = 4; t > 0; t--) {
        USE_SERIAL.printf("[SETUP] BOOT WAIT %d...\n", t);
        USE_SERIAL.flush();
        delay(1000);
    }

    WiFiMulti.addAP("SSID", "XXX");
    while(WiFiMulti.run() != WL_CONNECTED) {
        delay(100);
    }

    //WiFi.softAP(ssid, password);
    //IPAddress myIP = WiFi.softAPIP();
    //USE_SERIAL.print("AP IP address: ");
    //USE_SERIAL.println(myIP);

    // start webSocket server
    webSocket.begin();
    webSocket.onEvent(webSocketEvent);

    if(MDNS.begin("fabulous3")) {
        USE_SERIAL.println("MDNS responder started");
    }

    // handle index
    server.on("/", []() {
        // send index.html
        server.send(200, "text/html", "<meta charset=utf-8><title>Remote Control</title><meta content="width=device-width,initial-scale=1,maximum-scale=1,user-scalable=no"name=viewport><style>.pad{width:50%;height:50%;position:absolute}</style><div style=width:100vw><div style=top:0;left:0;background:#6686b7 class=pad id=m1f></div><div style=top:50%;left:0;background:#54c1de class=pad id=m1b></div><div style=top:0;right:0;background:#ff5e63 class=pad id=m2f></div><div style=top:50%;right:0;background:#fcba55 class=pad id=m2b></div></div><script>window.onload=function(){boardPath=location.hash?location.hash.substring(1):location.hostname,connection=new WebSocket("ws://"+boardPath+":81/",["arduino"]),connection.onopen=function(){connection.send("Connect "+new Date)},connection.onerror=function(e){console.log("WebSocket Error ",e)},connection.onmessage=function(e){console.log("Server: ",e.data)},createEvent=function(e){return function(t){console.log(e),t.preventDefault(),connection.send(e)}},registerEvents=function(e){forwardButton=document.getElementById("m"+e+"f"),backwardButton=document.getElementById("m"+e+"b"),forwardButton.addEventListener("touchstart",createEvent("m"+e+"f")),forwardButton.addEventListener("mousedown",createEvent("m"+e+"f")),forwardButton.addEventListener("touchend",createEvent("m"+e+"s")),forwardButton.addEventListener("mouseup",createEvent("m"+e+"s")),backwardButton.addEventListener("touchstart",createEvent("m"+e+"b")),backwardButton.addEventListener("mousedown",createEvent("m"+e+"b")),backwardButton.addEventListener("touchend",createEvent("m"+e+"s")),backwardButton.addEventListener("mouseup",createEvent("m"+e+"s"))},registerEvents(1),registerEvents(2)}</script>");
    });

    server.begin();

    // Add service to MDNS
    MDNS.addService("http", "tcp", 80);
    MDNS.addService("ws", "tcp", 81);

}

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

fabulous-car-dc-motor-and-servo.ino

// CODE FOR REMOTE CONTROLLED CAR USING DC MOTOR WITH H-BRIDGE (DRIVER)
// AND THE MOST REGULAR TOWER SERVO


#include <Arduino.h>

#include <ESP8266WiFi.h>
#include <ESP8266WiFiMulti.h>
#include <WebSocketsServer.h>
#include <ESP8266WebServer.h>
#include <ESP8266mDNS.h>
#include <Hash.h>
#include <Servo.h>

#define USE_SERIAL Serial

Servo servo;
int servoPin = 12;
int forwardPin = 5;
int backwardPin = 4;

ESP8266WiFiMulti WiFiMulti;

ESP8266WebServer server = ESP8266WebServer(80);
WebSocketsServer webSocket = WebSocketsServer(81);

void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {

    switch(type) {
        case WStype_DISCONNECTED:
            USE_SERIAL.printf("[%u] Disconnected!\n", num);
            break;
        case WStype_CONNECTED: {
            IPAddress ip = webSocket.remoteIP(num);
            USE_SERIAL.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);

            // send message to client
            webSocket.sendTXT(num, "Connected");
        }
            break;
        case WStype_TEXT:
            USE_SERIAL.printf("[%u] get Text: %s\n", num, payload);
            String str((char*)payload);
            parse_instructions(str);
            break;
    }

}

void parse_instructions(String str)
{
  int delimiter_pos = str.indexOf(" ");
  String command = str.substring(0, delimiter_pos); // command
  String params = str.substring(delimiter_pos+1); // parameter
  
    if(command.equals("l")) {
       // left
       servo.write(180);
    }
    if(command.equals("c")) {
       // center
       servo.write(90);
    }
    if(command.equals("r")) {
       // right
       servo.write(0);
    }
    if(command.equals("f")) {
       // forward
       digitalWrite(forwardPin, LOW);
       digitalWrite(backwardPin, HIGH);
    }
    if(command.equals("b")) {
       // forward
       digitalWrite(forwardPin, HIGH);
       digitalWrite(backwardPin, LOW);
    }
    if(command.equals("s")) {
       // stop
       digitalWrite(forwardPin, HIGH);
       digitalWrite(backwardPin, HIGH);
    }
}

void setup() {
    //USE_SERIAL.begin(921600);
    USE_SERIAL.begin(115200);

    servo.attach(servoPin);
    pinMode(forwardPin, OUTPUT);
    pinMode(backwardPin, OUTPUT);
    digitalWrite(forwardPin, HIGH);
    digitalWrite(backwardPin, HIGH);
    
    USE_SERIAL.setDebugOutput(true);

    USE_SERIAL.println();
    USE_SERIAL.println();
    USE_SERIAL.println();

    for(uint8_t t = 4; t > 0; t--) {
        USE_SERIAL.printf("[SETUP] BOOT WAIT %d...\n", t);
        USE_SERIAL.flush();
        delay(1000);
    }

    WiFiMulti.addAP("xxx", "xxx");
    while(WiFiMulti.run() != WL_CONNECTED) {
        delay(100);
    }

    // start webSocket server
    webSocket.begin();
    webSocket.onEvent(webSocketEvent);

    if(MDNS.begin("speed2")) {
        USE_SERIAL.println("MDNS responder started");
    }

    // handle index
    server.on("/", []() {
        // send index.html
        server.send(200, "text/html", "<html> <head> <meta charset='utf-8'> <title>Remote Control</title> <meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no'/> <style>.pad{width:50%; height:50%; position:absolute}</style> </head> <body> <div style='width:100vw;height100vh;'> <div id='f' class='pad' style='top:0;left:0;background:#6686b7'></div><div id='s' class='pad' style='top:50%;left:0;background:#54c1de'></div><div id='l' class='pad' style='top:0;right:0;background:#ff5e63'></div><div id='r' class='pad' style='top:50%;right:0;background:#fcba55'></div></div><script type='text/javascript'> window.onload=function (){boardPath=location.hash ? location.hash.substring(1) : location.hostname; connection=new WebSocket('ws://'+boardPath+':81/', ['arduino']); connection.onopen=function (){connection.send('Connect ' + new Date());}; connection.onerror=function (error){console.log('WebSocket Error ', error);}; connection.onmessage=function (e){console.log('Server: ', e.data);}; createEvent=function (n){return function (e){console.log(n); e.preventDefault(); connection.send(n);};}; forwardButton=document.getElementById('f'); backwardButton=document.getElementById('s'); leftButton=document.getElementById('l'); rightButton=document.getElementById('r'); forwardButton.addEventListener('touchstart', createEvent('f')); forwardButton.addEventListener('mousedown', createEvent('f')); forwardButton.addEventListener('touchend', createEvent('s')); forwardButton.addEventListener('mouseup', createEvent('s')); backwardButton.addEventListener('touchstart', createEvent('b')); backwardButton.addEventListener('mousedown', createEvent('b')); backwardButton.addEventListener('touchend', createEvent('s')); backwardButton.addEventListener('mouseup', createEvent('s')); leftButton.addEventListener('touchstart', createEvent('l')); leftButton.addEventListener('mousedown', createEvent('l')); leftButton.addEventListener('touchend', createEvent('c')); leftButton.addEventListener('mouseup', createEvent('c')); rightButton.addEventListener('touchstart', createEvent('r')); rightButton.addEventListener('mousedown', createEvent('r')); rightButton.addEventListener('touchend', createEvent('c')); rightButton.addEventListener('mouseup', createEvent('c'));}; </script> </body></html>");
    });

    server.begin();

    // Add service to MDNS
    MDNS.addService("http", "tcp", 80);
    MDNS.addService("ws", "tcp", 81);

}

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

py_boot.py

print('Booting...')
import network
import utime
import webrepl
SSID = 'WIFI NETWORK NAME'
PASSWORD = 'WIFI NETWORK PASSWORD'
sta = network.WLAN(network.STA_IF)
sta.active(True)
sta.connect(SSID, PASSWORD)
timeout = 50
while not sta.isconnected():
    utime.sleep_ms(100)
    timeout -= 1
    if timeout == 0:
        print('Could not connect to wifi network')
        break
if sta.isconnected():
    print('connected', sta.ifconfig())
    webrepl.start(password=123456)
else:
    print('not connected')

py_main.py

from machine import Pin, PWM
class Motor():
    def __init__(self, pin_number):
        pin = Pin(pin_number, Pin.OUT)
        self.motor = PWM(pin)
        self.motor.freq(1000)
        self.motor.duty(1)
    def set_value(self, value=1):
        self.motor.duty(value)
    def forward(self):
        self.set_value(1020)
    def backward(self):
        self.set_value(100)
    def stop(self):
        self.set_value(1)
motor1 = Motor(13)
motor2 = Motor(15)
m1f = motor1.forward
m1b = motor1.backward
m1s = motor1.stop
m2f = motor2.forward
m2b = motor2.backward
m2s = motor2.stop

py_remote.html

<!-- minified with on https://kangax.github.io/html-minifier/ -->
<html>
    <head>
        <meta charset='utf-8'>
        <title>Remote Control</title>
        <meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no' />
        <style>
            .pad {
                width:50%;
                height:50%;
                position:absolute
            }
        </style>
    </head>
    <body>
        <div style='width:100vw;height100vh;'>
            <div id='m1f' class='pad' style='top:0;left:0;background:#6686b7'></div>
            <div id='m1b' class='pad' style='top:50%;left:0;background:#54c1de'></div>
            <div id='m2f' class='pad' style='top:0;right:0;background:#ff5e63'></div>
            <div id='m2b' class='pad' style='top:50%;right:0;background:#fcba55'></div>
        </div>

        <script type="text/javascript" src="webrepl.js"></script>
        <script type='text/javascript'>
            // Please: All the credit to the FABULOUS work of https://github.com/micropython/webrepl
            class WebREPL {
                constructor(opts) {
                    opts = opts || {}
                    this.binaryState = 0
                    this.ip = opts.ip || '192.168.1.4'
                    this.password = opts.password || 'micropythoN'
                    this.sendFileName = ''
                    this.sendFileData = new ArrayBuffer()
                    this.getFileName = ''
                    this.getFileData = new ArrayBuffer()
                    this.STOP = '\r\x03' // CTRL-C 2x
                    this.RESET = '\r\x04' // CTRL-D
                    this.ENTER_RAW_REPL = '\r\x01' // CTRL-A
                    this.EXIT_RAW_REPL = '\r\x04\r\x02' // CTRL-D + CTRL-B
                    if (opts.autoconnect) {
                        this.connect()
                    }
                }
                _decodeResp(data) {
                    if (data[0] == 'W'.charCodeAt(0) && data[1] == 'B'.charCodeAt(0)) {
                        var code = data[2] | (data[3] << 8)
                        return code;
                    } else {
                        return -1;
                    }
                }
                _handleMessage(event) {
                    if (event.data instanceof ArrayBuffer) {
                        let data = new Uint8Array(event.data)
                        switch (this.binaryState) {
                            case 11:
                                // first response for put
                                if (this._decodeResp(data) == 0) {
                                    // send file data in chunks
                                    for (let offset = 0; offset < this.sendFileData.length; offset += 1024) {
                                        this.ws.send(this.sendFileData.slice(offset, offset + 1024))
                                    }
                                    this.binaryState = 12
                                }
                                break
                            case 12:
                                // final response for put
                                if (this._decodeResp(data) == 0) {
                                    console.log(`Sent ${this.sendFileName}, ${this.sendFileData.length} bytes`)
                                } else {
                                    console.log(`Failed sending ${this.sendFileName}`)
                                }
                                this.binaryState = 0
                                break;
                            case 21:
                                // first response for get
                                if (this._decodeResp(data) == 0) {
                                    this.binaryState = 22
                                    var rec = new Uint8Array(1)
                                    rec[0] = 0
                                    this.ws.send(rec)
                                }
                                break;
                            case 22: {
                                // file data
                                var sz = data[0] | (data[1] << 8)
                                if (data.length == 2 + sz) {
                                    // we assume that the data comes in single chunks
                                    if (sz == 0) {
                                        // end of file
                                        this.binaryState = 23
                                    } else {
                                        // accumulate incoming data to this.getFileData
                                        var new_buf = new Uint8Array(this.getFileData.length + sz)
                                        new_buf.set(this.getFileData)
                                        new_buf.set(data.slice(2), this.getFileData.length)
                                        this.getFileData = new_buf
                                        console.log('Getting ' + this.getFileName + ', ' + this.getFileData.length + ' bytes')

                                        var rec = new Uint8Array(1)
                                        rec[0] = 0
                                        this.ws.send(rec)
                                    }
                                } else {
                                    this.binaryState = 0
                                }
                                break;
                            }
                            case 23:
                                // final response
                                if (this._decodeResp(data) == 0) {
                                    console.log(`Got ${this.getFileName}, ${this.getFileData.length} bytes`)
                                    this.saveAs(new Blob([this.getFileData], {type: "application/octet-stream"}), this.getFileName)
                                } else {
                                    console.log(`Failed getting ${this.getFileName}`)
                                }
                                this.binaryState = 0
                                break
                            case 31:
                                // first (and last) response for GET_VER
                                console.log('GET_VER', data)
                                this.binaryState = 0
                                break
                        }
                    }
                    // If is asking for password, send password
                    if( event.data == 'Password: ' ) {
                        this.ws.send(`${this.password}\r`)
                    }
                    this.onMessage(event.data)
                }

                connect() {
                    this.ws = new WebSocket(`ws://${this.ip}:8266`)
                    this.ws.binaryType = 'arraybuffer'
                    this.ws.onopen = () => {
                        this.onConnected()
                        this.ws.onmessage = this._handleMessage.bind(this)
                    }
                }
                disconnect() {
                    this.ws.close()
                }

                onConnected() {
                    console.log('onConnected')
                }
                onMessage(msg) {
                    console.log('onMessage', msg)
                }
                saveAs(blob) {
                    console.log(`saving as: ${blob}`)
                }

                sendStop() {
                    this.eval(this.STOP)
                }
                softReset() {
                    this.sendStop()
                    this.eval(this.RESET)
                }
                enterRawRepl() {
                    this.eval(this.ENTER_RAW_REPL)
                }
                exitRawRepl() {
                    this.eval(this.EXIT_RAW_REPL)
                }
                execRaw(raw) {
                    this.eval(raw)
                    if (raw.indexOf('\n') == -1) {
                        this.eval('\r')
                    }
                }
                exec(command) {
                    this.eval(command)
                }
                execFromString(code) {
                    this.sendStop()
                    this.enterRawRepl()
                    this.execRaw(code)
                    this.exitRawRepl()
                }
                eval(command) {
                    this.ws.send(`${command}`)
                }

                _sendFile() {
                    let dest_fname = this.sendFileName
                    let dest_fsize = this.sendFileData.length

                    // WEBREPL_FILE = "<2sBBQLH64s"
                    let rec = new Uint8Array(2 + 1 + 1 + 8 + 4 + 2 + 64)
                    rec[0] = 'W'.charCodeAt(0)
                    rec[1] = 'A'.charCodeAt(0)
                    rec[2] = 1 // put
                    rec[3] = 0
                    rec[4] = 0; rec[5] = 0; rec[6] = 0; rec[7] = 0; rec[8] = 0; rec[9] = 0; rec[10] = 0; rec[11] = 0;
                    rec[12] = dest_fsize & 0xff; rec[13] = (dest_fsize >> 8) & 0xff; rec[14] = (dest_fsize >> 16) & 0xff; rec[15] = (dest_fsize >> 24) & 0xff;
                    rec[16] = dest_fname.length & 0xff; rec[17] = (dest_fname.length >> 8) & 0xff;
                    for (let i = 0; i < 64; ++i) {
                        if (i < dest_fname.length) {
                            rec[18 + i] = dest_fname.charCodeAt(i)
                        } else {
                            rec[18 + i] = 0
                        }
                    }

                    // initiate put
                    this.binaryState = 11
                    console.log('Sending ' + this.sendFileName + '...')
                    this.ws.send(rec)
                }
                sendFile(file) {
                    this.sendFileName = file.name
                    let reader = new FileReader()
                    reader.onload = (e) => {
                        this.sendFileData = new Uint8Array(e.target.result)
                        this._sendFile()
                    };
                    reader.readAsArrayBuffer(file)
                }
                loadFile(path) {
                    // WEBREPL_FILE = "<2sBBQLH64s"
                    let rec = new Uint8Array(2 + 1 + 1 + 8 + 4 + 2 + 64);
                    rec[0] = 'W'.charCodeAt(0);
                    rec[1] = 'A'.charCodeAt(0);
                    rec[2] = 2; // get
                    rec[3] = 0;
                    rec[4] = 0; rec[5] = 0; rec[6] = 0; rec[7] = 0; rec[8] = 0; rec[9] = 0; rec[10] = 0; rec[11] = 0;
                    rec[12] = 0; rec[13] = 0; rec[14] = 0; rec[15] = 0;
                    rec[16] = path.length & 0xff; rec[17] = (path.length >> 8) & 0xff;
                    for (let i = 0; i < 64; ++i) {
                        if (i < path.length) {
                            rec[18 + i] = path.charCodeAt(i);
                        } else {
                            rec[18 + i] = 0;
                        }
                    }

                    // initiate get
                    this.binaryState = 21;
                    this.getFileName = path;
                    this.getFileData = new Uint8Array(0);
                    console.log('Getting ' + this.getFileName + '...');
                    this.ws.send(rec);
                }
                removeFile(filename) {
                    const pCode = `from os import remove
            remove('${filename}')`
                    this.execFromString(pCode)
                }
            }

            window.onload = function () {
                boardPath = location.hash ? location.hash.substring(1) : location.hostname;
                window.repl = new WebREPL({
                    ip: boardPath || '192.168.0.17',
                    password: '123456',
                    autoconnect: true
                })
                repl.onMessage = (msg) => {
                    if (typeof msg === 'string') {
                        console.log(msg)
                        // consoleOut.innerText = (consoleOut.innerText + msg).slice(-100)
                    }
                }
                createEvent = function (n) {
                    return function (e) {
                        // console.log(`${n}()\r\n`);
                        e.preventDefault();
                        repl.eval(`${n}()\r\n`)
                    };
                };
                registerEvents = function (n) {
                    forwardButton = document.getElementById('m'+n+'f');
                    backwardButton = document.getElementById('m'+n+'b');
                    forwardButton.addEventListener('touchstart', createEvent('m'+n+'f'));
                    forwardButton.addEventListener('mousedown', createEvent('m'+n+'f'));
                    forwardButton.addEventListener('touchend', createEvent('m'+n+'s'));
                    forwardButton.addEventListener('mouseup', createEvent('m'+n+'s'));
                    backwardButton.addEventListener('touchstart', createEvent('m'+n+'b'));
                    backwardButton.addEventListener('mousedown', createEvent('m'+n+'b'));
                    backwardButton.addEventListener('touchend', createEvent('m'+n+'s'));
                    backwardButton.addEventListener('mouseup', createEvent('m'+n+'s'));
                }
                registerEvents(1);
                registerEvents(2);
            };
        </script>
    </body>
</html>

remote.html

<!-- minified with on https://kangax.github.io/html-minifier/ -->
<html>
    <head>
        <meta charset='utf-8'>
        <title>Remote Control</title>
        <meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no' />
        <style>
            .pad {
                width:50%;
                height:50%;
                position:absolute
            }
        </style>
    </head>
    <body>
        <div style='width:100vw;height100vh;'>
            <div id='m1f' class='pad' style='top:0;left:0;background:#6686b7'></div>
            <div id='m1b' class='pad' style='top:50%;left:0;background:#54c1de'></div>
            <div id='m2f' class='pad' style='top:0;right:0;background:#ff5e63'></div>
            <div id='m2b' class='pad' style='top:50%;right:0;background:#fcba55'></div>
        </div>

        <script type='text/javascript'>
            window.onload = function () {
                boardPath = location.hash ? location.hash.substring(1) : location.hostname;
                connection = new WebSocket('ws://'+boardPath+':81/', ['arduino']);
                connection.onopen = function () {
                    connection.send('Connect ' + new Date());
                };
                connection.onerror = function (error) {
                    console.log('WebSocket Error ', error);
                };
                connection.onmessage = function (e) {
                    console.log('Server: ', e.data);
                };
                createEvent = function (n) {
                    return function (e) {
                        console.log(n);
                        e.preventDefault();
                        connection.send(n);
                    };
                };
                registerEvents = function (n) {
                    forwardButton = document.getElementById('m'+n+'f');
                    backwardButton = document.getElementById('m'+n+'b');
                    forwardButton.addEventListener('touchstart', createEvent('m'+n+'f'));
                    forwardButton.addEventListener('mousedown', createEvent('m'+n+'f'));
                    forwardButton.addEventListener('touchend', createEvent('m'+n+'s'));
                    forwardButton.addEventListener('mouseup', createEvent('m'+n+'s'));
                    backwardButton.addEventListener('touchstart', createEvent('m'+n+'b'));
                    backwardButton.addEventListener('mousedown', createEvent('m'+n+'b'));
                    backwardButton.addEventListener('touchend', createEvent('m'+n+'s'));
                    backwardButton.addEventListener('mouseup', createEvent('m'+n+'s'));
                }
                registerEvents(1);
                registerEvents(2);
            };
        </script>
    </body>
</html>