WifiControll.ino

/*
   Create by Takeru Hayasaka  to 11/9~1/25
   
   All rights reserved.

  /* Create a WiFi access point and provide a web server on it. */
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>
#include <Servo.h>
#include <Wire.h>
#include "WifiControll.h"

Servo myservo;
int g_iMotor = 0;
int g_iIncrease = 10;

WiFiUDP udp;
int write_vset(byte,byte);
void setup() {

  Serialbegin(115200);//Serial
  Wire.begin(DC_MOTER_IN1_SDA, DC_MOTER_IN1_SCL);
  WiFi.config(ip, WiFi.gatewayIP(), WiFi.subnetMask()); // setting IP Address
  WiFi.softAP(ssid, pass);//Wifi
  IPAddress myIP = WiFi.softAPIP();
  Serialprint("AP IP address: ");  Serialprintln(myIP);
  Serialprint("Starting UDP");
  udp.begin(localPort);
  Serialprint("Local port: ");  Serialprintln(udp.localPort());

  // ESP8266のanalogWrite()の引数の範囲の初期値は[0-1023]。
  // 通常のArduinoのanalogWrite()の引数の範囲と同じ[0-255]に変更する。
  //  analogWriteRange(255);
  //analogWriteRange(128);
  //  pinMode(DC_MOTER_IN1_1, OUTPUT);
  //  pinMode(DC_MOTER_IN1_2, OUTPUT);
  pinMode(LED_Light, OUTPUT);
  myservo.attach(SERVO_IN);
  delay(50);
  myservo.write(90);
  write_vset(MIN_VSET, M_BRAKE);
  //  analogWrite(DC_MOTER_IN1_1, 0);
  //  analogWrite(DC_MOTER_IN1_2, 0);
}

void SarvoDrive(int degrees, bool st)//(角度、正逆)
{
  int pos = 0;
  if (st) {
    for (pos = 0; pos <= degrees; pos += 1) // goes from 0 degrees to  degrees
    { // in steps of 1 degree
      myservo.write(pos);              // tell servo to go to position in variable 'pos'
      delay(5);                       // waits 15ms for the servo to reach the position
    }
  } else {
    for (pos = degrees; pos >= 0; pos -= 1) // goes from 180 degrees to 0 degrees
    {
      myservo.write(pos);              // tell servo to go to position in variable 'pos'
      delay(5);                       // waits 15ms for the servo to reach the position
    }
  }
}

void loop() {

  //signalData:L,M,S＜＝＞LED点灯・Moter駆動・ステアリング駆動
  //ActionParameter:Type of Integer
  //データフォーマット[signalData ActionParameter]
  int rlen, NoData = 0;//データの長さ、データのこない分のカウンターバッファ
  int Val_L = 0, Val_M = 0, Val_S = 0;//LED点灯・Moter駆動・ステアリング駆動

  while (true) {

    //データが来ないので待つ
    if (!(rlen = udp.parsePacket())) {
      if (++NoData > 50) {
      }
      delay(10);
      continue;
    }

    NoData = 0;//データがきたので来なかった記録をリセット

    udp.read(packetBuffer, (rlen > OSC_PACKET_SIZE) ? OSC_PACKET_SIZE : rlen);//データを読み出す。
    Serialprint("L= "); Serialprintln(packetBuffer);
    //指定の先頭文字でチェック
    if (strncmp(&packetBuffer[0], "/osc/", 5) == 0) {
      Serialprintln(packetBuffer[5]);
      //指定のsignalDataでチェック
      switch (packetBuffer[5]) {
        case 'L'://LED
          Serialprintln("signalDataでチェック");
          Serialprintln(packetBuffer[6]);
          strcpy(packetBuffer, packetBuffer + 6);
          Val_L = atoi(packetBuffer);
          Serialprintln(Val_L);
          analogWrite(LED_Light, Val_L);
          break;
        case 'S'://ステアリング駆動
          strcpy(packetBuffer, packetBuffer + 6);
          Val_S = atoi(packetBuffer);
          if (Val_S >= (45 - 4) && Val_S <= (45 + 4)) {
            Val_S = 45;
          }
          if (Val_S >= 45) {
            myservo.write(Val_S);
          } else {
            myservo.write(Val_S);
          }
          break;
        case 'M'://モーター駆動
          strcpy(packetBuffer, packetBuffer + 6);
          Val_M = atoi(packetBuffer);

          //ブレーキ==停止
          if (Val_M >= (64 - 6) && Val_M <= (64 + 6)) {
            write_vset(MIN_VSET, M_BRAKE);
          }else{
          //順方向制御
          if (Val_M >= 64) {
            for (byte i = MIN_VSET; i <= MAX_VSET; i++) {
              write_vset(i, M_NORMAL);
              delay(12);
              Serialprint("+++++"); Serialprint(Val_M);
            }
          }
          //逆方向制御
          else {
              // 逆方向 徐々にスピードを上げる
              for (byte i = MIN_VSET; i <= MAX_VSET; i++) {
                write_vset(i, M_REVERSE);
                delay(12);
              }
              Serialprint("------"); Serialprint(Val_M);
            }
          }
            break;
        }
      
          Serialprint("L= "); Serialprint(Val_L);
          Serialprint("M= "); Serialprint(Val_M);
          Serialprint("S="); Serialprintln(Val_S);
      }
      delay(10);
    }
  }

  // 制御コマンド送信
int write_vset(byte vs, byte ctr) {
    Wire.beginTransmission(DRV_ADR);
    Wire.write(CTR_ADR);
    Wire.write( ctr + (vs << 2) );
    return Wire.endTransmission();
  }