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| -rw-r--r-- | esp32c3_stand_firmware/esp32c3_stand_firmware.ino | 248 |
1 files changed, 248 insertions, 0 deletions
diff --git a/esp32c3_stand_firmware/esp32c3_stand_firmware.ino b/esp32c3_stand_firmware/esp32c3_stand_firmware.ino new file mode 100644 index 0000000..d2cb559 --- /dev/null +++ b/esp32c3_stand_firmware/esp32c3_stand_firmware.ino @@ -0,0 +1,248 @@ +#include <AccelStepper.h> +#include <WiFi.h> +#include <WebServer.h> +#include <esp_wifi.h> + +/////////////////////////////////// +// motor +/////////////////////////////////// +// #define dirPin 3 +// #define stepPin 2 +#define dirPin GPIO_NUM_3 +#define stepPin GPIO_NUM_2 + +#define homeLimitSwitchPin 0 +#define endLimitSwitchPin 1 + +#define LimitSwitchPressed 0 +#define LimitSwitchReleased 1 + +#define enableStepperPin GPIO_NUM_6 +constexpr auto motorInterfaceType = AccelStepper::MotorInterfaceType::FULL2WIRE; +//#define motorMaxStepsPerSecond 65535 +#define motorMaxStepsPerSecond 1600 +// #define motorStepsPerSecond 1600 +#define motorStepsPerSecond 800 +#define motorAcceleration 30000 + +//uint8_t newMACAddress[] = {0x32, 0xAE, 0xA4, 0x09, 0x0D, 0x66}; + +AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin); + +bool stepperRun{false}; +//bool stepperRun{true}; + +/////////////////////////////////// +// wifi +/////////////////////////////////// +constexpr bool enableWifi{true}; +//constexpr bool enableWifi{false}; + +int reconnectsCount = 0; +//const char* ssid = "toya99760449_5GHz"; +const char* ssid = "toya99760449"; +const char* password = "92rK34Umvc"; +const uint16_t port{80}; + +const String accelerationArg = "acceleration"; +const String currentPositionArg = "currentPosition"; +const String maxSpeedArg = "maxSpeed"; +const String speedArg = "speed"; +const String stepsArg = "steps"; + + +#define s Serial + +WebServer server(port); + +/////////////////////////////////// +// time +/////////////////////////////////// +unsigned long prevMillis{0}; +bool step{true}; + +void handleRoot() +{ + server.send(200, "text/plain", "hello http\n"); +} + +void handleStart() +{ + server.send(200, "text/plain", "started\n"); + stepperRun = true; + stepper.enableOutputs(); + + //stepper.moveTo(8000); + bool backward = rand() % 2; + stepper.move(8000 * (backward ? -1 : 1)); +} + +void handleSetParams() +{ + String reply; + + if (server.hasArg(maxSpeedArg)) { + const auto maxSpeedStr = server.arg(maxSpeedArg); + const auto maxSpeed = maxSpeedStr.toFloat(); + stepper.setMaxSpeed(maxSpeed); + reply += "set " + maxSpeedArg + " to " + maxSpeedStr + '\n'; + } + + if (server.hasArg(speedArg)) { + const auto speedStr = server.arg(speedArg); + const auto speed = speedStr.toFloat(); + stepper.setSpeed(speed); + reply += "set " + speedArg + " to " + speedStr + '\n'; + } + + if (server.hasArg(currentPositionArg)) { + const auto currentPositionStr = server.arg(currentPositionArg); + const auto currentPosition = currentPositionStr.toFloat(); + stepper.setCurrentPosition(currentPosition); + reply += "set " + currentPositionArg + " to " + currentPositionStr + '\n'; + } + + if (server.hasArg(accelerationArg)) { + const auto accelerationStr = server.arg(accelerationArg); + const auto acceleration = accelerationStr.toFloat(); + stepper.setAcceleration(acceleration); + reply += "set " + accelerationArg + " to " + accelerationStr + '\n'; + } + + if (reply.length() == 0) + { + server.send(500, "text/plain", "missing params\n"); + } + + server.send(200, "text/plain", reply); +} + +void handleMove() +{ + // TODO: implement 'mm' floating-point argument + if (!server.hasArg(stepsArg)) { + server.send(500, "text/plain", "'steps' arg is missing\n"); + return; + } + + const auto stepsStr = server.arg(stepsArg); + s.print("handleMove: arg(stepsArg): "); + s.println(stepsStr); + + server.send(200, "text/plain", "move " + stepsStr + " steps\n"); + stepperRun = true; + stepper.enableOutputs(); + + //stepper.moveTo(8000); + const auto steps = stepsStr.toInt(); + //bool backward = rand() % 2; + //stepper.move(8000 * (backward ? -1 : 1)); + stepper.move(steps); +} + +void handleStop() +{ + server.send(200, "text/plain", "stopped\n"); + stepperRun = false; + stepper.disableOutputs(); +} + +void handleDisconnectWiFi() +{ + server.send(200, "text/plain", "disconnecting\n"); + delay(500); + WiFi.disconnect(); + s.println("disconnected from WiFi"); +} + +void setupWifi() +{ + //delay(1000); + if (!WiFi.begin(ssid, password, 10)) + { + s.println("cannot begin wifi"); + } + + //WiFi.setTxPower(WIFI_POWER_MINUS_1dBm); + //WiFi.setTxPower(WIFI_POWER_2dBm); + WiFi.setTxPower(WIFI_POWER_15dBm); + //WiFi.setTxPower(WIFI_POWER_8_5dBm); + + while (WiFi.status() != WL_CONNECTED) { + delay(500); + s.print("connecting "); + s.println(reconnectsCount); + ++reconnectsCount; + } + + s.println(""); + s.println("WiFi connected."); + s.println("IP address: "); + s.println(WiFi.localIP()); + + server.on("/", handleRoot); + server.on("/start", handleStart); + server.on("/setParams", handleSetParams); + server.on("/move", handleMove); + server.on("/stop", handleStop); + server.on("/disconnectWiFi", handleDisconnectWiFi); + + server.begin(); + s.println("HTTP server started"); +} + +bool atHome() +{ + return digitalRead(homeLimitSwitchPin) == LimitSwitchPressed; +} + +bool atEnd() +{ + return digitalRead(endLimitSwitchPin) == LimitSwitchPressed; +} + +void setup() { + pinMode(homeLimitSwitchPin, INPUT); + pinMode(endLimitSwitchPin, INPUT); + + s.begin(115200); + + if (enableWifi) + { + setupWifi(); + } + + stepper.setMaxSpeed(motorMaxStepsPerSecond); + stepper.setEnablePin(enableStepperPin); + stepper.setPinsInverted(false, false, true); // invert enable pin + stepper.setSpeed(motorStepsPerSecond); + stepper.setAcceleration(motorAcceleration); +} + +void loop() { + const bool doStop = (stepperRun == true && (atHome() || atEnd())); + + if (doStop) + { + stepperRun = false; + stepper.disableOutputs(); + } + + if (stepperRun && stepper.distanceToGo() != 0) + { + stepper.run(); + // processing wifi requests takes too much time, + // so returning here. limit switches should do the rest + return; + } + else + { + stepperRun = false; + //stepper.disableOutputs(); + } + + if (enableWifi) + { + server.handleClient(); + } +} |