357 lines
11 KiB
C++
357 lines
11 KiB
C++
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#include <Arduino.h>
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#include <SPI.h>
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#include <RPC.h>
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#include "RPC.h"
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#define AP_MODE false
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using namespace rtos;
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Thread sensorThread;
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#define WIFI true
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#if WIFI
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#include <WiFi.h>
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#include <web_page.html>
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char ssid[] = "Analogue_Hyperlapse_Camera"; // your network SSID (name)
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char password[] = "CraterLab"; // your network password (use for WPA, or use as key for WEP)
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IPAddress ip(192, 168, 8, 3);
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IPAddress gateway(192, 168, 8, 1);
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IPAddress subnet(255, 255, 255, 0);
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IPAddress dns(192, 168, 8, 1); //primaryDNS
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WiFiServer httpServer(80);
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// for ArduinoOSC
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#endif
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#define command Serial2
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#define x_axis 0
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#define y_axis 1
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#define a_axis 2
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#define PULSE_REV 400
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#define REDUCTION_XY 5
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#define REDUCTION_A 60
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#define STOP 0
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#define ZERO 1
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#define CONTINUOUS 2
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#define ANGLE_MODE 3
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int mode = CONTINUOUS;
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const char axis_c[] = {'x','y','a'};
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void printMacAddress(byte mac[]) {
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for (int i = 5; i >= 0; i--) {
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if (mac[i] < 16) {
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Serial.print("0");
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}
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Serial.print(mac[i], HEX);
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if (i > 0) {
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Serial.print(":");
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}
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}
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Serial.println();
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}
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void printWifiData() {
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// print your board's IP address:
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IPAddress ip = WiFi.localIP();
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Serial.print("IP Address: ");
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Serial.println(ip);
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Serial.println(ip);
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// print your MAC address:
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byte mac[6];
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WiFi.macAddress(mac);
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Serial.print("MAC address: ");
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printMacAddress(mac);
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}
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void printCurrentNet() {
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// print the SSID of the network you're attached to:
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Serial.print("SSID: ");
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Serial.println(WiFi.SSID());
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// print the MAC address of the router you're attached to:
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byte bssid[6];
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WiFi.BSSID(bssid);
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Serial.print("BSSID: ");
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printMacAddress(bssid);
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// print the received signal strength:
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long rssi = WiFi.RSSI();
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Serial.print("signal strength (RSSI):");
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Serial.println(rssi);
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// print the encryption type:
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byte encryption = WiFi.encryptionType();
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Serial.print("Encryption Type:");
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Serial.println(encryption, HEX);
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Serial.println();
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}
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void printWifiStatus() {
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// print the SSID of the network you're attached to:
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Serial.print("SSID: ");
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Serial.println(WiFi.SSID());
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// print your board's IP address:
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IPAddress ip = WiFi.localIP();
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Serial.print("IP Address: ");
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Serial.println(ip);
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#if AP_MODE
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// print where to go in a browser:
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Serial.print("To see this page in action, open a browser to http://");
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Serial.println(ip);
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#else
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// print the received signal strength:
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long rssi = WiFi.RSSI();
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Serial.print("signal strength (RSSI):");
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Serial.print(rssi);
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Serial.println(" dBm");
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#endif
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}
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int read_value[10];
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int* decode_values(String inputString, int num_dec)
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{
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String str = inputString.substring(inputString.lastIndexOf(":") + 1);
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read_value[0] = str.substring(0, str.indexOf(',')).toInt();
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for(int i=1; i<num_dec; i++)
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{
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str = str.substring(str.indexOf(',')+1);
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read_value[i] = str.substring(0, str.indexOf(',')).toInt();
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}
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return read_value;
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}
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char c;
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String inputString;
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void SerialRead()
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{
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////////////////////////////////////////////////////////////
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/////// RUTINA TRATAMIENTO DE STRINGS DEL UART ///////////
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////////////////////////////////////////////////////////////
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if (command.available())
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{
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c = command.read();
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if ((c == '\r') || (c == '\n'))
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{
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if (inputString.startsWith("/axisA:")) RPC.println(inputString);
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else if (inputString.startsWith("/axisX:")) RPC.println(inputString);
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else if (inputString.startsWith("/axisY:")) RPC.println(inputString);
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inputString = String();
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}
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else
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inputString += c;
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}
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}
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/*
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This thread calls the sensorThread() function remotely
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every second. Result is printed to the RPC1 stream.
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*/
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float Motor_axis[3] = {0,0,0};
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void requestReading() {
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while (true) {
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delay(25);
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Motor_axis[x_axis] = RPC.call("AxisX").as<int>();
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Motor_axis[y_axis] = RPC.call("AxisY").as<int>();
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Motor_axis[a_axis] = RPC.call("AxisA").as<int>();
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}
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}
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int mode_Read() {
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int result = mode;
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return result;
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}
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void setup() {
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Serial.begin(1000000);
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command.begin(9600); // set this as high as you can reliably run on your platform
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RPC.begin(); //boots M4
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#if WIFI
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// check for the WiFi module:
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if (WiFi.status() == WL_NO_MODULE) {
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Serial.println("Communication with WiFi module failed!");
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// don't continue
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while (true);
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}
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#if AP_MODE
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int status = WL_IDLE_STATUS;
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// Create open network. Change this line if you want to create an WEP network:
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WiFi.config(ip, dns, gateway, subnet);
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status = WiFi.beginAP(ssid, password);
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if (status != WL_AP_LISTENING) {
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Serial.println("Creating access point failed");
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// don't continue
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while (true)
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;
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}
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#else
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WiFi.config(ip, dns, gateway, subnet);
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WiFi.begin(ssid, password);
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while (WiFi.status() != WL_CONNECTED)
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{
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delay(1000);
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Serial.print(".");
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}
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#endif
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httpServer.begin();
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// you're connected now, so print out the status:
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printWifiStatus();
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#else
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delay(1000);
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#endif
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/*
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Starts a new thread that loops the requestReading() function
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*/
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sensorThread.start(requestReading);
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}
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void loop() {
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#if WIFI
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SerialRead();
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String buffer = "";
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while (RPC.available()) {
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buffer += (char)RPC.read(); // Fill the buffer with characters
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}
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if (buffer.length() > 0) {
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Serial.print(buffer);
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}
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//Serial.println(WiFi.status());
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WiFiClient client = httpServer.available();
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if (client) { // if you get a client,
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//Serial.println("new client"); // print a message out the serial port
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String currentLine = ""; // make a String to hold incoming data from the client
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while (client.connected()) { // loop while the client's connected
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if (client.available()) { // if there's bytes to read from the client,
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char c = client.read(); // read a byte, then
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//Serial.write(c); // print it out the serial monitor
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if (c == '\n') { // if the byte is a newline character
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// if the current line is blank, you got two newline characters in a row.
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// that's the end of the client HTTP request, so send a response:
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if (currentLine.length() == 0) {
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// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
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// and a content-type so the client knows what's coming, then a blank line:
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client.println("HTTP/1.1 200 OK");
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client.println("Content-Type: text/html");
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client.println("Connection: close"); // the connection will be closed after completion of the response
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client.println("Refresh: 0.025"); // refresh the page automatically every 5 sec
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client.println();
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client.println("<!DOCTYPE HTML>");
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client.println("<html>");
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// output the value of each analog input pin
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//create the buttons
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client.print("Click <a href=\"/L0\">here</a> to move lineal motor 0%<br>");
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client.print("Click <a href=\"/L50\">here</a> to move lineal motor 50%<br>");
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client.print("Click <a href=\"/L100\">here</a> to move lineal motor 100%<br><br>");
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client.print("Click <a href=\"/REC_START\">here</a> to record video<br>");
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client.print("Click <a href=\"/REC_STOP\">here</a> to stop record video<br><br>");
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client.print("Click <a href=\"/ZERO\">here</a> for initial position<br>");
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client.print("Click <a href=\"/PRESET\">here</a> for movement in automatic mode<br>");
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client.print("Click <a href=\"/AUTO\">here</a> for movement in automatic mode<br>");
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client.print("Click <a href=\"/STOP\">here</a> for stop movement in automatic mode<br><br>");
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for (int axis = 0; axis < 3; axis++) {
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int sensorReading = Motor_axis[axis];
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float reduction = REDUCTION_XY;
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if (axis==2) reduction = REDUCTION_A;
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client.print("Axis ");
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client.print(axis_c[axis]);
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client.print(" is ");
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client.print(360*sensorReading/(reduction*PULSE_REV));
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client.println("<br />");
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}
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client.println("</html>");
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break;
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}
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else { // if you got a newline, then clear currentLine:
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currentLine = "";
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}
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}
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else if (c != '\r') { // if you got anything else but a carriage return character,
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currentLine += c; // add it to the end of the currentLine
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}
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if (currentLine.endsWith("GET /L0")) {
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command.println("/p_motor:0,0"); //Motor number, % position
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}
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if (currentLine.endsWith("GET /L50")) {
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command.println("/p_motor:0,50"); //Motor number, % position
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}
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if (currentLine.endsWith("GET /L100")) {
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command.println("/p_motor:0,100"); //Motor number, % position
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}
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if (currentLine.endsWith("GET /REC_START")) {
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//command.println("/stepper:1,1,24"); //Stepper number, mode(0:LEFT, 1:RIGHT, 2:ONE TURN LEFT, 3:ONE TURN RIGHT), fps
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command.println("/s_motor:4,1,24"); //motor number, mode(0:LEFT, 1:RIGHT, 2:ONE TURN LEFT, 3:ONE TURN RIGHT), fps
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}
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if (currentLine.endsWith("GET /REC_STOP")) {
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//command.println("/stepper:1,1,0"); //Stepper number, mode(0:LEFT, 1:RIGHT, 2:ONE TURN LEFT, 3:ONE TURN RIGHT,), fps
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command.println("/s_motor:4,1,0"); //motor number, mode(0:LEFT, 1:RIGHT, 2:ONE TURN LEFT, 3:ONE TURN RIGHT), fps
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}
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if (currentLine.endsWith("GET /ZERO")) {
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if (mode!=ZERO)
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{
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mode = ZERO;
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RPC.println("/mode:"+ String(mode));
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}
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}
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if (currentLine.endsWith("GET /PRESET")) {
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if (mode!=ANGLE_MODE)
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{
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mode = ANGLE_MODE;
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RPC.println("/mode:"+ String(mode));
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}
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}
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if (currentLine.endsWith("GET /AUTO")) {
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if (mode!=CONTINUOUS)
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{
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mode = CONTINUOUS;
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RPC.println("/mode:"+ String(mode));
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}
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}
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if (currentLine.endsWith("GET /STOP")) {
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if (mode!=STOP)
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{
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mode = STOP;
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RPC.println("/mode:"+ String(mode));
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}
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}
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}
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}
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// give the web browser time to receive the data
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//delay(1);
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// close the connection:
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client.stop();
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//Serial.println("client disconnected");
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}
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#endif
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}
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