WiFi Robot

Veb-interfeysga qanday erishish mumkin
Veb-interfeysga osongina erishish uchun MKR1000 ning MDNS javob berish qobiliyatidan foydalaniladi. Kengash Sizning Tarmoqingizga ulangandan so'ng, siz faqat yozishingiz kerak Xotinirobot.veb-brauzeringizda mahalliy va shu bilan! Endi siz robotingiz bilan o'ynashingiz mumkin!
Kod
/*
MKR1000 WiFi Robot
This sketch use the WiFi server capability of a MKR1000 to post a web interface used to move a mini robot.
Required hardware:
- Arduino/Genuino MKR1000;
- MKR2UNO Shield adapter;
- Arduino Motor Shield
created 02 Nov 2016
by Arturo Guadalupi
*/

#include

#include
#include

#include "arduino_secrets.h"

///////please enter your sensitive data in the Secret tab/arduino_secrets.h
/////// Wifi Settings ///////
char ssid[] = SECRET_SSID;
char pass[] = SECRET_PASS;
int keyIndex = 0; // your network key Index number (needed only for WEP)

char mdnsName[] = "WiFiRobot"; // the MDNS name that the board will respond to

// Note that the actual MDNS name will have '.local' after
// the name above, so "WiFiRobot" will be accessible on
// the MDNS name "WiFiRobot.local".

int status = WL_IDLE_STATUS;

// Create a MDNS responder to listen and respond to MDNS name requests.
WiFiMDNSResponder mdnsResponder;

WiFiServer server(80);

String readString;

const int pinDirA = 12;

const int pinDirB = 0; //pin 13 is wired to pin 0 on the shield adapter
const int pinPwmA = 3;
const int pinPwmB = 11;
const int pinBrakeA = 9;
const int pinBrakeB = 8;

const int motorSpeed = 200;

const int stepsDelay = 500;

void setup() {

//Initialize serial and wait for port to open:
//Put motor shield pins as output
pinMode(pinDirA, OUTPUT);
pinMode(pinPwmA, OUTPUT);
pinMode(pinBrakeA, OUTPUT);
pinMode(pinDirB, OUTPUT);
pinMode(pinPwmB, OUTPUT);
pinMode(pinBrakeB, OUTPUT);
brake();
Serial.begin(9600);

// check for the presence of the shield:

if (WiFi.status() == WL_NO_SHIELD) {
Serial.println("WiFi shield not present");
// don't continue:
while (true);
}

// attempt to connect to Wifi network:

while ( status != WL_CONNECTED) {
Serial.print("Attempting to connect to SSID: ");
Serial.println(ssid);
// Connect to WPA/WPA2 network. Change this line if using open or WEP network:
status = WiFi.begin(ssid, pass);

// wait 10 seconds for connection:

delay(10000);
}
// you're connected now, so print out the status:
printWiFiStatus();

server.begin();

// Setup the MDNS responder to listen to the configured name.
// NOTE: You _must_ call this _after_ connecting to the WiFi network and
// being assigned an IP address.
if (!mdnsResponder.begin(mdnsName)) {
Serial.println("Failed to start MDNS responder!");
while (1);
}

Serial.print("Server listening at http://");

Serial.print(mdnsName);
Serial.println(".local/");
Serial.println();
}

void loop() {

// Call the update() function on the MDNS responder every loop iteration to
// make sure it can detect and respond to name requests.
mdnsResponder.poll();

// listen for incoming clients

WiFiClient client = server.available();

if (client) {

Serial.println("new client");
// an http request ends with a blank line
boolean currentLineIsBlank = true;
while (client.connected()) {
if (client.available()) {
char c = client.read();// Read char by char HTTP request
readString += c;
Serial.write(c);

// if you've gotten to the end of the line (received a newline

// character) and the line is blank, the http request has ended,
// so you can send a reply
if (c == '\n' && currentLineIsBlank) {
// send a standard http response header
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
client.println("Connection: close"); // the connection will be closed after completion of the response
//client.println("Refresh: 5"); // refresh the page automatically every 5 sec
client.println();
client.println("");
client.println("");
client.println("

---

Click the Buttons to move the robot

---

");
client.println("
");
client.println("
");
client.println("

");
client.println("

---

");

client.println("");
client.println("");
break;
}
if (c == '\n') {
// you're starting a new line
currentLineIsBlank = true;
}
else if (c != '\r') {
// you've gotten a character on the current line
currentLineIsBlank = false;
}
}
}
// give the web browser time to receive the data
delay(1);

// close the connection:

client.stop();
if (readString.indexOf("/?GO_UP") > 0) {
Serial.println();
Serial.println("UP");
Serial.println();
goUp();
}
if (readString.indexOf("/?GO_DOWN") > 0) {
Serial.println();
Serial.println("DOWN");
Serial.println();
goDown();
}
if (readString.indexOf("/?GO_LEFT") > 0) {
Serial.println();
Serial.println("LEFT");
Serial.println();
goLeft();
}
if (readString.indexOf("/?GO_RIGHT") > 0) {
Serial.println();
Serial.println("RIGHT");
Serial.println();
goRight();
}
readString = "";// Clearing string for next read
Serial.println("client disconnected");
}
}

void printWiFiStatus() {

// print the SSID of the network you're attached to:
Serial.print("SSID: ");
Serial.println(WiFi.SSID());

// print your WiFi shield's IP address:

IPAddress ip = WiFi.localIP();
Serial.print("IP Address: ");
Serial.println(ip);

// print the received signal strength:

long rssi = WiFi.RSSI();
Serial.print("signal strength (RSSI):");
Serial.print(rssi);
Serial.println(" dBm");
}

void goDown(void) {

motorAforward();
motorBforward();
delay(stepsDelay);
brake();
}

void goUp(void) {

motorBbackward();
motorBbackward();
delay(stepsDelay);
brake();
}

void goLeft(void) {

motorAforward();
motorBbackward();
delay(2*stepsDelay);
brake();
}

void goRight(void) {

motorBforward();
motorAbackward();
delay(2*stepsDelay);
brake();
}

void motorAforward(void) {

digitalWrite(pinDirA, HIGH); //Establishes forward direction of Channel A
digitalWrite(pinBrakeA, LOW); //Disengage the Brake for Channel A
analogWrite(pinPwmA, motorSpeed); //Spins the motor on Channel A at full motorSpeed
}

void motorAbackward(void) {

digitalWrite(pinDirA, LOW); //Establishes forward direction of Channel A
digitalWrite(pinBrakeA, LOW); //Disengage the Brake for Channel A
analogWrite(pinPwmA, motorSpeed); //Spins the motor on Channel A at full motorSpeed
}

void motorBforward(void) {

digitalWrite(pinDirB, HIGH); //Establishes forward direction of Channel A
digitalWrite(pinBrakeB, LOW); //Disengage the Brake for Channel A
analogWrite(pinPwmB, motorSpeed); //Spins the motor on Channel A at full motorSpeed
}

void motorBbackward(void) {

digitalWrite(pinDirB, LOW); //Establishes forward direction of Channel A
digitalWrite(pinBrakeB, LOW); //Disengage the Brake for Channel A
analogWrite(pinPwmB, motorSpeed); //Spins the motor on Channel A at full motorSpeed
}

void brake(void) {

digitalWrite(pinBrakeA, HIGH); //Engage the Brake for Channel A
digitalWrite(pinBrakeB, HIGH); //Engage the Brake for Channel B
}