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brandoaire/rccar-local-speedcontrol.ino

Created May 20, 2014 22:05
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Alternative firmware for the RC Car that features local communication through TCP, and speed control for driving and turning
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rccar-local-speedcontrol.ino
/* Globals -------------------------------------------------------------------*/
int leftMotorEnable = D1; //PWM
int rightMotorEnable = A7; //PWM
int leftMotorDir = D3;
int rightMotorDir = D4;
int dance_state = 0;
int speed_f = 0;
int speed_b = 0;
int speed_l = 0;
int speed_r = 0;
int cloud_state = 1;
TCPServer server = TCPServer(80);
TCPClient client;
char myIpString[24];
void setup() {
server.begin();
Serial.begin(9600);
delay(1000);
//I expose Ip Address of the core so I can learn it from cloud and connect it with socket on my pc.
IPAddress myIp = Network.localIP();
sprintf(myIpString, "%d.%d.%d.%d", myIp[0], myIp[1], myIp[2], myIp[3]);
Spark.variable("ipAddress", myIpString, STRING);
pinMode(leftMotorDir, OUTPUT);
pinMode(leftMotorEnable, OUTPUT);
pinMode(rightMotorDir, OUTPUT);
pinMode(rightMotorEnable, OUTPUT);
pinMode(D7,OUTPUT);
}
void loop() {
if (WiFi.status() != WIFI_ON) {
rcCarControl(byte('k'));
}
static system_tick_t last_announced_at = millis();
if (millis() - last_announced_at > 10000) {
Multicast_Presence_Announcement();
last_announced_at = millis();
}
if (client.connected()) {
digitalWrite(D7,HIGH);
while (client.available()) {
rcCarControl(byte(client.read()));
}
} else {
// if no client is yet connected, check for a new connection
client = server.available();
digitalWrite(D7,LOW);
}
if(dance_state == 1) {
int i=0;
int j=0;
digitalWrite(leftMotorDir, LOW);
digitalWrite(rightMotorDir, LOW);
for (i = 0; i<256; i++) {
analogWrite(leftMotorEnable,i);
analogWrite(rightMotorEnable,i);
delay(2);
}
for (j = 0; i<256; j++) {
analogWrite(leftMotorEnable,255-j);
analogWrite(rightMotorEnable,255-j);
delay(2);
}
}
}
void rcCarControl(byte cmd) {
if(cmd == byte('k'))
{
digitalWrite(leftMotorEnable,LOW);
digitalWrite(rightMotorEnable,LOW);
digitalWrite(leftMotorDir,LOW);
digitalWrite(rightMotorDir,LOW);
speed_f = 0;
speed_b = 0;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Stopping");
return;
}
if(cmd == byte('s'))
{
if (speed_b == 0) {
analogWrite(leftMotorEnable,85);
analogWrite(rightMotorEnable,85);
digitalWrite(leftMotorDir,LOW);
digitalWrite(rightMotorDir,HIGH);
speed_f = 0;
speed_b = 1;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Backward - 1");
return;
}
if (speed_b == 1) {
analogWrite(leftMotorEnable,170);
analogWrite(rightMotorEnable,170);
digitalWrite(leftMotorDir,LOW);
digitalWrite(rightMotorDir,HIGH);
speed_f = 0;
speed_b = 2;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Backward - 2");
return;
}
else {
analogWrite(leftMotorEnable,255);
analogWrite(rightMotorEnable,255);
digitalWrite(leftMotorDir,LOW);
digitalWrite(rightMotorDir,HIGH);
speed_f = 0;
speed_b = 3;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Backward - 3");
return;
}
}
if(cmd == byte('w')) {
if (speed_f == 0) {
analogWrite(leftMotorEnable,85);
analogWrite(rightMotorEnable,85);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, LOW);
speed_f = 1;
speed_b = 0;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Forward - 1");
return;
}
if (speed_f == 1) {
analogWrite(leftMotorEnable,170);
analogWrite(rightMotorEnable,170);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, LOW);
speed_f = 2;
speed_b = 0;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Forward - 2");
return;
}
else {
analogWrite(leftMotorEnable,255);
analogWrite(rightMotorEnable,255);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, LOW);
speed_f = 3;
speed_b = 0;
speed_l = 0;
speed_r = 0;
dance_state = 0;
server.write("Forward - 3");
return;
}
}
if(cmd == byte('d'))
{
if (speed_r == 0) {
analogWrite(leftMotorEnable,85);
analogWrite(rightMotorEnable,85);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, HIGH);
speed_f = 0;
speed_b = 0;
speed_l = 0;
speed_r = 1;
dance_state = 0;
server.write("Right - 1");
return;
}
if (speed_r == 1) {
analogWrite(leftMotorEnable,170);
analogWrite(rightMotorEnable,170);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, HIGH);
speed_f = 0;
speed_b = 0;
speed_l = 0;
speed_r = 2;
dance_state = 0;
server.write("Right - 2");
return;
}
else {
analogWrite(leftMotorEnable,255);
analogWrite(rightMotorEnable,255);
digitalWrite(leftMotorDir, HIGH);
digitalWrite(rightMotorDir, HIGH);
speed_f = 0;
speed_b = 0;
speed_l = 0;
speed_r = 3;
dance_state = 0;
server.write("Right - 3");
return;
}
}
if(cmd == byte('a'))
{
if (speed_l == 0) {
analogWrite(leftMotorEnable,85);
analogWrite(rightMotorEnable,85);
digitalWrite(leftMotorDir, LOW);
digitalWrite(rightMotorDir, LOW);
speed_f = 0;
speed_b = 0;
speed_l = 1;
speed_r = 0;
dance_state = 0;
server.write("Left - 1");
return;
}
if (speed_l == 1) {
analogWrite(leftMotorEnable,170);
analogWrite(rightMotorEnable,170);
digitalWrite(leftMotorDir, LOW);
digitalWrite(rightMotorDir, LOW);
speed_f = 0;
speed_b = 0;
speed_l = 2;
speed_r = 0;
dance_state = 0;
server.write("Left - 2");
return;
}
else {
analogWrite(leftMotorEnable,255);
analogWrite(rightMotorEnable,255);
digitalWrite(leftMotorDir, LOW);
digitalWrite(rightMotorDir, LOW);
speed_f = 0;
speed_b = 0;
speed_l = 3;
speed_r = 0;
dance_state = 0;
server.write("Left - 3");
return;
}
}
if(cmd == byte('l')) {
dance_state = 1;
server.write("Dancing!");
return;
}
if(cmd == byte('x')) {
if (cloud_state == 1) {
Spark.disconnect();
cloud_state=0;
server.write("Disconnecting from Spark Cloud");
return;
}
if (cloud_state == 0) {
Spark.connect();
cloud_state=1;
server.write("Connecting to the Spark Cloud");
return;
}
}
}
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