スマホでコントロールできるロボットを作ろう！
from
https://pages.rohm.co.jp/ardiuno-smartphone-control-robot.html
code
https://pages.rohm.co.jp/ardiuno-smartphone-control-robot.html
code
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
extern "C" {
#include <user_interface.h>
}
#include <Ticker.h> //人感センサー用
#include <Adafruit_NeoPixel.h> //NeoPixel用
#ifdef __AVR__
#include <avr/power.h>
#endif
#include <Wire.h> //I2Cライブラリのインクルード
#define ADDR 0x64
#include <DHT.h> //温湿度センサー・ライブラリ
#define DHTTYPE DHT11 // 温湿度センサーのタイプ (DHT11, DHT22)
#define DHTPIN 2 //温湿度センサー用のピン
// 自宅のWifi設定
const char *ssid = "elecom2g-0507d0";
const char *password = "4858634471451";
ESP8266WebServer server(80);
const int G0 = 0; //テスト用のピン
const int pixel = 4; //Neo Pixel用のピン
DHT dht(DHTPIN, DHTTYPE);
float t = 0 ; //気温計測用
float h = 0 ; //湿度計測用
String led_status = "Rainbow"; //Neo Pixelの初期カラー
#define command_start 0 //モーター用コマンド(スタート)
#define command_stop 1 //モーター用コマンド(ストップ)
#define command_back 2 //モーター用コマンド(バック)
char state = command_stop; //モーター・コマンドの初期値(ストップ)
Ticker ticker;
// ロボット操作用ウェブページの作成
String getPage(){
String page = "<html lang=ja><head><meta http-equiv='refresh' content='30' charset='UTF-8' content='width=200' />";
page += "<title>ESProbot</title>";
page += "<style> body { background-color: #fffff; font-family: Arial, Helvetica, Sans-Serif; Color: #000088; }</style>";
page += "</head><body><h1>ESProbot</h1>";
page += "<h3>ロボット操作</h3>";
page += "<form action=start><input type=submit value='前進' target=tif></form>";
page += "<form action=stop><input type=submit value='ストップ' target=tif></form>";
page += "<form action=back><input type=submit value='後退' target=tif></form>";
page += "<h3>LED色変更</h3>";
//page += "<form action='/' method='POST'>";
page += "<ul><li>LED色: ";
page += led_status;
page += "<form action='/'><input name='LED' type=submit value='Rainbow' target=tif></form>";
page += "<form action='/'><input name='LED' type=submit value='Red' target=tif></form>";
page += "<form action='/'><input name='LED' type=submit value='Green' target=tif></form>";
page += "<form action='/'><input name='LED' type=submit value='Blue' target=tif></form>";
page += "</li></ul>";
/*page += "<br><INPUT type='radio' name='LED' value='red'>Red ";
page += "<INPUT type='radio' name='LED' value='green'>Green ";
page += "<INPUT type='radio' name='LED' value='blue'>Blue</li></ul>";
page += "<INPUT type='submit' value='色変更'>";*/
page += "<h3>室内計測</h3>";
page += "<ul><li>気温: ";
page += String(t,0);
page += " ℃</li>";
page += "<li>湿度: ";
page += String(h,0);
page += " %</li></ul>";
page += "<iframe src='javascript:false' style='display:none' name='tif' id='tif'></iframe>";
page += "</body></html>";
return page;
}
Adafruit_NeoPixel strip = Adafruit_NeoPixel(60, pixel, NEO_GRB + NEO_KHZ800);
// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
for(uint16_t i=0; i<strip.numPixels(); i++) {
strip.setPixelColor(i, c);
strip.show();
delay(wait);
}
}
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if(WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}
// Slightly different, this makes the rainbow equally distributed throughout
void rainbowCycle(uint8_t wait) {
uint16_t i, j;
for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel
for(i=0; i< strip.numPixels(); i++) {
strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
}
strip.show();
delay(wait);
}
}
void rainbow(uint8_t wait) {
uint16_t i, j;
for(j=0; j<256; j++) {
for(i=0; i<strip.numPixels(); i++) {
strip.setPixelColor(i, Wheel((i+j) & 255));
}
strip.show();
delay(wait);
}
}
//Theatre-style crawling lights.
void theaterChase(uint32_t c, uint8_t wait) {
for (int j=0; j<10; j++) { //do 10 cycles of chasing
for (int q=0; q < 3; q++) {
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, c); //turn every third pixel on
}
strip.show();
delay(wait);
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, 0); //turn every third pixel off
}
}
}
}
//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
for (int j=0; j < 256; j++) { // cycle all 256 colors in the wheel
for (int q=0; q < 3; q++) {
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, Wheel( (i+j) % 255)); //turn every third pixel on
}
strip.show();
delay(wait);
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, 0); //turn every third pixel off
}
}
}
}
void handleSubmit() {
String LEDColor;
LEDColor = server.arg("LED");
Serial.println("Set Color "); Serial.print(LEDColor);
if ( LEDColor == "Red" ) {
colorWipe(strip.Color(255, 0, 0), 50); // Red
led_status = "Red";
server.send ( 200, "text/html", getPage() );
} else if ( LEDColor == "Green" ) {
colorWipe(strip.Color(0, 255, 0), 50); // Green
led_status = "Green";
server.send ( 200, "text/html", getPage() );
} else if ( LEDColor == "Blue" ) {
colorWipe(strip.Color(0, 0, 255), 50); // Blue
led_status = "Blue";
server.send ( 200, "text/html", getPage() );
} else if ( LEDColor == "Rainbow" ) {
rainbow(20); // Rainbow
led_status = "Rainbow";
server.send ( 200, "text/html", getPage() );
} else {
Serial.println("Error");
}
}
void handleRoot(){
if ( server.hasArg("LED") ) {
handleSubmit();
} else {
server.send ( 200, "text/html", getPage() );
}
}
void stop_motor(){
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x18);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x1B);
Wire.endTransmission();
}
void start_motor(){
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x19);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x35);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x65);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0xC9);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0xFD);
Wire.endTransmission();
}
void reverse_motor(){
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x1A);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x36);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0x66);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0xCA);
Wire.endTransmission();
delay(10);
Wire.beginTransmission(ADDR);
Wire.write(0x00);
Wire.write(0xFE);
Wire.endTransmission();
}
void handle_stop() {
Serial.print("stop");
if((state == command_start)||(state == command_back)) {
stop_motor();
state = command_stop;
}
server.send(200, "text/html", getPage() );
}
void handle_start() {
Serial.print("start");
if(state == command_back){
stop_motor();
delay(10);
start_motor();
}else if(state == command_stop){
start_motor();
delay(3000);
stop_motor();
}
state = command_start;
server.send(200, "text/html", getPage() );
}
void handle_back() {
Serial.print("back");
if(state == command_start){
stop_motor();
delay(10);
reverse_motor();
}else if(state == command_stop){
reverse_motor();
delay(3000);
stop_motor();
}
state = command_back;
server.send(200, "text/html", getPage() );
}
void LED_ON() {
Serial.print("LED ON");
digitalWrite(G0, 1);
server.send(200, "text/html", getPage() );
}
void LED_OFF() {
Serial.print("LED OFF");
digitalWrite(G0, 0);
server.send(200, "text/html", getPage() );
}
//人感センサー制御
void timer() {
// A/Dセンサー取得
int tout = system_adc_read();
Serial.println(tout);
/* if (tout < 500) {
colorWipe(strip.Color(0, 255, 0), 50); // Green
} */
digitalWrite(G0, tout < 500 ? LOW : HIGH);
}
void setup() {
delay(1000);
Serial.begin(115200);
Serial.println();
Serial.print("Configuring access point...");
pinMode(G0, OUTPUT); //テスト用
pinMode(pixel, OUTPUT); //NeoPixel用
ticker.attach_ms(500, timer); //人感センサー用
digitalWrite(G0, 0);
// Connect to WiFi network
WiFi.begin(ssid, password);
// Wait for connection
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.print("Connected to ");
Serial.println(ssid);
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
Wire.begin(5, 14);
delay(40);
server.on("/", handleRoot);
// And as regular external functions:
server.on("/stop", handle_stop);
server.on("/start", handle_start);
server.on("/back", handle_back);
/*server.on("/led_on", LED_ON);
server.on("/led_off", LED_OFF);*/
server.begin();
Serial.println("HTTP server started");
strip.begin();
strip.show(); // Initialize all pixels to 'off'
}
void loop() {
server.handleClient();
t = dht.readTemperature();
h = dht.readHumidity();
Serial.print("Temp: "); Serial.print(t); Serial.println(" C");
Serial.print("Humid: "); Serial.print(h); Serial.println(" %");
delay(100);
if (led_status == "Rainbow") {
rainbow(20);
} else if ( digitalRead(G0) == 1) {
theaterChase(strip.Color(127, 127, 0), 50); // Blink Yellow
delay(100);
} else if (t > 24) {
theaterChase(strip.Color(127, 0, 0), 50); // Blink Red
delay(100);
} else if (h < 30) {
theaterChase(strip.Color(0, 0, 127), 50); // Blink Blue
delay(100);
} else {
colorWipe(strip.Color(0, 0, 0), 50);
delay(100);
}
}
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