no pde

examples/Webinterface/Webinterface.ino

@@ -1,9 +1,21 @@
-// This examples shows the Hippie Library used toghether with ESPUI Library by Lukas Bachschwelll on the ESP32
+// This examples shows the Hippie Library used toghether with ESPUI and the SimleExpressions Library by Lukas Bachschwelll on the ESP32
+#include <SimpleExpressions.h>
 #include <WiFi.h>
 #include <ESPUI.h>
 #include <Hippie.h>
 #include <Oscillator.h>
 
+#define ledDataPin 39
+#define beeperPin 36
+
+#define echoPin 34
+#define triggerPin 35
+
+#define checkTime 1000
+#define warningDistance 20
+
+long oldTime = 0;
+bool warning = false;
 
 const char* ssid = "Hippie";
 
@@ -25,8 +37,9 @@ boolean moon_r = false;
 boolean cruise = false;
 boolean test_pos = false;
 
-void setup()
+void setup() {
-{
+  pinMode(echoPin, INPUT );
+  pinMode(triggerPin, OUTPUT );
 
   Serial.begin(115200);
   WiFi.mode(WIFI_AP);
@@ -37,6 +50,7 @@ void setup()
   Serial.println(WiFi.softAPIP());
 
 
+  ESPUI.label("Distance", COLOR_CARROT, "0");
   ESPUI.pad("Move", true, &buttonPad, COLOR_CARROT);
   ESPUI.button("TT Swing", &ttSwingButton, COLOR_PETERRIVER);
   ESPUI.button("Swing", &swingButton, COLOR_PETERRIVER);
@@ -51,6 +65,13 @@ void setup()
 
   ESPUI.begin("Hippie Control Demo");
 
+  SimpleExpressions.init(ledDataPin, beeperPin);
+  SimpleExpressions.clearMouth();
+
+  SimpleExpressions.writeMouth("happySmall", 0, 0, 80);
+  SimpleExpressions.playSound(S_SUPER_HAPPY);
+  SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
+
   /*
     This function is used to config Hippie, it has the following parameters
      - (int) pin of the upper left servo
@@ -59,15 +80,40 @@ void setup()
      - (int) pin of the lower right servo
   */
 
-  hippie.init(25, 13, 26, 16);
+  hippie.init(25, 26, 16, 13);
 }
 
+void loop() {
+  if (millis() - oldTime > checkTime) {
+    checkDistance();
+    oldTime = millis();
+  }
+
+  if (walk_forward) hippie.new_walk();
+  else if (walk_backward) hippie.new_walk(2, 4, 750);
+  else if (turn_left) hippie.new_turn();
+  else if (turn_right) hippie.new_turn(2);
+  else if (shake) hippie.shakeLeg();
+  else if (jump) hippie.jump();
+  else if (swing) hippie.swing();
+  else if (tt_swing) hippie.tiptoeSwing();
+  else if (jitter) hippie.jitter();
+  else if (bend) hippie.bend();
+  else if (flap) hippie.flapping();
+  else if (moon) hippie.moonwalker();
+  else if (moon_r) hippie.moonwalker(1, 900, 50, -1);
+  else if (cruise) hippie.crusaito();
+  else if (test_pos) hippie.test_pos();
+  else hippie.home();
+}
+
+
+// UI Callbacks
 
 void ttSwingButton(Control c, int type) {
   if (type == B_DOWN) {
     tt_swing = true;
-  }
+  } else {
-  else {
     tt_swing = false;
   }
 }
@@ -75,8 +121,7 @@ void ttSwingButton(Control c, int type) {
 void swingButton(Control c, int type) {
   if (type == B_DOWN) {
     swing = true;
-  }
+  } else {
-  else {
     swing = false;
   }
 }
@@ -84,8 +129,7 @@ void swingButton(Control c, int type) {
 void angryButton(Control c, int type) {
   if (type == B_DOWN) {
     jump = true;
-  }
+  } else {
-  else {
     jump = false;
   }
 }
@@ -93,8 +137,7 @@ void angryButton(Control c, int type) {
 void jitterButton(Control c, int type) {
   if (type == B_DOWN) {
     jitter = true;
-  }
+  } else {
-  else {
     jitter = false;
   }
 }
@@ -102,8 +145,7 @@ void jitterButton(Control c, int type) {
 void shakeButton(Control c, int type) {
   if (type == B_DOWN) {
     shake = true;
-  }
+  } else {
-  else {
     shake = false;
   }
 }
@@ -111,8 +153,7 @@ void shakeButton(Control c, int type) {
 void bendButton(Control c, int type) {
   if (type == B_DOWN) {
     bend = true;
-  }
+  } else {
-  else {
     bend = false;
   }
 }
@@ -120,8 +161,7 @@ void bendButton(Control c, int type) {
 void flapButton(Control c, int type) {
   if (type == B_DOWN) {
     flap = true;
-  }
+  } else {
-  else {
     flap = false;
   }
 }
@@ -129,8 +169,7 @@ void flapButton(Control c, int type) {
 void moonLeftButton(Control c, int type) {
   if (type == B_DOWN) {
     moon = true;
-  }
+  } else {
-  else {
     moon = false;
   }
 }
@@ -138,8 +177,7 @@ void moonLeftButton(Control c, int type) {
 void cruisatoButton(Control c, int type) {
   if (type == B_DOWN) {
     cruise = true;
-  }
+  } else {
-  else {
     cruise = false;
   }
 }
@@ -147,13 +185,11 @@ void cruisatoButton(Control c, int type) {
 void moonRightButton(Control c, int type) {
   if (type == B_DOWN) {
     moon_r = true;
-  }
+  } else {
-  else {
     moon_r = false;
   }
 }
 
-
 void buttonPad (Control c, int value) {
   switch (value) {
     case P_LEFT_DOWN:
@@ -189,24 +225,49 @@ void buttonPad (Control c, int value) {
   }
 }
 
+// Ultrasonic Sensor
 
-
+void checkDistance() {
-void loop()
+  int d = distance(triggerPin, echoPin);
-{
+  ESPUI.print("Distance", String(d));
-  if (walk_forward) hippie.new_walk();
+  if (d < warningDistance) {
-  else if (walk_backward) hippie.new_walk(2, 4, 750);
+    delay(100);
-  else if (turn_left) hippie.new_turn();
+    d = distance(triggerPin, echoPin);
-  else if (turn_right) hippie.new_turn(2);
+    if (d < warningDistance) {
-  else if (shake) hippie.shakeLeg();
+      if(!warning) {
-  else if (jump) hippie.jump();
+        SimpleExpressions.writeMouth("sadFull", 100, 0, 0);
-  else if (swing) hippie.swing();
+        SimpleExpressions.writeMouth("sadFull", 100, 0, 0); // only twice please
-  else if (tt_swing) hippie.tiptoeSwing();
+        }
-  else if (jitter) hippie.jitter();
+      SimpleExpressions.playSound(S_CONFUSED);
-  else if (bend) hippie.bend();
+      warning = true;
-  else if (flap) hippie.flapping();
+    }
-  else if (moon) hippie.moonwalker();
+  } else {
-  else if (moon_r) hippie.moonwalker(1, 900, 50, -1);
+    if (warning) {
-  else if (cruise) hippie.crusaito();
+      SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
-  else if (test_pos) hippie.test_pos();
+      SimpleExpressions.writeMouth("happyFull", 0, 60, 100); // only twice please
-  else hippie.home();
+      warning = false;
+    }
+  }
+}
+
+long US_init(int trigger_pin, int echo_pin)
+{
+  digitalWrite(trigger_pin, LOW);
+  delayMicroseconds(2);
+  digitalWrite(trigger_pin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(trigger_pin, LOW);
+
+  return pulseIn(echo_pin, HIGH, 100000);
+}
+
+long distance(int trigger_pin, int echo_pin)
+{
+  long microseconds = US_init(trigger_pin, echo_pin);
+  long distance;
+  distance = microseconds / 29 / 2;
+  if (distance == 0) {
+    distance = 999;
+  }
+  return distance;
 }

src/Oscillator.h

@@ -1,5 +1,5 @@
 //--------------------------------------------------------------
-//-- Oscillator.pde
+//-- Oscillator
 //-- Generate sinusoidal oscillations in the servos
 //--------------------------------------------------------------
 //-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011