LARS/examples/WebInterface/WebInterface.ino

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// Example of the LARS Movement library using the ESPUI Webinferface and the SimleExpressions Library by Lukas Bachschwell
#include <SimpleExpressions.h>
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#include <WiFi.h>
#include <ESPUI.h>
#include <LARS.h>
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#define ledDataPin 2
#define beeperPin 4
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#define echoPin 36
#define triggerPin 34
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#define checkTime 1000
#define warningDistance 20
long oldTime = 0;
bool warning = false;
const char* ssid = "Lars";
LARS robot;
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boolean walk_forward = false;
boolean walk_backward = false;
boolean hello = false;
boolean turn_left = false;
boolean turn_right = false;
boolean moonwalk = false;
boolean audience = false;
boolean omni = false;
boolean omni_left = false;
boolean dance = false;
boolean upDown = false;
boolean PushUp = false;
void setup() {
Serial.begin(115200);
WiFi.mode(WIFI_AP);
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WiFi.setHostname(ssid);
WiFi.softAP(ssid);
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Serial.println("");
Serial.print("IP address: ");
Serial.println(WiFi.softAPIP());
ESPUI.pad("Walking Control", true, &walkingPad, COLOR_CARROT);
ESPUI.pad("Wave some legs", false, &wavePad, COLOR_CARROT);
ESPUI.button("Wave Button", &audienceWaveButton, COLOR_PETERRIVER);
ESPUI.button("MoonWalk Button", &moonWalkButton, COLOR_PETERRIVER);
ESPUI.button("Dance Button", &danceButton, COLOR_PETERRIVER);
ESPUI.button("PushUp Button", &pushUpButton, COLOR_PETERRIVER);
ESPUI.button("upDown Button", &upDownButton, COLOR_PETERRIVER);
ESPUI.button("Slow Turn Right", &slowTurnRight, COLOR_PETERRIVER);
ESPUI.button("Slow Turn left", &slowTurnLeft, COLOR_PETERRIVER);
ESPUI.begin("Crabby Control");
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SimpleExpressions.init(ledDataPin, beeperPin);
SimpleExpressions.clearMouth();
SimpleExpressions.writeMouth("happySmall", 0, 0, 80);
SimpleExpressions.playSound(S_SUPER_HAPPY);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
/*
How to wire:
init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
Leg Hip Face Hip Leg
__________ __________ _________________
|(FLL)_____)(FLH) (FRH)(______(FRL)|
|__| |left FRONT right| |__|
| |
| |
| |
_________ | | __________
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
|__| |__|
*/
robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
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delay(1000);
}
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void loop() {
if (millis() - oldTime > checkTime) {
checkDistance();
oldTime = millis();
}
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if (walk_forward) robot.walk(0);
else if (walk_backward) robot.walk();
else if (hello) robot.hello();
else if (turn_left) robot.turnL(1, 550);
else if (turn_right) robot.turnR(1, 550);
else if (moonwalk) robot.moonwalk(1, 5000);
else if (audience) robot.wave(1);
else if (dance) robot.dance(1, 600);
else if (omni) robot.omniWalk(1, 600, true, 1);
else if (omni_left) robot.omniWalk(1, 600, false, 1);
else if (PushUp) robot.pushUp(1, 600);
else if (upDown) robot.upDown(1, 5000);
else robot.home();
}
// UI Callbacks
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void audienceWaveButton(Control c, int type) {
if (type == B_DOWN) {
audience = true;
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} else {
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audience = false;
}
}
void moonWalkButton(Control c, int type) {
if (type == B_DOWN) {
moonwalk = true;
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} else {
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moonwalk = false;
}
}
void danceButton(Control c, int type) {
if (type == B_DOWN) {
dance = true;
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} else {
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dance = false;
}
}
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void pushUpButton(Control c, int type) {
if (type == B_DOWN) {
PushUp = true;
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} else {
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PushUp = false;
}
}
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void upDownButton(Control c, int type) {
if (type == B_DOWN) {
upDown = true;
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} else {
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upDown = false;
}
}
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void slowTurnRight(Control c, int type) {
if (type == B_DOWN) {
omni = true;
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} else {
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omni = false;
}
}
void slowTurnLeft(Control c, int type) {
if (type == B_DOWN) {
omni_left = true;
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} else {
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omni_left = false;
}
}
void walkingPad(Control c, int value) {
switch (value) {
case P_LEFT_DOWN:
turn_left = true;
break;
case P_LEFT_UP:
turn_left = false;
break;
case P_RIGHT_DOWN:
turn_right = true;
break;
case P_RIGHT_UP:
turn_right = false;
break;
case P_FOR_DOWN:
walk_forward = true;
break;
case P_FOR_UP:
walk_forward = false;
break;
case P_BACK_DOWN:
walk_backward = true;
break;
case P_BACK_UP:
walk_backward = false;
break;
case P_CENTER_DOWN:
hello = true;
break;
case P_CENTER_UP:
hello = false;
break;
}
}
void wavePad(Control c, int value) {
switch (value) {
case P_LEFT_DOWN:
robot.wave(1);
break;
case P_RIGHT_DOWN:
robot.wave(2);
break;
case P_FOR_DOWN:
robot.wave(3);
break;
case P_BACK_DOWN:
robot.wave(4);
break;
}
}
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// Ultrasonic Sensor
void checkDistance() {
int d = distance(triggerPin, echoPin);
ESPUI.print("Distance", String(d));
if (d < warningDistance) {
delay(100);
d = distance(triggerPin, echoPin);
if (d < warningDistance) {
if(!warning) {
SimpleExpressions.writeMouth("sadFull", 100, 0, 0);
SimpleExpressions.writeMouth("sadFull", 100, 0, 0); // only twice please
}
SimpleExpressions.playSound(S_CONFUSED);
warning = true;
}
} else {
if (warning) {
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
SimpleExpressions.writeMouth("happyFull", 0, 60, 100); // only twice please
warning = false;
}
}
}
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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;
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}