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PanTiltMechanism.ino
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PanTiltMechanism.ino
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//Reference https://randomnerdtutorials.com/esp8266-nodemcu-http-get-post-arduino/#http-get-2
//https://github.com/esp8266/Arduino/blob/master/libraries/DNSServer/examples/CaptivePortal/CaptivePortal.ino
#include <ESP8266WiFi.h>
#include <ESP8266HTTPClient.h>
#include <WiFiClient.h>
#include <Arduino_JSON.h>
#include <Servo.h>
#include <ESP8266WebServer.h>
#include <EEPROM.h>
#include <DNSServer.h>
#include <ESP8266mDNS.h>
const char* serverName = "https://scobobot.pythonanywhere.com/get-movements/";
const byte DNS_PORT = 53;
IPAddress apIP(172, 217, 28, 1);
DNSServer dnsServer;
ESP8266WebServer server(80);
const int buttonPin = 3; // Button pin to change to configuration mode
unsigned long lastTime = 0;
unsigned long timerDelay = 500;
Servo servo1,servo2;
int servoPin1 = 4,servoPin2 = 5;
int servo1Angle = 0, servo2Angle = 0;
String handleConfig = ""
"<html><head><title>ScoboBot WiFi Configuration</title></head><body>"
"<div style='display: flex; justify-content: center; align-items: center; height: 100vh;'>"
"<div style='background-color: #f2f2f2; padding: 20px; border-radius: 5px;'>"
"<h1>WiFi Configuration</h1>"
"<form method='POST' action='/saveconfig'>"
"<label for='ssid'>SSID:</label><br>"
"<input type='text' id='ssid' name='ssid' style='width: 250px; padding: 10px;'><br><br>"
"<label for='password'>Password:</label><br>"
"<input type='password' id='password' name='password' style='width: 250px; padding: 10px;'><br><br>"
"<input type='submit' value='Save' style='padding: 10px 20px; background-color: #4CAF50; color: white; border: none; border-radius: 4px; cursor: pointer;'>"
"</form>"
"</div>"
"</div>"
"<style>body { font-family: Arial, sans-serif; }</style></body></html>"; // Add a basic font-family style
void handleSaveConfig() {
String ssid = server.arg("ssid");
String password = server.arg("password");
// Save the new WiFi credentials
saveWiFiCredentials(ssid, password);
Serial.println("Credentials Saved!");
String html = "<html><head><title>ScoboBot WiFi Configuration</title></head><body>";
html += "<div style='display: flex; justify-content: center; align-items: center; height: 100vh;'>";
html += "<div style='background-color: #f2f2f2; padding: 20px; border-radius: 5px;'>";
html += "<h1 style='color: #4CAF50;'>Configuration Saved!</h1>";
html += "<p>Your WiFi configuration has been saved successfully.</p>";
html += "<p>Please restart the device to apply the new settings.</p>";
html += "<p>Also press config switch to turn off config mode!</p>";
html += "</div>";
html += "</div>";
html += "<style>body { font-family: Arial, sans-serif; }</style></body></html>"; // Add a basic font-family style
server.send(200, "text/html", html);
}
void saveWiFiCredentials(const String& ssid, const String& password) {
// Save the WiFi credentials to EEPROM
int ssidLength = ssid.length() + 1;
int passwordLength = password.length() + 1;
EEPROM.begin(512);
EEPROM.write(0, ssidLength);
for (int i = 0; i < ssidLength; ++i) {
EEPROM.write(i + 1, ssid[i]);
}
EEPROM.write(ssidLength + 1, passwordLength);
for (int i = 0; i < passwordLength; ++i) {
EEPROM.write(ssidLength + 2 + i, password[i]);
}
EEPROM.commit();
EEPROM.end();
}
void loadWiFiCredentials(String& ssid, String& password) {
// Load the WiFi credentials from EEPROM
EEPROM.begin(512);
int ssidLength = EEPROM.read(0);
for (int i = 0; i < ssidLength; ++i) {
ssid += char(EEPROM.read(i + 1));
}
int passwordLength = EEPROM.read(ssidLength + 1);
for (int i = 0; i < passwordLength; ++i) {
password += char(EEPROM.read(ssidLength + 2 + i));
}
EEPROM.end();
}
void setup() {
Serial.begin(115200);
pinMode(buttonPin, INPUT_PULLUP); //configuration mode pin
servo1.attach(servoPin1);
servo1.write(0);
servo2.attach(servoPin2);
servo2.write(0);
// Check if the button is pressed during startup
if (digitalRead(buttonPin) == LOW) {
delay(1000);
// If the button is pressed, enter WiFi configuration mode
Serial.println("\nEntering WiFi configuration mode!");
WiFi.mode(WIFI_AP);
WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0));
WiFi.softAP("ScoboBot_WifiConnect"); // Create an access point
IPAddress apIP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(apIP);
dnsServer.start(DNS_PORT, "*", apIP);
if (MDNS.begin("scobobot")) {
Serial.println("MDNS responder started");
}
server.onNotFound([]() {
server.send(200, "text/html", handleConfig);
});
server.on("/saveconfig", handleSaveConfig);
server.begin();
Serial.println("Web server started\n");
}else {
// If the button is not pressed, load WiFi credentials and connect to WiFi
String ssid, password;
loadWiFiCredentials(ssid, password);
Serial.println("Connecting to WiFi...");
WiFi.begin(ssid.c_str(), password.c_str());
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.print(".");
}
Serial.println("");
Serial.println("Connected to WiFi");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
Serial.println("\nConnected to https://scobobot.pythonanywhere.com !\n");
Serial.println("Timer set to 500 mseconds (timerDelay variable), it will take 500 mseconds before publishing the first reading.\n");
}
}
void loop() {
if(digitalRead(buttonPin) == LOW){ //for configuration mode
dnsServer.processNextRequest();
MDNS.update();
server.handleClient();
}
else{ //when not in config mode i.e normal mode
// Control the servos
if ((millis() - lastTime) > timerDelay) {
if (WiFi.status() == WL_CONNECTED) {
String response = httpGETRequest(serverName);
Serial.println(response);
JSONVar json = JSON.parse(response);
if (JSON.typeof(json) == "undefined") {
Serial.println("Parsing input failed!\n");
return;
}
JSONVar rotationValue = json["rotate"];
JSONVar tiltValue = json["tilt"];
JSONVar resetValue = json["reset"];
int resetV = int(resetValue);
if(resetV==1){
while(servo1Angle!=0){
servo1Angle--;
servo1.write(servo1Angle);
delay(10);
}
while(servo2Angle!=0){
servo2Angle--;
servo2.write(servo2Angle);
delay(10);
}
}
int tiltV = int(tiltValue);
int tiltcounter = 0;
while(tiltcounter!= tiltV){ //to make motion of servo smooth
if(tiltV>0){
tiltcounter++;
servo1Angle++;}
if(tiltV<0){
tiltcounter--;
servo1Angle--;
}
if(servo1Angle>=180){
servo1Angle = 180;
}
if(servo1Angle<=0){
servo1Angle = 0;
}
servo1.write(servo1Angle);
delay(10);
}
int rotateV = int(rotationValue);
int rotatecounter = 0;
while(rotatecounter!= rotateV){ //to make motion of servo smooth
if(rotateV>0){
rotatecounter++;
servo2Angle++;}
if(rotateV<0){
rotatecounter--;
servo2Angle--;
}
if(servo2Angle>=180){
servo2Angle = 180;
}
if(servo2Angle<=0){
servo2Angle = 0;
}
servo2.write(servo2Angle);
delay(10);
}
}
else {
Serial.println("WiFi Disconnected\nRestart Device!\n");
}
lastTime = millis();
}
} //when not in config mode
}
String httpGETRequest(const char* serverName) {
WiFiClientSecure client;
HTTPClient http;
// Disable certificate verification (only for testing, not recommended for production)
client.setInsecure();
http.begin(client, serverName);
int httpResponseCode = http.GET();
String payload = "{}";
if (httpResponseCode > 0) {
Serial.print("\nHTTP Response code: ");
Serial.println(httpResponseCode);
payload = http.getString();
} else {
Serial.print("Error code: ");
Serial.println(httpResponseCode);
}
http.end();
return payload;
}