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esp8266Alone.ino
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esp8266Alone.ino
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//#define AP_MODE 1
#define STA_MODE 1
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
#include <ESP8266HTTPUpdateServer.h>
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include "math.h"
ESP8266WebServer httpServer(80);
ESP8266HTTPUpdateServer httpUpdater;
#ifdef STA_MODE
#include <DNSServer.h>
#include <WiFiManager.h> //https://github.com/tzapu/WiFiManager
#include "Adafruit_MQTT.h"
#include "Adafruit_MQTT_Client.h"
WiFiClient client;
#define AIO_SERVER "io.adafruit.com"
#define AIO_SERVERPORT 1883 // use 8883 for SSL
#define AIO_USERNAME "programmer5" //your adafruit IO user name
#define AIO_KEY "16d6fbd3ac9944e4823cdae46e5348e6" //your adafruit IO key
Adafruit_MQTT_Client mqtt(&client, AIO_SERVER, AIO_SERVERPORT, AIO_USERNAME, AIO_KEY);
Adafruit_MQTT_Publish espIp = Adafruit_MQTT_Publish(&mqtt, AIO_USERNAME "/feeds/espIP");
void MQTT_connect() {
if (mqtt.connected()) {
return;
}
mqtt.connect();
delay(1000);
}
#endif
float Kp= 55;
float Kd= -0.5 ;
float Ki= 70;
float targetAngle = -0.35;
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const char index_html[] PROGMEM={"<!DOCTYPE html>\n<html>\n\n<head>\n <title>esp</title>\n <link rel=\"stylesheet\" type=\"text/css\" href=\"css/style.css\">\n\n <script src=\"js/zepto.min.js\"></script>\n\n <script>\t\n function tuneParam(paramToTune,sign) \n\t\t{var someUrl = \"/Tune?\"+paramToTune+\"=\"+sign;\n $.ajax({url: someUrl,dataType: \"text\", \n\t\t\tsuccess: function(response) {\n\t\t\tif (!$.trim(response)){ \n\t\t\t\t\n\t\t\t}\n\t\t\telse{ \n\t\t\t\talert(\"configured PID param:\" + response);\n\t\t\t}\n }})}\n\t\t\t\n\t\tfunction tuneValue(paramToTune,val) \n\t\t{var someUrl = \"/Tune?\"+paramToTune+\"=\"+val;\n $.ajax({url: someUrl,dataType: \"text\", \n\t\t\tsuccess: function(response) {\n\t\t\tif (!$.trim(response)){ \n\t\t\t\t\n\t\t\t}\n\t\t\telse{ \n\t\t\t\talert(\"configured PID param:\" + response);\n\t\t\t}\n }})}\t\t\t\n </script>\n</head>\n<body>\n <section>\n <table>\n <tr>\n <th>Parameter</th>\n <th>Increment</th>\n\t\t\t\t<th>Decrement</th>\n\t\t\t\t<th>value</th>\n </tr>\n <tr>\n <td>Target Angle </td>\n <td>\n <button class=\"button\" onclick=\"tuneParam('angle','H')\">Angle+0.5</button>\n </td>\n\t\t\t\t<td>\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneParam('angle','L')\">Angle-0.5</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"angle\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('angle',document.getElementById('angle').value);\">Update</button>\n\t\t\t\t</td>\n </tr>\n <tr>\n <td>Kp</td>\n <td>\n <button class=\"button\" onclick=\"tuneParam('p','H')\">Kp+0.5</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('p','L')\">Kp-0.5</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"kp\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('p',document.getElementById('kp').value);\">Update</button>\n\t\t\t\t</td>\n </tr>\n <tr>\n <td>Ki</td>\n \n <td>\n <button class=\"button\" onclick=\"tuneParam('i','H')\">Ki+0.5</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('i','L')\">Ki-0.5</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"ki\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('i',document.getElementById('ki').value);\">Update</button>\n\t\t\t\t</td>\n </tr>\n <tr>\n <td>Kd</td>\n <td>\n <button class=\"button\" onclick=\"tuneParam('d','H')\">Kd+0.01</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('d','L')\">Kd-0.01</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"kd\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('d',document.getElementById('kd').value);\">Update</button>\n\t\t\t\t</td>\n </tr>\n\t\t\t<tr>\n\t\t\t\t<td>motor A</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('da','H')\">duty+1</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('da','L')\">duty-1</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"dutya\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('dutyA',document.getElementById('dutya').value);\">Update</button>\n\t\t\t\t</td>\n\t\t\t</tr>\n\t\t\t<tr>\n\t\t\t\t<td>motor B</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('db','H')\">duty+1</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n <button class=\"button\" onclick=\"tuneParam('db','L')\">duty-1</button>\n\t\t\t\t</td>\n\t\t\t\t<td>\n\t\t\t\t\t<input type=\"text\" id=\"dutyb\" maxlength=\"6\" placeholder=\"...\">\n\t\t\t\t\t<button class=\"button\" onclick=\"tuneValue('dutyB',document.getElementById('dutyb').value);\">Update</button>\n\t\t\t\t</td>\n\t\t\t</tr>\n\t\t\t<tr>\n <td>Save</td>\n <td>\n <button class=\"button\" onclick=\"tuneParam('ok','1')\">done</button>\n\t\t\t\t</td>\n </tr>\n\t\t\t\n </table>\n </section>\n\n</body>\n\n</html>"};
/*********HTML Contents************/
const char get_root[]="/";
const char get_index[]="/index.html";
/**********JS ***********/
const char get_jquery_js[]= "/js/zepto.min.js";
void handlejQuery(){
httpServer.send_P ( 200, "application/js", jquery_js);
}
void handleRoot() {
httpServer.send_P ( 200, "text/html", index_html);
}
void handleTuning(){
if(httpServer.argName(0).equals("angle"))
{
if(httpServer.arg(0).equals("H"))
{
targetAngle+=0.5;
}
else if(httpServer.arg(0).equals("L")){
targetAngle-=0.5;
}
else
targetAngle=httpServer.arg(0).toFloat();
}
else if(httpServer.argName(0).equals("i"))
{
if(httpServer.arg(0).equals("H"))
{
Ki+=0.5;
}
else if(httpServer.arg(0).equals("L"))
{
Ki+=0.5;
}
else
{
Ki=httpServer.arg(0).toFloat();
}
}
else if(httpServer.argName(0).equals("d"))
{
if(httpServer.arg(0).equals("H"))
{
Kd+=0.01;
}
else if(httpServer.arg(0).equals("L"))
{
Kd+=0.01;
}
else
{
Kd=httpServer.arg(0).toFloat();
}
}
else if(httpServer.argName(0).equals("p"))
{
if(httpServer.arg(0).equals("H"))
{
Kp+=0.5;
}
else if(httpServer.arg(0).equals("L"))
{
Kp+=0.5;
}
else
{
Kp=httpServer.arg(0).toFloat();
}
}
/* else if(httpServer.argName(0).equals("da"))
{
if(httpServer.arg(0).equals("H"))
{
motorADutyOffset+=0.1;
}
else if(httpServer.arg(0).equals("L"))
{
motorADutyOffset-=0.1;
}
else
{
motorADutyOffset=httpServer.arg(0).toFloat();
}
}
else if(httpServer.argName(0).equals("db"))
{
if(httpServer.arg(0).equals("H"))
{
motorBDutyOffset+=0.1;
}
else if(httpServer.arg(0).equals("L"))
{
motorBDutyOffset-=0.1;
}
else {
motorBDutyOffset=httpServer.arg(0).toFloat();
}
}*/
else if(httpServer.argName(0).equals("ok"))
{
String response="";
response+=(" Kp:");
response+=(Kp);
response+=(" Ki:");
response+=(Ki);
response+=(" Kd:");
response+=(Kd);
response+=(" targetAngle:");
response+=(targetAngle);
/* response+=(" A offset:");
response+=(motorADutyOffset);
response+=(" B offset:");
response+=(motorBDutyOffset);
*/ httpServer.send ( 200, "text/plain",response);
return;
}
httpServer.send ( 200, "text/plain","");
}
void handleNotFound() {
String message = "File Not Found\n\n";
httpServer.send ( 404, "text/plain", message );
}
#define MotorPWMPin1 D3
#define MotorPWMPin2 D4
#define sampleTime 0.01
MPU6050 mpu;
int16_t accY, accZ, gyroX;
volatile int motorPower, gyroRate;
volatile float accAngle, gyroAngle, currentAngle, prevAngle=0, error, prevError=0, errorSum=0;
volatile byte count=0;
void setMotors(int MotorPWM ) {
if(MotorPWM >= 0) {
analogWrite(MotorPWMPin1 , MotorPWM);
analogWrite(MotorPWMPin2 , 0);
}
else {
analogWrite(MotorPWMPin2 , -MotorPWM);
analogWrite(MotorPWMPin1 , 0);
}
}
void setup() {
pinMode(MotorPWMPin1 , OUTPUT);
pinMode(MotorPWMPin2 , OUTPUT);
setMotors(0);
Serial.begin(115200);
Wire.begin();
analogWriteRange(255);
#ifdef STA_MODE
WiFiManager wifiManager;
wifiManager.autoConnect("RobotWifiConfig");
while(!mqtt.connected())
{
MQTT_connect();
}
delay(1000);
espIp.publish(WiFi.localIP().toString().c_str() );
#endif
mpu.initialize();
mpu.setXAccelOffset(-2816);
mpu.setYAccelOffset(562);
mpu.setZAccelOffset(1633);
mpu.setXGyroOffset(-7);
mpu.setYGyroOffset(33);
mpu.setZGyroOffset(91);
// initialize PID sampling loop
httpUpdater.setup(&httpServer);
httpServer.on (get_index, handleRoot );
httpServer.on (get_root, handleRoot );
httpServer.on ("/Tune",handleTuning);
httpServer.on (get_jquery_js,handlejQuery);
httpServer.onNotFound ( handleNotFound );
httpServer.begin();
}
unsigned int lastTempUpdate=0;
//sampleTime
unsigned int counter=0;
bool periodicFunc() {
if ((millis() - lastTempUpdate) > (sampleTime*1000)) {
lastTempUpdate=millis();
accAngle = atan2(accY, accZ)*RAD_TO_DEG;
gyroRate = map(gyroX, -32768, 32767, -250, 250);
gyroAngle = (float)gyroRate*sampleTime;
currentAngle = 0.9934*(prevAngle + gyroAngle) + 0.0066*(accAngle);
// Serial.print("currentAngle :");Serial.println(currentAngle );
error = currentAngle - targetAngle;
// Serial.print("error:");Serial.println(error);
errorSum = errorSum + error;
errorSum = constrain(errorSum, -300, 300);
// Serial.print("error sum:");Serial.println(errorSum);
//calculate output from P, I and D values
motorPower = Kp*(error) + Ki*(errorSum)*sampleTime - Kd*(currentAngle-prevAngle)/sampleTime;
prevAngle = currentAngle;
motorPower = constrain(motorPower, -255, 255);
// Serial.print("motor power:");Serial.println(motorPower);
setMotors(motorPower );
counter++;
if(counter%200==0)
{
Serial.print("Angle: ");
Serial.println(currentAngle);
Serial.print("Output: ");
Serial.println(motorPower);
}
}
}
void loop() {
httpServer.handleClient();
// read acceleration and gyroscope values
accY = mpu.getAccelerationY();
accZ = mpu.getAccelerationZ();
gyroX = mpu.getRotationX();
// set motor power after constraining it
periodicFunc();
}