#include #include #include #include #include #include "Ticker.h" const int potPin = 34; //used to simulate battery voltage. const int butPin = 16; //used to increment a variable to simulate distance increasing. const int U_Led = 14; //LED subsitute for the 'movement forward command'. const int L_Led = 12; //LED subsitute for the 'movement left command'. const int R_Led = 15; //LED subsitute for the 'movement right command'. const int D_Led = 13; //LED subsitute for the 'movement back command'. int potVal = 0; bool butState = 1; //Variables only for testing - will be removed in final int d = 0; //Initializing variable for odometer distance. void send_sensor(); Ticker timer; char index_html[] PROGMEM = R"=====( Rover Command Center

ROVER COMMAND CENTER

Movement Control

Sensor Data

  • 28mm
)====="; AsyncWebServer server(80); // server port 80 for initial HTTP request for the main webpage. WebSocketsServer websockets(81); // server port 81 for real time data flow through websockets. void notFound(AsyncWebServerRequest *request) { request->send(404, "text/plain", "Page Not found. Check URI/IP address."); } void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) { switch (type) { case WStype_DISCONNECTED: Serial.printf("Client[%u] Disconnected!\n", num); break; case WStype_CONNECTED: { IPAddress ip = websockets.remoteIP(num); Serial.printf("Client[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload); } break; case WStype_TEXT: { Serial.printf("Client[%u] sent Text: %s\n", num, payload); String command = String((char*)( payload)); DynamicJsonDocument doc(200); //creating an instance of a DynamicJsonDocument allocating 200bytes on the heap. DeserializationError error = deserializeJson(doc, command); // deserialize 'doc' and parse for parameters we expect to receive. if (error) { Serial.print("deserializeJson() failed: "); Serial.println(error.c_str()); return; } int MVM_F_status = doc["MVM_F"]; int MVM_L_status = doc["MVM_L"]; int MVM_R_status = doc["MVM_R"]; int MVM_B_status = doc["MVM_B"]; digitalWrite(U_Led,MVM_F_status); digitalWrite(L_Led,MVM_L_status); digitalWrite(R_Led,MVM_R_status); digitalWrite(D_Led,MVM_B_status); } } } void setup() { Serial.begin(115200); pinMode(U_Led,OUTPUT); pinMode(L_Led,OUTPUT); pinMode(R_Led,OUTPUT); pinMode(D_Led,OUTPUT); pinMode(butPin, INPUT_PULLUP); WiFi.softAP("RoverAP", "SplendidCheeks"); Serial.println(); Serial.println("RoverAP running"); Serial.print("Rover IP address: "); Serial.println(WiFi.softAPIP()); if (!MDNS.begin("rover")) { Serial.println("Error setting up MDNS responder!"); while (1) { delay(2000); } } Serial.println("mDNS responder started! Rover Command Center can now be accessed at 'rover.local' "); server.on("/", [](AsyncWebServerRequest * request) { request->send_P(200, "text/html", index_html); }); server.onNotFound(notFound); server.begin(); // it will start webserver websockets.begin(); websockets.onEvent(webSocketEvent); timer.attach(0.5,send_sensor_data); } void loop() { websockets.loop(); potVal = analogRead(potPin); } void send_sensor_data() { butState = digitalRead(butPin); if (butState == LOW) { //increment ODO: d += 10; } // JSON_Data = {"BTRY_VOLT":v,"ODO_DIST":d} String JSON_Data = "{\"BTRY_VOLT\":"; JSON_Data += potVal; JSON_Data += ",\"ODO_DIST\":"; JSON_Data += d; JSON_Data += "}"; //Serial.println(JSON_Data); websockets.broadcastTXT(JSON_Data); }