start adding remote joystick control

gobabygocarswithjoysticks · Sep 27, 2024 · abaa907 · abaa907
1 parent 3d6275a
commit abaa907
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Showing 3 changed files with 98 additions and 2 deletions.
diff --git a/gbg_program/_wifi.ino b/gbg_program/_wifi.ino
@@ -1,7 +1,8 @@
 // for rpi pico w
-
 #if defined(ARDUINO_RASPBERRY_PI_PICO_W) || defined(ESP32)
 
+const unsigned long signalLossTimeout = 1100;
+
 #include <WiFi.h>
 #include <WebServer.h>
 
@@ -29,13 +30,61 @@ void setupWifi() {
     webServer.send(200);
   });
   webServer.on("/status", []() {
+    if (webServer.args() == 2 && webServer.argName(0) == "fb" && webServer.argName(1) == "lr") {
+      lastRemoteCommandMillis = millis();
+      remoteFB = webServer.arg("fb").toFloat();
+      remoteFB = webServer.arg("lr").toFloat();
+    }
     webServer.send(200, "text/plain", activatedByRemote ? "on" : "off");
   });
 
+  webServer.on("/timeoutOn", []() {
+    deactivateIfRemoteDisconnects = true;
+    webServer.send(200);
+  });
+  webServer.on("/timeoutOff", []() {
+    deactivateIfRemoteDisconnects = false;
+    webServer.send(200);
+  });
+
+  webServer.on("/remoteMode", []() {
+    for (int i = 0; i < webServer.args(); i++) {
+      Serial.print(webServer.argName(i));
+      Serial.print(",");
+      Serial.print(webServer.arg(i));
+      Serial.println();
+      webServer.send(200, "text/html", indexHTML);
+    }
+  });
+
   webServer.begin();
+
 }
 
+void runWifiInput(float& speedInput, float& turnInput) {
+  switch (remoteMode) {
+    default:
+    case 0: // car is driving
+      if (deactivateIfRemoteDisconnects && (millis() - lastRemoteCommandMillis > signalLossTimeout)) {
+        speedInput = 0;
+        turnInput = 0;
+      }
+      break;
+    case 1:
+      if (deactivateIfRemoteDisconnects && (millis() - lastRemoteCommandMillis > signalLossTimeout)) {
+        speedInput = 0;
+        turnInput = 0;
+      } else {
+        speedInput = remoteFB;
+        turnInput = remoteLR;
+      }
+      break;
+  }
+}
+
+
 void runWifi() {
   webServer.handleClient();
 }
+
 #endif
diff --git a/gbg_program/_wifi_site.html b/gbg_program/_wifi_site.html
@@ -11,16 +11,35 @@
   <button onclick='fetch("/deactivate");' style='font-size: 200px; float: right;'>STOP</button>
   <br>
   <div id="status" style="font-size: 50px;">status: </div>
+  <br>
+  <br>
+  <div>remote override mode</div>
+  <input type="radio" id="ctl-car" name="remote-mode" value="0" checked
+    onclick='document.getElementById("timeout").disabled=false;document.getElementById("timeout").checked=timeoutWasChecked;sendTimeout();sendRemoteMode(0);' />
+  <label for="ctl-car">car has control</label>
+  <br>
+  <input type="radio" id="ctl-remote" name="remote-mode" value="1"
+    onclick='document.getElementById("timeout").disabled=true;timeoutWasChecked=document.getElementById("timeout").checked;document.getElementById("timeout").checked=true;sendTimeout();sendRemoteMode(1);' />
+  <label for="ctl-remote">remote has control</label>
+  <br>
+  <br>
+  <input type="checkbox" id='timeout' onclick='sendTimeout();' style='font-size: 100px;'>deactivate if signal
+  lost</button>
+  <br>
+
+
 </body>
 <script>
+  var timeoutWasChecked = false;
+
   async function loop() {
     let errorTimeout;
     let abortcontroller = new AbortController();
     errorTimeout = setTimeout(() => {
       abortcontroller.abort("aborted because timeout");
     }, 400);
     try {
-      var fetched = await fetch('http://10.0.0.1/status', { signal: abortcontroller.signal });
+      var fetched = await fetch('/status', { signal: abortcontroller.signal });
       fetchedResponse = await fetched.text();
       document.getElementById("status").innerHTML = "status: " + fetchedResponse;
     } catch (e) {
@@ -29,6 +48,21 @@
     clearTimeout(errorTimeout);
   }
   setInterval(loop, 500);
+
+  function sendTimeout() {
+    if (document.getElementById("timeout").checked) {
+      console.log("yes");
+      fetch("/timeoutOn");
+    } else {
+      console.log("no");
+      fetch("/timeoutOff");
+    }
+  }
+
+  function sendRemoteMode(mode) {
+    fetch("/remoteMode?mode=" + mode);
+  }
+
 </script>
 
 </html>
diff --git a/gbg_program/gbg_program.ino b/gbg_program/gbg_program.ino
@@ -146,6 +146,12 @@ const int PRINT_VARIABLES_INTERVAL_MILLIS = 100;  // or -1 makes it not print va
 
 #if defined(ARDUINO_RASPBERRY_PI_PICO_W) || defined(ESP32)
 boolean activatedByRemote = true;
+
+boolean deactivateIfRemoteDisconnects = false;
+byte remoteMode = 0; //0 is car, 1 is remote
+float remoteFB = 0;
+float remoteLR = 0;
+unsigned long lastRemoteCommandMillis = 0;
 #endif
 
 //////////////////////////////////////////////////////// VARIABLES ///////////////////////////////////////////////////////////////////////////////////////
@@ -338,6 +344,7 @@ void setupPins() {
   rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER);//tell the motor controller to not move
   delay(100);
 }
+
 void loop()
 {
 #ifdef AVR
@@ -368,6 +375,12 @@ void loop()
     InputReader_Buttons(!USE_BUTTON_MODE_PIN || (digitalRead(BUTTON_MODE_PIN) == LOW), true, NUM_DRIVE_BUTTONS, driveButtons, turnInput, speedInput, LOW);
   }
 
+#if defined(ARDUINO_RASPBERRY_PI_PICO_W) || defined(ESP32)
+  if (joyOK) {
+    runWifiInput(speedInput, turnInput); // references, so the function can edit the values
+  }
+#endif
+
   ////////////////////////////// PUT INPUT PROCESSORS HERE ///////////////////////
   /**
     float InputProcessor_LimitAccelerationFourSettings(float velocity, float velocityTarget, float scale, float ACCELERATION_FORWARD, float DECELERATION_FORWARD, float ACCELERATION_BACKWARD, float DECELERATION_BACKWARD, float timeInterval)