NodeMCU V.1.0 을 Motor Shield 와 함께 사용한 프로그램 예)

/*

 *   THIS IS WRITTEN FOR NodeMCU ESP-12E Development Board V.1.0 with Motor Shield

 *   It has only 1 analog port.  Not used on this example.

 *   I have to use AnalogWrite to make servo work as PWM

 *   COPY RIGHT to Hyun Ja, but you may use freely as it fits to you.

 *   I bare absolutely no responsibility for you on using this code.

 *   코드의 소유권은 제작자 Hyun Ja 에게 있는데 무상으로 사용하세요.

 *   사용시 발생하는 일에 책임 무.    마음껏 변경해서 실험하세요.

 */

#include <Servo.h>

#include <ESP8266WiFi.h>

#include <WiFiClient.h> 

#include <ESP8266WebServer.h>

#include <ESP8266mDNS.h>

// #include "esp12_accesspoint.ino"

/* Set these to your desired credentials. */

const char* ssid = "당신의 집 와이파이 아이디";   // Your home wifi ID

const char* password = "당신의 집 와이파이 패스워드";   // Your home wifi password

ESP8266WebServer server(80);

int P2B_NEWLINE  = 11; // < -- Beginning of Command to BOT (ESP-BOT)

int P2B_COM_TYPE = 12; // 0..9 -- First 2 letters following "<"

                       // Total Command Types : 10 x 10 = 100

int P2B_DATA     = 12; // Data section

int P2B_ENDING   = 13; // > -- End of Message Signal

int P2B_STAT_NONE = 1; // Do nothing until '<' has received

int P2B_STAT_CMD  = 2; // Accepting Command

int P2B_STAT_DATA = 3; // Accepting Command data

int P2B_STAT_END  = 4; // '>' has receieve, it is the end of   command;

char p2b_command[3];

char p2b_data[20];

int  p2b_pin = 0;

int  p2b_value = 0;

int  p2b_status = 0;

int  iD0 = 16;  // GPIO 16;  'Head-Light (On/Off)';

int  iD1 = 5;   // GPIO 5;   'L298-L-Dir1'; // Motor A on Motor Board

int  iD2 = 4;   // GPIO 4;   'L298-R-Dir1'; // Motor B on Motor Board

int  iD3 = 0;   // GPIO 0;   'L298-L-Dir2'; // Motor A on Motor Board 

int  iD4 = 2;   // GPIO 2;   'L298-R-Dir2'; // Motor B on Motor Board

int  iD5 = 14;  // GPIO 14;  'PWM (Right Wheel)';

int  iD6 = 12;  // GPIO 12;  'PWM (Left Wheel)';

int  iD7 = 13;  // GPIO 13;  ' ';

int  iD8 = 15;  // GPIO 15;  ' ';

int  iD9 = 3;   // GPIO 3;   '(IN) Back Bumper';

int iD10 = 1;   // GPIO 1;   '(*) Built-in Blue LED';

int iD11 = 9;   // GPIO 9;   '(IN) Front Left';

int iD12 = 10;  // GPIO 10;  '(IN) Front Right';

int iA0  = 0;   // ADC0;     '(AD) Battery Level';

// These are PWM Speed control using PWM

int speadServoLeft = 0;   // define the spead  Left Servo Wheel (0 = disable pwm) using GPIO-5

int speadServoRight = 0;  // define the spead Right Servo Wheel (0 = disable pwm) using GPIO-4

int speedLeftDC = 0;      // Control Speed of Left DC Motor Wheel using GPIO-0

int speedRightDC = 0;     // Control Speed of Right DC Motor Wheel using GPIO-12

// The only Analog Port will be used to check battery level

int analog_BatteryLevel = 0;

// Head Light using relay

int HeadLight = iD0; // using GPIO = 16 to turn on/off relay

int servo1pin=7; // define the pin to be used for servo1

int servo1speed=89; // middle value for servo 0 ~ 179

int runmode = 3;     // 1 : Remote Joy,  3 : Serial Comm. Test Mode

int analog_JoyX = 0;  // Value sent from PC

int analog_JoyY = 0;  // Value sent from PC

int p_analog_JoyX = 0; // Previous Analog 0

int p_analog_JoyY = 0; // Previous Analog 1

int i = 0;  // dumb int

int j = 0;  // dumb int

int k = 0;  // dumb int

int lp =0;  // dumb last position ofinput command string

char    inputString[200];           // a string to hold incoming data

boolean stringComplete = false;  // whether the string is complete

char    inChar;

String  tempStr;

int     inlen = 0;  // Length of inputString

char    remoteString[50];    

int     param1 = -1;  // value from PC Command (Param 1)

int     param2 = -1;  // value from PC Command (Param 2)

boolean SecondParam = false;   // Now gettign second parameter (after ,)

// twelve servo objects can be created on most boards

Servo   LeftServoWheel;  // create servo object to control a servo 

Servo   RightServoWheel;  // create servo object to control a servo 

int UseServoWheel = 1;  // 1 : Use servo,  2 : Use DC Motor Wheels

void ClearP2BCommand()

{

   p2b_command[0] = 0;  // null

   p2b_command[1] = 0;  // null

   for (int i=0; i <= 19; i++){

      p2b_data[i] = 0;  // null

   }

   p2b_pin = 0;

   p2b_value = 0;

   param1 = -1;  // set as none, 0 could be value

   param2 = -1;  // set as none, 0 could be value

   SecondParam = false;

}

void SetP2BDigitalDirection(int pinno, int mode)   // Set INPUT or OUTPUT

{

   if (mode == 0) {

      pinMode(pinno, INPUT);

   } else {

      pinMode(pinno, OUTPUT);

   }

}

// This function is only useful if the pin is set to OUTPUT

void WriteP2BDigitalValue(int pinno, int value)

{

   digitalWrite(pinno, value);  // Value can only be 0 or 1 (turn Off(0) / On(1) )  

}

/* Just a little test message.  Go to http://192.168.4.1 in a web browser

 * connected to this access point to see it.

 */

void handleRoot() {

  server.send(200, "text", "You are connected IoP [Wifi Things to Internet]");

} 

void handleWebCommands() {

   String message = "Handling Web Commands\n\n";

   message += "URI: ";

   message += server.uri();

   message += "\nMethod: ";

   message += ( server.method() == HTTP_GET ) ? "GET" : "POST";

   message += "\nArguments: ";

   message += server.args();

   message += "\n";

   for ( uint8_t i = 0; i < server.args(); i++ ) {

      message += " " + server.argName ( i ) + ": " + server.arg ( i ) + "\n";

   }

   //server.send ( 2004, "text/plain", message );

// Top portion is the debugging section

   ClearP2BCommand();

   p2b_command[0] = server.uri()[1];

   p2b_command[1] = server.uri()[2];

   

   message += "Command : ";

   message += p2b_command;

   message += "\n";

   if (server.args() == 1) {

      param1 = (byte(server.arg(0)[0]) - 48) * 100;          // 48 = ord(0)

      param1 = param1 + (byte(server.arg(0)[1]) - 48) * 10;  // 48 = ord(0)

      param1 = param1 + (byte(server.arg(0)[2]) - 48);  

   };

   message += "Param1 : ";

   message += server.arg(0);

   message += "\n";

   server.send ( 2004, "text/plain", message );

   ExecuteLogicalCommand();

}

void setup()

{

   Serial.begin(115200);  // for communication

   

   // Setting up Access Point and as a Web Server

   Serial.println();

   Serial.print("Configuring access point...");

   // Wait for connection

   while (WiFi.status() != WL_CONNECTED) {

      delay(500);

      Serial.print("?");

   };

   Serial.println("");

   Serial.print("Connected to ");

   Serial.println(ssid);

   Serial.print("IP address: ");

   Serial.println(WiFi.localIP());

   if (MDNS.begin("esp8266")) {

      Serial.println("MDNS responder started");

   };

   if (UseServoWheel == 1) {

      LeftServoWheel.attach(iD5);   // GPIO 14

      RightServoWheel.attach(iD6);  // GPIO 12

      pinMode(iD2,OUTPUT);   // Main Light using : Motor B Port

      pinMode(iD4,OUTPUT);   // Main Light using : Motor B Port

   } else {

      pinMode(iD1,OUTPUT);   // L298-L-Dir1 // Motor A

      pinMode(iD2,OUTPUT);   // L298-R-Dir1 // Motor B

      pinMode(iD3,OUTPUT);   // L298-L-Dir2 // Motor A

      pinMode(iD4,OUTPUT);   // L298-R-Dir2 // Motor B

   };

  

   pinMode(HeadLight, OUTPUT);   // iD0

   digitalWrite(HeadLight, HIGH); // Off for Begining (HIGH = off, LOW = on

   

   server.on("/", handleRoot);

   server.onNotFound(handleWebCommands);  

   server.begin();

   Serial.println("HTTP server started");

}

void stop()//

{

   if (UseServoWheel == 1) {

      LeftServoWheel.write(0);  // Stop

      RightServoWheel.write(0);  // Stop

   } else {   

      digitalWrite(speedLeftDC, LOW);// Disable the pin, to stop the motor. this should be done to avid damaging the motor. 

      digitalWrite(speedRightDC,LOW);

   };

   delay(50);

}

void run_left_wheel() {

  

   if (UseServoWheel == 1) {

    

      LeftServoWheel.write(speadServoLeft);

      

   } else {

      if (speedLeftDC > 0) {

         analogWrite(iD3,abs(speedLeftDC));//input a simulation value to set the speed

         digitalWrite(iD4, LOW);  

         digitalWrite(iD5, HIGH); //turn DC Motor A move anticlockwise

      } else {

         analogWrite(iD3,abs(speedLeftDC));//input a simulation value to set the speed

         digitalWrite(iD4, HIGH);  

         digitalWrite(iD5, LOW);  //turn DC Motor A move clockwise

      };

   };

} 

void run_right_wheel() {

   if (UseServoWheel == 1) {

    

      RightServoWheel.write(speadServoRight);

      

   } else {  

      if (speedRightDC > 0) {

         analogWrite(iD6,abs(speedRightDC));

         digitalWrite(iD7,LOW);  //turn DC Motor B move anticlockwise

         digitalWrite(iD8,HIGH);

      } else {

         analogWrite(iD6,abs(speedRightDC));

         digitalWrite(iD7,HIGH);  //turn DC Motor B move clockwise

         digitalWrite(iD8,LOW);

      };

   };

} 

void ExecuteLogicalCommand()

{

//   tempStr = "<!";

//   tempStr += (char)p2b_command[0];   

//   tempStr += (char)p2b_command[1]; 

//   tempStr += "::";  

//   tempStr += param1;

//   tempStr += ">";

//   Serial.println(tempStr);

   

   // ST : STOP WHEELS : Params (none)

   if (((char)p2b_command[0] == 'S') and ((char)p2b_command[1] == 'T')) {  // No need params

      tempStr = "<*";

      tempStr += "ST=";

      tempStr += param1; 

      tempStr += ">";     

      Serial.println(tempStr);

      stop();

   };  

   // MW : MOVE WHEELS : Params ( Left Speed, Right Speed )

   if (((char)p2b_command[0] == 'M') and ((char)p2b_command[1] == 'W')) { // Need two params

      tempStr = "<*";

      tempStr += "MW=";

      tempStr += param1;

      tempStr += ","; 

      tempStr += param2;

      tempStr += ">";    

      Serial.println(tempStr);

      

      speedLeftDC = param1-512;

      speadServoLeft = (param1 / 5);

      run_left_wheel();

      

      speedRightDC = param2-512;

      speadServoRight = (param2 / 5);

      run_left_wheel();

   }; 

   // HL : TURN ON HEADLIGHT : Params ( On(1) or Off(0) )

   if (((char)p2b_command[0] == 'H') and ((char)p2b_command[1] == 'L')) {

      tempStr = "<*";

      tempStr += "HL=";

      tempStr += param1; 

      tempStr += ">";    

      Serial.println(tempStr);   

      digitalWrite(HeadLight, param1);

   }; 

   // ML : TURN ON MAIN LIGHT : Params ( On(1) or Off(0) )

   if (((char)p2b_command[0] == 'M') and ((char)p2b_command[1] == 'L')) {

      tempStr = "<*";

      tempStr += "ML=";

      tempStr += param1; 

      tempStr += ">";    

      Serial.println(tempStr); 

      if (param1 == 1) {

         digitalWrite(iD2, 0);

         digitalWrite(iD4, 0); 

      } else {

         digitalWrite(iD2, 1);

         digitalWrite(iD4, 1);

      }

   };    

   

   // RS  + Speed : Right-wheel Speed = value

   if (((char)p2b_command[0] == 'R') and ((char)p2b_command[1] == 'S')) {

      speedRightDC = param1-512;

      speadServoRight = (param1 / 5);

      if (UseServoWheel == 1) {

         tempStr = "<*";

         tempStr += "RS=";

         tempStr += speadServoRight; 

         tempStr += ">";

         Serial.println(tempStr);

      };

      run_right_wheel();

   };

   // LS  + Speed : Right-wheel Speed = value

   if (((char)p2b_command[0] == 'L') and ((char)p2b_command[1] == 'S')) {

      speedLeftDC = param1-512;

      speadServoLeft = (param1 / 5);

      if (UseServoWheel == 1) {

         tempStr = "<*";

         tempStr += "LS=";

         tempStr += speadServoLeft; 

         tempStr += ">";    

         Serial.println(tempStr);

      };

      run_left_wheel();

   }; 

}  

void loop()

{

   

   server.handleClient();

  if (runmode == 1) {                     // : Remote Joystick Mode

  

     speedLeftDC = ((analog_JoyX-512) / 2); 

     speedRightDC = ((analog_JoyY-512) / 2);

     if (speedLeftDC > 0) {

         run_left_wheel();

     };

     if (speedRightDC > 0) { 

        run_right_wheel();

     };

     

     delay(100);

  };   //  if (runmode == 1)    : Remote Joystick Mode

  

  

  while (Serial.available()) {

    // get the new byte:

    inChar = (char)Serial.read(); 

    // add it to the inputString:

    inputString[i] = inChar;

    i++;

   // if the incoming character is a newline, set a flag

    if ((inChar == '#') or (inChar == '<')) {

      p2b_status = P2B_STAT_CMD;

      ClearP2BCommand();

      j = i-1;

    

    } else if (inChar == '>') {  // so the main loop can do something about it:

      p2b_command[0] = inputString[j+1];

      p2b_command[1] = inputString[j+2];

      Serial.print("<");   // command

      Serial.print(p2b_command); 

      Serial.print(":");

      // this will set the params 1 and/or param2 

      param1 = (byte(inputString[j+4]) - 48) * 100;          // 48 = ord(0)

      param1 = param1 + (byte(inputString[j+5]) - 48) * 10;  // 48 = ord(0)

      param1 = param1 + (byte(inputString[j+6]) - 48);

      Serial.print(param1);

      if (inputString[j+7] == ',') {

         SecondParam = true; 

         param2 = (byte(inputString[j+8]) - 48) * 100;        // 48 = ord(0)

         param2 = param2 + (byte(inputString[j+9]) - 48) * 10; // 48 = ord(0)

         param2 = param2 + (byte(inputString[j+10]) - 48); 

         Serial.print(',');

         Serial.print(param2);

      }

      Serial.println(">");  

      ExecuteLogicalCommand();

      

      i = 0;  // refresh counter

      stringComplete = true;

      p2b_status = P2B_STAT_NONE;

      

    } else {

      lp = i-1;  // set last position on each entry;

    }

  }

  

  if (stringComplete) {

    for (i=0;i<=199;i++) {

      inputString[i] = 0;

    };

    

    // clear the string:

    for (i=0;i<=199;i++) {

      inputString[i] = 0;

    };

    i = 0;

    stringComplete = false;

  };        

}