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kubascikmichalkubascikmichal
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v2.1.0
Edited Balancing bot, added example for WiFi - LED turn on/off Edited keywords.
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‎examples/RoboHeartBalanceBot/RoboHeartBalanceBot.ino

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ RoboHeart heart = RoboHeart(Serial);
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// PID controller parameters
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#define Kp 20
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#define Kd 0.001
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#define Kd 0
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#define Ki 40
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#define CONTROL_TICK_PERIOD_US 100.0

‎examples/RoboHeartBalanceBotContol/RoboHeartBalanceBotContol.ino

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@ RoboHeart heart = RoboHeart(Serial);
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// PID controller parameters
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#define Kp 20
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#define Kd 0.001
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#define Kd 0
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#define Ki 40
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#define CONTROL_TICK_PERIOD_US 100.0 // Control tick period in micro-seconds

‎examples/RoboHeartWiFiAccessPoint/RoboHeartWiFiAccessPoint.ino

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@@ -0,0 +1,117 @@
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/* This example shows how to create WiFi Access point
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* and control built-in LED.
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*
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* Created 30/01/2022
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* By Augmented Robotics
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*
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* Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
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*/
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#include <RoboHeart.h>
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#include <WiFi.h>
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#define ROBOHEART_AP_SSID "RoboHeart WiFi"
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#define ROBOHEART_AP_PASSWORD "Hercules4Makers"
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WiFiServer server(80);
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// Current time
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unsigned long currentTime = millis();
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// Previous time
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unsigned long previousTime = 0;
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// Define timeout time in milliseconds (example: 2000ms = 2s)
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const long timeoutTime = 2000;
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void setup()
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{
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Serial.begin(115200);
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Serial.println("\nCreating AP.");
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WiFi.mode(WIFI_AP);
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WiFi.softAP(ROBOHEART_AP_SSID, ROBOHEART_AP_PASSWORD);
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Serial.print("AP Created with IP Gateway ");
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Serial.println(WiFi.softAPIP());
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// Configure the LED pin
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pinMode(LED_ROBOHEART, OUTPUT);
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server.begin();
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}
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void loop(){
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WiFiClient client = server.available(); // Listen for incoming clients
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String header;
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if (client) {
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currentTime = millis();
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previousTime = currentTime;
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Serial.println("New Client."); // print a message out in the serial port
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String currentLine = ""; // make a String to hold incoming data from the client
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while (client.connected() && currentTime - previousTime <= timeoutTime) { // loop while the client's connected
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currentTime = millis();
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if (client.available()) { // if there's bytes to read from the client,
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char c = client.read(); // read a byte, then
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Serial.write(c); // print it out the serial monitor
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header += c;
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if (c == '\n') { // if the byte is a newline character
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// if the current line is blank, you got two newline characters in a row.
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// that's the end of the client HTTP request, so send a response:
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if (currentLine.length() == 0) {
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// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
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// and a content-type so the client knows what's coming, then a blank line:
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client.println("HTTP/1.1 200 OK");
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client.println("Content-type:text/html");
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client.println("Connection: close");
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client.println();
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// turns the GPIOs on and off
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if (header.indexOf("GET /LED_ROBOHEART/on") >= 0) {
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Serial.println("LED_ROBOHEART on");
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digitalWrite(LED_ROBOHEART, HIGH);
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} else if (header.indexOf("GET /LED_ROBOHEART/off") >= 0) {
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Serial.println("LED_ROBOHEART off");
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digitalWrite(LED_ROBOHEART, LOW);
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}
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// Display the HTML web page
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client.println("<!DOCTYPE html><html>");
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client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
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client.println("<link rel=\"icon\" href=\"data:,\">");
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// CSS to style the on/off buttons
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// Feel free to change the background-color and font-size attributes to fit your preferences
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client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
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client.println(".button { background-color: #4CAF50; border: none; color: white; padding: 16px 40px;");
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client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
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client.println(".button2 {background-color: #555555;}</style></head>");
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// Web Page Heading
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client.println("<body><h1>RoboHeart Access Point Example</h1>");
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// Display current state, and ON/OFF buttons for LED_ROBOHEART
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client.println("<p>LED_ROBOHEART - State " + String((digitalRead(LED_ROBOHEART) == HIGH) ? "on" : "off") + "</p>");
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if ((digitalRead(LED_ROBOHEART))==LOW) {
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client.println("<p><a href=\"/LED_ROBOHEART/on\"><button class=\"button\">LED ON</button></a></p>");
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} else {
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client.println("<p><a href=\"/LED_ROBOHEART/off\"><button class=\"button button2\">LED OFF</button></a></p>");
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}
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client.println("</body></html>");
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// The HTTP response ends with another blank line
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client.println();
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// Break out of the while loop
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break;
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} else { // if you got a newline, then clear currentLine
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currentLine = "";
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}
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} else if (c != '\r') { // if you got anything else but a carriage return character,
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currentLine += c; // add it to the end of the currentLine
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}
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}
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}
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// Clear the header variable
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header = "";
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// Close the connection
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client.stop();
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Serial.println("Client disconnected.");
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Serial.println("");
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}
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}

‎keywords.txt

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@ start KEYWORD2
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stop KEYWORD2
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setTimePeriod KEYWORD2
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resetGyro KEYWORD2
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###################################################################
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# Constants
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###################################################################
@@ -77,4 +78,6 @@ RH_APP_SERVICE_UUID LITERAL1
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RH_APP_CHARACTERISTIC_UUID1 LITERAL1
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RH_APP_CHARACTERISTIC_UUID2 LITERAL1
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RH_APP_CHARACTERISTIC_UUID3 LITERAL1
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STEPPER_MOTOR_MAX_STEPS LITERAL1
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STEPPER_MOTOR_MAX_STEPS LITERAL1
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ROBOHEART_AP_SSID LITERAL1
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ROBOHEART_AP_PASSWORD LITERAL1

‎library.properties

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@@ -1,5 +1,5 @@
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name=RoboHeart
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version=2.0.5
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version=2.1.0
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author=Augmented Robotics
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maintainer=Augmented Robotics <[email protected]>
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sentence=Arduino library for the RoboHeart

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