8abc823276
- essayé d'installer webide sur NodeMCU, il y a justement un exemple de websocker server, je n'arrive pas encore à comprendre comment cela marche - donc il y a encore pas mal de taf
58 lines
1.9 KiB
Lua
Executable File
58 lines
1.9 KiB
Lua
Executable File
return function (socket)
|
|
--1=GPIO5, 2=GPIO4, 3=GPIO0, 4=GPIO2, 5=GPIO14, 6=GPIO12,
|
|
--7=GPIO13, 8=GPIO15, 9=GPIO3, 10=GPIO1, 11=GPIO9, 12=GPIO10
|
|
local leftpwm, leftduty, leftpin1, leftpin2 = 1, 818, 2, 4 --GPIO5, 80%, GPIO4, GPIO2
|
|
local rightpwm,rightduty, rightpin1, rightpin2 = 5, 717, 6, 7 --GPIO14, 70%, GPIO12, GPIO13
|
|
-- timer id(0-6), interval in ms
|
|
local tmrId, tmrMs = 4, 800
|
|
|
|
-- init motors
|
|
pwm.setup(leftpwm, 500, leftduty)
|
|
pwm.start(leftpwm)
|
|
gpio.mode(leftpin1, gpio.OUTPUT)
|
|
gpio.mode(leftpin2, gpio.OUTPUT)
|
|
pwm.setup(rightpwm, 500, rightduty)
|
|
pwm.start(rightpwm)
|
|
gpio.mode(rightpin1, gpio.OUTPUT)
|
|
gpio.mode(rightpin2, gpio.OUTPUT)
|
|
|
|
function socket.onmessage(payload, opcode)
|
|
curStep = payload:sub(1, 1)
|
|
if (curStep == 'F') then
|
|
gpio.write(leftpin1, gpio.LOW)
|
|
gpio.write(leftpin2, gpio.HIGH)
|
|
gpio.write(rightpin1, gpio.LOW)
|
|
gpio.write(rightpin2, gpio.HIGH)
|
|
elseif (curStep == 'B') then
|
|
gpio.write(leftpin1, gpio.HIGH)
|
|
gpio.write(leftpin2, gpio.LOW)
|
|
gpio.write(rightpin1, gpio.HIGH)
|
|
gpio.write(rightpin2, gpio.LOW)
|
|
elseif (curStep == 'L') then
|
|
gpio.write(leftpin1, gpio.LOW)
|
|
gpio.write(leftpin2, gpio.HIGH)
|
|
gpio.write(rightpin1, gpio.HIGH)
|
|
gpio.write(rightpin2, gpio.LOW)
|
|
elseif (curStep == 'R') then
|
|
gpio.write(leftpin1, gpio.HIGH)
|
|
gpio.write(leftpin2, gpio.LOW)
|
|
gpio.write(rightpin1, gpio.LOW)
|
|
gpio.write(rightpin2, gpio.HIGH)
|
|
elseif (curStep == 'S') then
|
|
gpio.write(leftpin1, gpio.LOW)
|
|
gpio.write(leftpin2, gpio.LOW)
|
|
gpio.write(rightpin1, gpio.LOW)
|
|
gpio.write(rightpin2, gpio.LOW)
|
|
end
|
|
end
|
|
|
|
function socket.onclose()
|
|
pwm.stop(leftpwm)
|
|
gpio.write(leftpin1, gpio.LOW)
|
|
gpio.write(leftpin2, gpio.LOW)
|
|
pwm.stop(rightpwm)
|
|
gpio.write(rightpin1, gpio.LOW)
|
|
gpio.write(rightpin2, gpio.LOW)
|
|
end
|
|
end
|