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
80 lines
2.6 KiB
Lua
Executable File
80 lines
2.6 KiB
Lua
Executable File
return function (connection, req, args)
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dofile('httpserver-header.lc')(connection, 200, 'html')
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--define robot dance steps
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--F=move forward, B=move backward, L=turn left, R=turn right, S=stop
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local steps = 'FFSSFFRSRFFSFFSSBBSSBBSSBBSSBBSSFFSSFFSSFFSSFFLSLBBS' --Tango
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local curStepIdx = 1
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--1=GPIO5, 2=GPIO4, 3=GPIO0, 4=GPIO2, 5=GPIO14, 6=GPIO12,
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--7=GPIO13, 8=GPIO15, 9=GPIO3, 10=GPIO1, 11=GPIO9, 12=GPIO10
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local leftpwm, leftduty, leftpin1, leftpin2 = 1, 818, 2, 4 --GPIO5, 80%, GPIO4, GPIO2
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local rightpwm,rightduty, rightpin1, rightpin2 = 5, 717, 6, 7 --GPIO14, 70%, GPIO12, GPIO13
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-- timer id(0-6), interval in ms
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local tmrId, tmrMs = 4, 800
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-- init motors
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pwm.setup(leftpwm, 500, leftduty)
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pwm.start(leftpwm)
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gpio.mode(leftpin1, gpio.OUTPUT)
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gpio.mode(leftpin2, gpio.OUTPUT)
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pwm.setup(rightpwm, 500, rightduty)
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pwm.start(rightpwm)
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gpio.mode(rightpin1, gpio.OUTPUT)
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gpio.mode(rightpin2, gpio.OUTPUT)
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--run step every tmrMs
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tmr.alarm(tmrId, tmrMs, tmr.ALARM_SEMI, function()
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local curStep = string.sub(steps, curStepIdx, curStepIdx)
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if ((curStep ~= nil) and (curStep ~= '')) then
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if (curStep == 'F') then
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gpio.write(leftpin1, gpio.LOW)
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gpio.write(leftpin2, gpio.HIGH)
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gpio.write(rightpin1, gpio.LOW)
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gpio.write(rightpin2, gpio.HIGH)
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elseif (curStep == 'B') then
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gpio.write(leftpin1, gpio.HIGH)
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gpio.write(leftpin2, gpio.LOW)
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gpio.write(rightpin1, gpio.HIGH)
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gpio.write(rightpin2, gpio.LOW)
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elseif (curStep == 'L') then
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gpio.write(leftpin1, gpio.LOW)
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gpio.write(leftpin2, gpio.HIGH)
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gpio.write(rightpin1, gpio.HIGH)
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gpio.write(rightpin2, gpio.LOW)
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elseif (curStep == 'R') then
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gpio.write(leftpin1, gpio.HIGH)
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gpio.write(leftpin2, gpio.LOW)
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gpio.write(rightpin1, gpio.LOW)
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gpio.write(rightpin2, gpio.HIGH)
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elseif (curStep == 'S') then
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gpio.write(leftpin1, gpio.LOW)
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gpio.write(leftpin2, gpio.LOW)
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gpio.write(rightpin1, gpio.LOW)
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gpio.write(rightpin2, gpio.LOW)
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end
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curStepIdx = curStepIdx + 1
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tmr.start(tmrId)
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else
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pwm.stop(leftpwm)
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gpio.write(leftpin1, gpio.LOW)
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gpio.write(leftpin2, gpio.LOW)
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pwm.stop(rightpwm)
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gpio.write(rightpin1, gpio.LOW)
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gpio.write(rightpin2, gpio.LOW)
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tmr.unregister(tmrId)
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end
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end)
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connection:send([===[<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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<title>robot.lua</title>
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</head>
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<body>
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<h1>Running!</h1>
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</body>
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</html>]===])
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end
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