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| #include <ArduinoBLE.h> | ||
| #include <ESP32Time.h> | ||
| #include <Motor_PID.h> | ||
| #define ENCA 2 // YELLOW from polulu | ||
| #define ENCB 15 // WHITE from polulu | ||
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| #define IN2 26 //B1-A | ||
| #define IN1 25 //A1-A | ||
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| ESP32Time rtc; | ||
| //ESP32Time rtc(3600); // offset in seconds GMT+1 | ||
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| BLEService service("1ce76320-2d32-41af-b4c4-46836ea7a62a"); // Bluetooth® Low Energy LED Service | ||
| BLECharacteristic dateCharacteristic("ad804469-19ec-406a-b949-31ae17e43813", BLERead | BLENotify | BLEWrite, 8); | ||
| BLECharacteristic lightCharacteristic("947aad02-c25d-11ed-afa1-0242ac120002", BLERead | BLENotify | BLEWrite , 4); | ||
| BLECharacteristic doorCharacteristic("c3773399-b755-4e30-9160-bed203fae718", BLERead | BLENotify | BLEWrite , 2); | ||
| BLECharacteristic doorCloseCharacteristic("e011ba0e-84c5-4e83-8648-f3e2660c44b0", BLERead | BLENotify | BLEWrite , 4); | ||
| BLECharacteristic doorOpenCharacteristic("cc959fff-4f84-4d08-a720-9d9156a48ed5", BLERead | BLENotify | BLEWrite , 4); | ||
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| //badge | ||
| uint8_t ble_value = 0x0; | ||
| int analogValue = 500; | ||
| int minValue = analogValue; | ||
| int maxValue = analogValue; | ||
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| //settings door | ||
| int doorWantedStatus = 1; | ||
| float doorNbTurn = 1; | ||
| int target; | ||
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| //settings close | ||
| int doorCloseMode = 0; | ||
| int doorCloseLightThreshold = -1; | ||
| int doorCloseTimeH = -1; | ||
| int doorCloseTImeM = -1; | ||
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| //settings open | ||
| int doorOpenMode = 0; | ||
| int doorOpenLightThreshold = -1; | ||
| int doorOpenTimeH = -1; | ||
| int doorOpenTImeM = -1; | ||
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| //door controle | ||
| int oneTurn = 372;//372 | ||
| int doorStaus = 1; | ||
| float kp = 8; | ||
| float kd = 1; | ||
| float ki = 0.01; | ||
| motor motor1 = motor(ENCA, ENCB, IN1, IN2, 0, 50, 100); // Set upper limit to 100 | ||
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| void setup() { | ||
| Serial.begin(115200); | ||
| rtc.setTime(1680108200); | ||
| while (!Serial); | ||
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| // begin initialization | ||
| if (!BLE.begin()) { | ||
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| noInterrupts(); | ||
| Serial.println("starting Bluetooth® Low Energy module failed!"); | ||
| interrupts(); | ||
| while (1); | ||
| } | ||
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| // set advertised local name and service UUID: | ||
| BLE.setLocalName("COOP-DOOR"); | ||
| BLE.setAdvertisedService(service); | ||
| service.addCharacteristic(dateCharacteristic); | ||
| service.addCharacteristic(lightCharacteristic); | ||
| service.addCharacteristic(doorCharacteristic); | ||
| service.addCharacteristic(doorCloseCharacteristic); | ||
| service.addCharacteristic(doorOpenCharacteristic); | ||
| BLE.addService(service); | ||
| dateCharacteristic.writeValue(0); | ||
| lightCharacteristic.writeValue(0); | ||
| uint8_t initialValue[] = {10, 1}; | ||
| doorCharacteristic.writeValue(initialValue, sizeof(initialValue)); | ||
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| // start advertising | ||
| BLE.advertise(); | ||
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| noInterrupts(); | ||
| Serial.println("BLE LED Peripheral"); | ||
| interrupts(); | ||
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| //door controler | ||
| motor1.init(kp, ki, kd); | ||
| //motor1.set_position(0); | ||
| //motor1.set_target(10); | ||
| motor1.turn_off(); | ||
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| } | ||
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| void loop() { | ||
| // listen for Bluetooth® Low Energy peripherals to connect: | ||
| BLEDevice central = BLE.central(); | ||
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| // if a central is connected to peripheral: | ||
| if (central) { | ||
| noInterrupts(); | ||
| Serial.print("Connected to central: "); | ||
| // print the central's MAC address: | ||
| Serial.println(central.address()); | ||
| interrupts(); | ||
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| // while the central is still connected to peripheral: | ||
| while (central.connected()) { | ||
| // if the remote device wrote to the characteristic, | ||
| // use the value to control the LED: | ||
| //delay(500); | ||
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| manageSettingsDoor(); | ||
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| } | ||
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| // when the central disconnects, print it out: | ||
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| noInterrupts(); | ||
| Serial.print(F("Disconnected from central: ")); | ||
| Serial.println(central.address()); | ||
| interrupts(); | ||
| } | ||
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| } | ||
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| void manageSettingsDoor() { | ||
| if (doorCharacteristic.written() ) { | ||
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| noInterrupts(); | ||
| Serial.println("update Door"); | ||
| Serial.print(doorCharacteristic.value()[0]); | ||
| Serial.print(";"); | ||
| Serial.println(doorCharacteristic.value()[1]); | ||
| Serial.println("doorNbTurn"); | ||
| interrupts(); | ||
| doorNbTurn = doorCharacteristic.value()[0] / 10; | ||
| doorWantedStatus = doorCharacteristic.value()[1]; | ||
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| if (doorWantedStatus == 0 && doorStaus != doorWantedStatus ) { | ||
| target = (int) oneTurn * doorNbTurn; | ||
| noInterrupts(); | ||
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| Serial.println(target); // * doorNbTurn); | ||
| interrupts(); | ||
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| motor1.set_target(target); // * doorNbTurn); | ||
| } else if (doorWantedStatus == 1 && doorStaus != doorWantedStatus) { | ||
| target = (int) oneTurn * 0; | ||
| noInterrupts(); | ||
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| Serial.println(target); // * doorNbTurn*-1 ); | ||
| interrupts(); | ||
| motor1.set_target(target); // * doorNbTurn * -1); | ||
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| } | ||
| motor1.start(); | ||
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| while (!motor1.target_reached()) { | ||
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| motor1.start(); | ||
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| } | ||
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| delay(1000); // Wait for 1 second | ||
| motor1.turn_off(); | ||
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| doorStaus = doorWantedStatus; | ||
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| } else { | ||
| //motor1.start(); | ||
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| } | ||
| } | ||
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| byte* getBytesFromLong(long x ) { | ||
| byte* bytes = new byte[8]; | ||
| for (int i = 0; i < 8; i++) { | ||
| bytes[i] = x & 0xff; | ||
| x = (x - bytes[i]) / 256; | ||
| } | ||
| return bytes; | ||
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| } | ||
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| long getLongFromBytes(const byte* bytes) { | ||
| long result = 0; | ||
| for (int i = 7; i >= 0; i--) { | ||
| result = (result * 256) + bytes[i]; | ||
| } | ||
| return result; | ||
| } |
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