Skip to content

Commit

Permalink
not working #31
Browse files Browse the repository at this point in the history
  • Loading branch information
@ibrahimmansur4
ibrahimmansur4 committed Sep 2, 2023
1 parent 4cb0ee3 commit a815dcd
Show file tree
Hide file tree
Showing 5 changed files with 170 additions and 37 deletions.
6 changes: 5 additions & 1 deletion .vscode/c_cpp_properties.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
"/home/ibrahim/mobile_robotics_basics/lib/Wifi Configuration",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/WiFi/src",
"/home/ibrahim/mobile_robotics_basics/lib/Motor Setup",
"/home/ibrahim/mobile_robotics_basics/lib/Encoder Control",
"/home/ibrahim/mobile_robotics_basics/.pio/libdeps/esp32cam/AS5600",
"/home/ibrahim/mobile_robotics_basics/.pio/libdeps/esp32cam/GFX Library for Arduino/src",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
Expand Down Expand Up @@ -251,6 +253,8 @@
"/home/ibrahim/mobile_robotics_basics/lib/Wifi Configuration",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/WiFi/src",
"/home/ibrahim/mobile_robotics_basics/lib/Motor Setup",
"/home/ibrahim/mobile_robotics_basics/lib/Encoder Control",
"/home/ibrahim/mobile_robotics_basics/.pio/libdeps/esp32cam/AS5600",
"/home/ibrahim/mobile_robotics_basics/.pio/libdeps/esp32cam/GFX Library for Arduino/src",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
"/home/ibrahim/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
Expand Down Expand Up @@ -479,7 +483,7 @@
]
},
"defines": [
"PLATFORMIO=60110",
"PLATFORMIO=60111",
"ARDUINO_ESP32_DEV",
"BOARD_HAS_PSRAM",
"HAVE_CONFIG_H",
Expand Down
92 changes: 92 additions & 0 deletions lib/Encoder Control/EncoderControl.cpp
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
#include "EncoderControl.h"
#include "AS5600.h"
#include <Wire.h>
#include <SPI.h>

AS5600 as5600_0(&Wire); // use default Wire
AS5600 as5600_1(&Wire1);
// TwoWire I2CSensors = TwoWire(0);

void setupEncoder0()
{
Wire.begin(0,16);
if (!as5600_0.begin())
{
Serial.println("Encoder 0 not connected!");
Wire.end();
}
else
{
as5600_0.setDirection(AS5600_CLOCK_WISE);
Serial.println("Connect device 0: true");
}
}

void setupEncoder1()
{
Wire1.begin(4, 2);
if (!as5600_1.begin())
{
Serial.println("Encoder 1 not connected!");
Wire1.end();
}
else
{
as5600_1.setDirection(AS5600_CLOCK_WISE);
Serial.println("Connect device 1: true");
}
}

void readEncoderAngle0()
{
if (!as5600_0.begin())
{
}
else
{
int angle1 = as5600_0.rawAngle() * AS5600_RAW_TO_DEGREES;
Serial.print("Encoder 0 Angle: ");
Serial.print(angle1);
}
}
void readEncoderAngle1()
{
if (!as5600_1.begin())
{
}
else
{
int angle2 = as5600_1.rawAngle() * AS5600_RAW_TO_DEGREES;
Serial.print("Encoder 1 Angle: ");
Serial.print(angle2);
}
}

void getEncoderSpeed0()
{
if (!as5600_0.begin())
{
}
else
{
float speed1 = (PI * WHEEL_DIAMETER * as5600_0.getAngularSpeed(AS5600_MODE_RPM)) / 60.0;
Serial.print(" degrees | Speed 0 (cm/s): ");
Serial.println(speed1, 2);
Serial.print("Encoder 0 Speed (RPM): ");
Serial.println(as5600_0.getAngularSpeed(AS5600_MODE_RPM));
}
}
void getEncoderSpeed1()
{
if (!as5600_1.begin())
{
}
else
{
float speed2 = (PI * WHEEL_DIAMETER * as5600_1.getAngularSpeed(AS5600_MODE_RPM)) / 60.0;
Serial.print(" degrees | Speed 1 (cm/s): ");
Serial.println(speed2, 2);
Serial.print("Encoder 1 Speed (RPM): ");
Serial.println(as5600_1.getAngularSpeed(AS5600_MODE_RPM));
}
}
15 changes: 15 additions & 0 deletions lib/Encoder Control/EncoderControl.h
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
#ifndef ENCODER_CONTROL_H
#define ENCODER_CONTROL_H

#include <Wire.h>

extern const float WHEEL_DIAMETER; // Declare WHEEL_DIAMETER as an external variable

void setupEncoder0();
void setupEncoder1();
void readEncoderAngle0();
void readEncoderAngle1();
void getEncoderSpeed0();
void getEncoderSpeed1();

#endif // ENCODER_CONTROL_H
3 changes: 2 additions & 1 deletion platformio.ini
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,4 +16,5 @@ monitor_speed = 115200
monitor_rts = 0
monitor_dtr = 0
monitor_port = /dev/ttyUSB0
lib_deps = moononournation/GFX Library for Arduino@^1.3.5
lib_deps = moononournation/GFX Library for Arduino@^1.3.5
robtillaart/AS5600@^0.4.0
91 changes: 56 additions & 35 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,21 +9,24 @@
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <WiFiClientSecure.h>
#include "EncoderControl.h"
#include "AS5600.h"

#define CAMERA_MODEL_AI_THINKER
#include "camera_pins.h"


#define WIFI_NETWORK "Jhelum.net [Luqman House]"
#define WIFI_PASSWORD "7861234786"

const float WHEEL_DIAMETER = 3.28; // in cm (32.8 mm)

void startCameraServer();
void setupLedFlash(int pin);

void camera_task(void *pvParameters) {
void camera_task(void *pvParameters)
{
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
Expand All @@ -44,25 +47,31 @@ void camera_task(void *pvParameters) {
config.xclk_freq_hz = 20000000;
config.frame_size = FRAMESIZE_UXGA;
config.pixel_format = PIXFORMAT_JPEG; // for streaming
//config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
// config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.jpeg_quality = 12;
config.fb_count = 1;

// ... (camera configuration from setup() function)

if(config.pixel_format == PIXFORMAT_JPEG){
if(psramFound()){
if (config.pixel_format == PIXFORMAT_JPEG)
{
if (psramFound())
{
config.jpeg_quality = 10;
config.fb_count = 2;
config.grab_mode = CAMERA_GRAB_LATEST;
} else {
}
else
{
// Limit the frame size when PSRAM is not available
config.frame_size = FRAMESIZE_SVGA;
config.fb_location = CAMERA_FB_IN_DRAM;
}
} else {
}
else
{
// Best option for face detection/recognition
config.frame_size = FRAMESIZE_240X240;
#if CONFIG_IDF_TARGET_ESP32S3
Expand All @@ -77,20 +86,23 @@ void camera_task(void *pvParameters) {

// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
if (err != ESP_OK)
{
Serial.printf("Camera init failed with error 0x%x", err);
return;
}

sensor_t * s = esp_camera_sensor_get();
sensor_t *s = esp_camera_sensor_get();
// initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV3660_PID) {
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
if (s->id.PID == OV3660_PID)
{
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
s->set_saturation(s, -2); // lower the saturation
}
// drop down frame size for higher initial frame rate
if(config.pixel_format == PIXFORMAT_JPEG){
if (config.pixel_format == PIXFORMAT_JPEG)
{
s->set_framesize(s, FRAMESIZE_QVGA);
}

Expand All @@ -108,24 +120,26 @@ void camera_task(void *pvParameters) {
setupLedFlash(LED_GPIO_NUM);
#endif


// ... (camera sensor adjustments from setup() function)

while (1) {
while (1)
{
// Do any camera-related tasks here if needed

vTaskDelay(100 / portTICK_PERIOD_MS); // Adjust the delay time as per your requirement
}
}

void keepWiFiAlive(void * parameter){
void keepWiFiAlive(void *parameter)
{

WiFi.begin(WIFI_NETWORK, WIFI_PASSWORD);
WiFi.begin(WIFI_NETWORK, WIFI_PASSWORD);

WiFi.setSleep(false);

while (WiFi.status() != WL_CONNECTED) {
vTaskDelay(500 / portTICK_PERIOD_MS);
while (WiFi.status() != WL_CONNECTED)
{
vTaskDelay(500 / portTICK_PERIOD_MS);
Serial.print(".");
}
Serial.println("");
Expand All @@ -139,9 +153,8 @@ void keepWiFiAlive(void * parameter){
vTaskDelete(NULL); // End the task once Wi-Fi is connected
}



void setup() {
void setup()
{

// Set the motor control pins to outputs
pinMode(ml_1, OUTPUT);
Expand All @@ -164,30 +177,38 @@ void setup() {
Serial.begin(115200);
Serial.setDebugOutput(true);
Serial.println();
Wire.begin();
// setupEncoder0();
setupEncoder1();
// Initialize WiFi and camera
setupWiFi();

xTaskCreatePinnedToCore(camera_task, "camera_task", 4096, NULL, 1, NULL, 1); // Run camera task on core 1
xTaskCreatePinnedToCore(
keepWiFiAlive, // Function to run
"keepWiFiAliveTask", // Name of the task
4096, // Stack size (bytes)
NULL, // Task parameter
1, // Task priority (0 to configMAX_PRIORITIES - 1)
NULL, // Task handle
0 // Run on the first core
);
xTaskCreatePinnedToCore(
keepWiFiAlive, // Function to run
"keepWiFiAliveTask", // Name of the task
4096, // Stack size (bytes)
NULL, // Task parameter
1, // Task priority (0 to configMAX_PRIORITIES - 1)
NULL, // Task handle
0 // Run on the first core
);

// ... (LED flash setup if LED pin is defined in camera_pins.h)
}

void loop() {
void loop()
{

client = server.available();
client = server.available();
if (!client)
return;

data = checkClient();
// readEncoderAngle0();
// getEncoderSpeed0();
readEncoderAngle1();
getEncoderSpeed1();
// Process the received data
// processData(data);
// handleData(data);
Expand Down

0 comments on commit a815dcd

Please sign in to comment.