byjp.me
[READ-ONLY] Mirror of https://github.com/jphastings/jan-poka. Jan Poka is a suite of tools for controlling custom internet-of-things devices that help make your distant friends feel closer.
geolocation
hardware
mqtt
Migrate mapper placeholder project to platformio
author
JP Hastings-Spital
date
(Jan 9, 2022, 8:41 AM UTC)
commit
063ea7a5
063ea7a5f2248c2d7ce6f8be9e3559d912e15e82
parent
7e42f9a9
7e42f9a9cce14f10315befca1d2ffa33cd7fe4f1
+149
+5
hardware/mapper/.gitignore
+5
hardware/mapper/.gitignore
+21
hardware/mapper/platformio.ini
+21
hardware/mapper/platformio.ini
···
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:firebeetle32]
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platform = espressif32
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board = firebeetle32
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framework = arduino
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lib_deps =
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waspinator/AccelStepper@^1.61
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knolleary/PubSubClient@^2.8
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bblanchon/ArduinoJson@^6.18.5
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upload_port = /dev/cu.usbserial-0001
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monitor_port = /dev/cu.usbserial-0001
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monitor_speed = 115200
+116
hardware/mapper/src/main.cpp
+116
hardware/mapper/src/main.cpp
···
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#include <Arduino.h>
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#include <AccelStepper.h>
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#include <WiFi.h>
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#include <PubSubClient.h>
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#include <ArduinoJson.h>
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#include <math.h>
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#include "vars.h";
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#define APP_NAME "jan-poka:mapper"
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#define ONE_ROTATION_STEPS 8192
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int INNER_DIR = 14; // D5
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int INNER_STP = 12; // D6
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int OUTER_DIR = 5; // D1
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int OUTER_STP = 4; // D2
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int DISABLE = 16; // D0
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int BOOTING = 2; // D4
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int MAX_SPEED = 9000;
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WiFiClient wifiClient;
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PubSubClient mqttClient(wifiClient);
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AccelStepper inner = AccelStepper(AccelStepper::DRIVER, INNER_STP, INNER_DIR);
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AccelStepper outer = AccelStepper(AccelStepper::DRIVER, OUTER_STP, OUTER_DIR);
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void setup() {
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Serial.begin(115200);
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pinMode(BOOTING, OUTPUT);
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digitalWrite(BOOTING, HIGH);
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pinMode(DISABLE, OUTPUT);
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digitalWrite(DISABLE, HIGH);
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mqttClient.setServer(MQTT_HOST, MQTT_PORT);
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inner.setMaxSpeed(MAX_SPEED);
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outer.setMaxSpeed(MAX_SPEED);
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mqttConnectionLoop();
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Serial.println("\nBooted");
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digitalWrite(BOOTING, LOW);
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}
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void mqttConnectionLoop() {
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if (!mqttClient.connected()) {
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if (!mqttClient.connect(APP_NAME, MQTT_USER, MQTT_PASS)) {
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Serial.println("Failed to connect to MQTT broker");
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// TODO: Backoff
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return;
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}
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Serial.println("MQTT connected");
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mqttClient.setCallback(handleGeoTarget);
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mqttClient.subscribe(MQTT_TOPIC);
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}
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mqttClient.loop();
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}
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void handleGeoTarget(char* topic, byte* payload, unsigned int length) {
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/* Copied from EspMQTTClient: https://github.com/plapointe6/EspMQTTClient/blob/master/src/EspMQTTClient.cpp#L649 */
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// Convert the payload into a String
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// First, We ensure that we dont bypass the maximum size of the PubSubClient library buffer that originated the payload
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// This buffer has a maximum length of _mqttClient.getBufferSize() and the payload begin at "headerSize + topicLength + 1"
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unsigned int strTerminationPos;
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if (strlen(topic) + length + 9 >= mqttClient.getBufferSize()) {
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strTerminationPos = length - 1;
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} else {
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strTerminationPos = length;
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}
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// Second, we add the string termination code at the end of the payload and we convert it to a String object
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payload[strTerminationPos] = '\0';
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String payloadStr((char*)payload);
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/* end */
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StaticJsonDocument<512> jsonDoc;
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DeserializationError err = deserializeJson(jsonDoc, payload);
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if (err != DeserializationError::Ok) {
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Serial.print("Unsuccessful at parsing MQTT JSON: ");
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Serial.println(err.f_str());
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return;
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}
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goTo(jsonDoc["lat"], jsonDoc["ele"]);
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}
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void goTo(double azimuth, double elevation) {
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double zRotate = azimuth / 180.0;
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double xyRotate = elevation / 270.0;
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long innerRotation = floor(zRotate * ONE_ROTATION_STEPS);
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long outerRotation = floor((xyRotate - 2 * zRotate) * ONE_ROTATION_STEPS);
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long stepsForInner = innerRotation - inner.currentPosition();
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long stepsForOuter = outerRotation - outer.currentPosition();
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inner.moveTo(innerRotation);
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outer.moveTo(outerRotation);
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double innerSpeed = MAX_SPEED;
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double outerSpeed = MAX_SPEED;
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if (stepsForInner > stepsForOuter) {
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outerSpeed = innerSpeed * stepsForInner / stepsForOuter;
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} else {
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innerSpeed = outerSpeed * stepsForOuter / stepsForInner;
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}
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inner.setSpeed(innerSpeed);
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outer.setSpeed(outerSpeed);
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}
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void loop() {
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bool noMove = inner.distanceToGo() == 0 && outer.distanceToGo() == 0;
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digitalWrite(DISABLE, noMove ? HIGH : LOW);
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inner.runSpeedToPosition();
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outer.runSpeedToPosition();
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mqttConnectionLoop();
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}