Initial commit of cat laser.

ReadMe.md

+A simple service to move an ESP-12
\ No newline at end of file

catlaser_0.6.ino

+/*******************************************************************
+Servo Controlled LASER Cat Toy by Ryan Soderlund
+Uses two SG90 servos, 2~5v 5mW LASER, and ESP-12E Dev Board
+
+TODO:
+  X Make servos quiet
+  * HW: add 1/4-20 thread to base
+  / way to adjust the spread of laser postions? (like no more than 5 degrees from prior?)
+  * enter distance from target and that determines the amount of movement
+  * move from html/post requests to interface and socket
+  * make randomness2 keep running until "stop" is received
+  * add features to GUI (show position, laser status)
+  * add watchdog timer to reset system periodically
+  * add timer so it never runs more than 10 minutes after last command.
+  * HW: add Power LED
+  * HW: Add manual (random) start button and reset button.
+  * add local AP for setting up system (entering WIFI info) and IP configuration.
+References:
+Wifi Chip: https://www.amazon.com/gp/product/B010O1G1ES/ref=ppx_yo_dt_b_asin_title_o00_s00?ie=UTF8&th=1
+wifi code from:
+https://www.engineersgarage.com/esp8266/servo-motor-with-nodemcu-web-control/
+https://tttapa.github.io/ESP8266/Chap07%20-%20Wi-Fi%20Connections.html
+https://learn.sparkfun.com/tutorials/esp8266-thing-hookup-guide/example-sketch-ap-web-server
+*******************************************************************/
+
+#include <Servo.h>
+#include <ESP8266WiFi.h>
+
+Servo servoX;                //initiate servo object horizontal
+Servo servoY;                //initiate servo object vertical
+
+const char* ssid = "gofast";
+const char* password = "getexcitednow!";
+WiFiServer server(80);          // i think this establishes instance "server" on port 80
+ 
+//////// PINOUTS
+const int LASER = D6;       //Laser On/Off
+const int redLED = 4;       //Activity LED (manual or auto mode activated)
+const int modeSwitch = 2;   //Momentary Button to activate Auto Mode
+const int sX = D7;          //horizontal servo control (X-X degrees)
+const int sY = D8;          //vertical servo control (X-X degrees)
+//Servo BLACK WIRE = GND
+//Servo RED WIRE = 5v
+
+//////// DEFINE GLOBAL VARIABLES
+//#define centerPos 90        //sets servo center position
+//#define zeroPos 0           
+//sets vertical servo zero position
+int posCnt = 0;       // variable to store the position counter
+int Xpos = 150;       // variable to store the X servo position
+int Ypos = 75;        // variable to store the Y servo position
+int Xmin = 90;        // default vertical min X servo position
+int Xmax = 170;       // default vertical max X servo position
+int Ymin = 55;        //  default vertical min Y servo position
+int Ymax = 90;        //  default vertical min Y servo position
+int rate = 100;       //time to wait between servo angle changes in ms, affects speed of servo motion.
+
+int randomState = 0;
+
+void setup();
+void loop();
+
+void moveLaser(int x, int y) {
+  servoX.attach(sX);  //attaches servo to pin
+  servoY.attach(sY);  //attaches servo to pin 
+  servoX.write(x);    // tell servo to go to position in variable 'Xpos'
+  servoY.write(y);    // tell servo to go to position in variable 'Ypos'
+  delay(500);         // waits for the servo to reach the position
+  servoX.detach();    //detaches from all servos to quiet them
+  servoY.detach();
+}
+
+void moveRequest(String req) {
+  int x;
+  int y;
+  const paramQIdx = req.indexOf('?');
+  const paramAtIdx = req.indexOf('&');
+  const String valA = req.substring(paramQIdx + 1, paramAtIdx);
+  const String valB = req.substring(paramAtIdx+1);
+
+  if (valA.startsWith('x=')) {
+    string tmpX = valA.substring(2);
+    string tmpY = valB.substring(2);
+    x = tmpX.toInt();
+    y = tmpY.toInt();
+  } else {
+    string tmpY = valA.substring(2);
+    string tmpX = valB.substring(2);
+    x = tmpX.toInt();
+    y = tmpY.toInt();
+  }
+
+  moveLaser(x, y);
+}
+
+///////////////// RANDOMNESS 2 - MOVE ERRATICALLY /////////////////////
+void randomness2() {    //attempt to limit movements by tying to prior position, while also keeping w/in mix/max bounds  
+  
+  int Xgoal = random(Xmin,Xmax);   //initialize X/Ygoal, which is where the laser will move *towards*
+  int Ygoal = random(Ymin,Ymax);
+  Serial.print("Xgoal=");Serial.print(Xgoal); Serial.print(", Ygoal="); Serial.println(Ygoal); 
+  int DXmax = 10;
+  int DYmax = 5;
+  if ((Xgoal - Xpos) >DXmax){
+    Xgoal = Xpos + DXmax;
+    Serial.println("Xgoal - Xpos >5");
+  }
+  if ((Xgoal - Xpos) <-DXmax){
+    Xgoal = Xpos - DXmax;
+    Serial.println("Xgoal - Xpos <-5");
+  }
+  if ((Ygoal - Ypos) >DYmax){
+    Ygoal = Ypos + DYmax;
+    Serial.println("Ygoal - Ypos >5");
+  }
+  if ((Ygoal - Ypos) <-DYmax){
+    Ygoal = Ypos - DYmax;
+    Serial.println("Ygoal - Ypos <-5");
+  }
+
+  int Xdelta = Xgoal - Xpos;  //determine the distance to move
+  int Ydelta = Ygoal - Ypos;
+  Serial.print("x=");Serial.print(Xgoal); Serial.print(", y="); Serial.print(Ygoal); 
+  Serial.print(", Xdelta="); Serial.print(Xdelta); Serial.print(", Ydelta="); Serial.println(Ydelta);
+
+  moveLaser(Xpos+Xdelta/DXmax, Ypos+Ydelta/DYmax);
+}
+
+/**
+ *  setup():
+ *
+ */
+void setup() {
+  // initialize inputs and outputs:
+  pinMode(LASER, OUTPUT);   
+  pinMode(redLED, OUTPUT); 
+  pinMode(sX, OUTPUT); 
+  pinMode(sY, OUTPUT);   
+  pinMode(modeSwitch, INPUT);
+
+  Serial.begin(115200);
+  delay(10);
+
+  // Connect to WiFi network
+  Serial.println();
+  Serial.println();
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+ 
+  WiFi.begin(ssid, password);
+ 
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  
+  Serial.println("");
+  Serial.println("WiFi connected");
+ 
+  // Start the server
+  server.begin();
+  Serial.println("Server started");
+ 
+  // Print the IP address on serial monitor
+  Serial.print("Use this URL to connect: ");
+  Serial.print("http://"); Serial.print(WiFi.localIP()); Serial.println("/");
+}
+
+/**
+ *  loop():
+ *
+ */
+void loop() {
+  // Check if a client has connected
+  WiFiClient client = server.available();
+  if (!client) {
+    return;
+  }
+ 
+  // Wait until the client sends some data
+  Serial.println("new client");
+  while(!client.available()){
+    delay(1);
+  }
+ 
+  // Read the first line of the request
+  String request = client.readStringUntil('\r');
+  Serial.print("Request Received: ");
+  Serial.println(request);
+  // client.flush();
+  
+  //////////// GENERATE HTML CODE WITH BUTTONS AND LISTEN FOR RESPONSE   //////////////
+  delay(1);
+  Serial.println("Client disconnected");
+  Serial.println("");
+
+  // Match the request: (THIS CODE MUST BE BELOW THE "return the response" SECTION OR IT WON'T COMPILE...)
+  if (request.indexOf("/random") != -1)  {
+    randomState = 1;    //debugging
+    Serial.println("SET Random Flag");
+  } else if (request.indexOf("/move") != -1 )  { // move?x=X&y=Y
+    digitalWrite(LASER, HIGH);  // turn the LASER on.    
+    moveRequest(request);    
+  } else if (request.indexOf("/start") != -1) {
+    digitalWrite(LASER, HIGH);  // turn the LASER on. 
+  } else if (request.indexOf("/stop") != -1 )  {
+    randomState = 0;
+    digitalWrite(LASER, LOW);   // turn off the laser
+    Serial.println("Stop Laser and Turn off Random Flag");    //debugging
+  } else {
+    // If we don't have a request what should we do?  Nothing maybe?
+    Serial.println(".");
+  }
+
+  if (randomState == 1)  {
+    randomness2();              // initiate cat distraction // HOW DO I KEEP IT DOING THING WHILE ALSO WAITING FOR new request?
+    delay(random(50,4000));     //delay between movements. 20,2000 was a too short.
+  }
+
+  // add if..else here to countdown before turning off laser?  
+  Serial.print("random State=");
+  Serial.println(randomState);    //debugging
+}