no delay. All in loop.
This commit is contained in:
jameswood
parent
e13c7c5bf4
commit
131c1dc673
155
PrawnBot-ESP.ino
155
PrawnBot-ESP.ino
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@ -1,80 +1,133 @@
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#include <PubSubClient.h>
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#include <SPI.h>
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#include <ESP8266WiFi.h>
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#include <PubSubClient.h>
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#include "secrets.h"
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const int feedButtonPin = 0;
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const int motorPin = 14;
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const int switchPin = 2;
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const int motorSwitchPin = 12;
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const int dispenseTimeout = 2000;
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const int feedButtonHoldTime = 50;
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const int debounce = 50;
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boolean disableMotor = false;
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const int debounce = 100;
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boolean motorJammed = false;
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boolean wifiConnected = false;
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const String clientName = "PrawnBot-ESP";
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char clientName[] = "PrawnBot-ESP";
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boolean somethingToSay = true;
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String messageToReport = "Online";
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long modeStartTime = 0;
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int lastAnnounced;
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int botMode = 2; // 0: Listening; 1: Dispensing; 2: Resetting; 3: Jam
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void callback(char* topic, byte* incoming, unsigned int length);
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WiFiClient wifiClient;
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PubSubClient mqtt(server, port, callback, wifiClient);
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PubSubClient client(server, 1883, callback, wifiClient);
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void callback(char* topic, byte* payload, unsigned int length) {
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// handle message arrived
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void callback(char* theTopic, byte* incoming, unsigned int length) {
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String incomingMessage = String((char *)incoming);
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incomingMessage = incomingMessage.substring(0, length);
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Serial.print(String(theTopic));
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Serial.print(": ");
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Serial.println(incomingMessage);
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if (incomingMessage == "feed") botMode = 1;
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else if (incomingMessage == "ping") client.publish(topic, (char*)("pong"));
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}
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void setup() {
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pinMode(feedButtonPin, INPUT_PULLUP);
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pinMode(motorPin, OUTPUT);
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pinMode(motorSwitchPin, INPUT_PULLUP);
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Serial.begin(115200);
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delay(10);
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Serial.println("");
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Serial.print("Connecting to ");
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Serial.println(ssid);
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WiFi.begin(ssid, password);
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(".");
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Serial.print(":) ");
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}
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Serial.println("");
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Serial.println("WiFi connected");
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Serial.println("IP address: ");
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Serial.println(WiFi.localIP());
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Serial.print("Connecting to ");
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Serial.print(server);
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Serial.print(" as ");
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Serial.println(clientName);
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if (mqtt.connect((char*) clientName.c_str())) {
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Serial.println("Connected to MQTT broker");
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Serial.print("Topic is: ");
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Serial.println(topic);
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if (mqtt.publish(topic, "online")) {
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Serial.println("Publish ok");
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}
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else {
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Serial.println("Publish failed");
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}
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} else {
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Serial.println("MQTT connect failed");
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Serial.println("Will reset and try again...");
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abort();
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if (client.connect(clientName)) {
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client.publish(topic, (char*)("online"));
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client.subscribe(topic);
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}
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}
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void loop() {
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checkButton();
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}
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void checkButton() {
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if (digitalRead(feedButtonPin) == LOW) {
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long feedButtonPressedTime = millis();
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while (digitalRead(feedButtonPin) == LOW) {
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if (millis() - feedButtonPressedTime > feedButtonHoldTime) {
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client.loop();
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if (motorJammed == true) botMode = 3;
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switch (botMode) {
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case 0: // Listening
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if(lastAnnounced != 0) {
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Serial.println("Listening");
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lastAnnounced = 0;
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}
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if (digitalRead(feedButtonPin) == HIGH) modeStartTime = 0;
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else if (digitalRead(feedButtonPin) == LOW && modeStartTime == 0) modeStartTime = millis();
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else if (digitalRead(feedButtonPin) == LOW && (millis() - modeStartTime > debounce)) {
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Serial.println("Button pressed");
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dispense();
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break;
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};
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};
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};
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botMode = 1;
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modeStartTime = 0;
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}
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break;
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case 1: // Dispensing
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if(lastAnnounced != 1) {
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Serial.println("Dispensing");
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lastAnnounced = 1;
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}
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if (modeStartTime == 0) modeStartTime = millis();
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if ((digitalRead(motorSwitchPin) == LOW) && (millis() - modeStartTime > debounce)) {
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digitalWrite(motorPin, HIGH);
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} else if ((digitalRead(motorSwitchPin) == HIGH) && (millis() - modeStartTime > debounce)) {
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digitalWrite(motorPin, LOW);
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botMode = 2;
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modeStartTime = 0;
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if (messageToReport != "fed") somethingToSay = true;
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messageToReport="fed";
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}
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if ((modeStartTime > 0) && (millis() - modeStartTime > dispenseTimeout)) {
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botMode = 3;
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modeStartTime = 0;
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}
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break;
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case 2: // Resetting
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if(lastAnnounced != 2) {
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Serial.println("Resetting Motor");
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lastAnnounced = 2;
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}
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if (modeStartTime == 0) modeStartTime = millis();
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if ((digitalRead(motorSwitchPin) == HIGH)) { // && (millis() - modeStartTime > debounce)) {
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digitalWrite(motorPin, HIGH);
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}
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else if ((digitalRead(motorSwitchPin) == LOW) && (millis() - modeStartTime > debounce)) {
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digitalWrite(motorPin, LOW);
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botMode = 0;
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modeStartTime = 0;
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if (messageToReport != "ready") somethingToSay = true;
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messageToReport="ready";
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}
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if ((modeStartTime > 0) && (millis() - modeStartTime > dispenseTimeout)) {
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botMode = 3;
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modeStartTime = 0;
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}
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break;
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case 3: // Jammed
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if(lastAnnounced != 3) {
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Serial.println("Resetting Motor");
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lastAnnounced = 3;
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}
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if (messageToReport != "jam") somethingToSay = true;
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motorJammed = true;
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messageToReport="jam";
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}
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if (somethingToSay) {
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Serial.println("Send MQTT");
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int messageLength = messageToReport.length() + 1;
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char messageChar[messageLength];
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messageToReport.toCharArray(messageChar, messageLength);
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client.publish(topic, messageChar);
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somethingToSay = false;
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}
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}
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45
motor.ino
45
motor.ino
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@ -1,45 +0,0 @@
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void dispense() {
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long dispenseEndTime = millis() + dispenseTimeout;
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if (!motorJammed) {
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while (digitalRead(switchPin) == LOW) { // initial movement to get past switch point
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advanceMotor(millis(), debounce);
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if (millis() > dispenseEndTime) {
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jam();
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break;
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};
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};
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resetMotor();
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if (!motorJammed) mqtt.publish(topic, "fed");
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Serial.println("fed");
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} else jam();
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}
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void advanceMotor(long startTime, int runTime) {
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while (startTime + runTime > millis()) digitalWrite(motorPin, HIGH);
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digitalWrite(motorPin, LOW);
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}
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void jam() {
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digitalWrite(motorPin, LOW);
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if (mqtt.connected((char*) clientName.c_str())){
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if (mqtt.publish(topic, "jam")) {
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Serial.println("jam");
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} else {
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Serial.println("Publish Jam failed");
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}
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} else {
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Serial.println("MQTT not connected");
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}
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motorJammed = true;
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}
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void resetMotor() {
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long dispenseEndTime = millis() + dispenseTimeout;
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while (digitalRead(switchPin) == HIGH) {
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advanceMotor(millis(), debounce);
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if (millis() > dispenseEndTime) {
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jam();
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break;
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};
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};
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}
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