ZOOM!

esp32/Prosjekt.cpp

@@ -85,9 +85,14 @@ void reconnectMQTT(PubSubClient& client) {
 * @param byte zumoaddress: Adress of the Zumo32u4
 * @param byte kjøremodus: Variable which stores the driving direction
 */
-void wireTransmit(byte zumoaddress, byte kjoremodus) {
-    Wire.beginTransmission(zumoaddress);
-    Wire.write(kjoremodus);
-    Serial.print("message sent!");
-    Wire.endTransmission();
+void wireTransmit(int zumoaddress, int kjoremodus) {
+  Wire.beginTransmission(zumoaddress);
+  Wire.write(kjoremodus);
+  int result = Wire.endTransmission();
+  if(result == 0){
+    Serial.println("transmission sucessfull");
+  }else{
+    Serial.print("transmission failed with error code: ");
+    Serial.println(result);
+  }
 }

esp32/Prosjekt.h

@@ -7,6 +7,6 @@
   void connectWiFi(const char* ssid, const char* password);
   void sendWhatsAppMessage(String& message, String& phoneNumber, String& apiKey);
   void reconnectMQTT(PubSubClient& client);
-  void wireTransmit(byte zumoaddress, byte kjoremodus);
+  void wireTransmit(int zumoaddress, int kjoremodus);
 
 #endif

esp32/esp32.ino

@@ -11,8 +11,8 @@
 
 /// VARIABLES FOR WIFI-CONNECTION ///
 
-const char* ssid = "NTNU-IOT";
-const char* password = "";
+const char* ssid = "Garfield party";
+const char* password = "Lasagnalover6969";
 
 /// VARIABLER FOR  MELDING GJENNOM WHATSAPP 
 String phoneNumber = "+4748230543";
@@ -21,7 +21,7 @@ String message = "HEI:)"; //denne kan endres til en mer utfyllende melding sener
 /// VARIABLER FOR MQTT ///
 
 /// VARIABLES FOR MQTT COMMUNICATION ///
-const char* mqtt_server = "10.25.17.47";
+const char* mqtt_server = "192.168.0.144";
 
 WiFiClient espClient;
 PubSubClient client = PubSubClient(espClient);
@@ -83,7 +83,7 @@ float totalSpeed;
 /// VARIABLES FOR DELAY WITH MILLIS ///
 
 unsigned long previousMillis = 0;
-const int interval = 500;
+const int interval = 5000;
 
 /// VARIABLES FOR POWER USAGE CALCULATION ///
 
@@ -105,8 +105,9 @@ float acceleration;
 void setup()
 {
   Serial.begin(115200);
-  Wire.begin(espaddress);
+  Wire.begin(espaddress); //espaddress
   Wire.onReceive(receiveEvent); 
+  Wire.onRequest(requestEvent);
 
   connectWiFi(ssid, password); //kobler opp til Wi-Fi
 
@@ -116,7 +117,6 @@ void setup()
   client.setCallback(callback);
 
   delay(1000);
-  previousMillis = millis();
 }
 
 void loop()
@@ -222,30 +222,38 @@ void callback(char* topic, byte* message, unsigned int length) {
     else if(messageTemp == "backwards"){
       kjoremodus = 4; 
     }
+    else if(messageTemp == "0"){
+      kjoremodus = 5; 
+    }
   } 
-
   Serial.print(kjoremodus);
-    //wireTransmit(zumoaddress, kjoremodus); 
-  Wire.beginTransmission(zumoaddress);
-  Wire.write(kjoremodus);
-  Wire.endTransmission();
-  Serial.print("message sent!");
+  //wireTransmit(zumoaddress, kjoremodus); 
 }
 
 //This function counts the amount of sharp turns made by the zumo car
 void receiveEvent(int howMany){
   while(Wire.available()){
     sharpTurnCount += Wire.read();
     Serial.println(sharpTurnCount);
-    }
   }
 }
 
+void requestEvent(){
+  Wire.write(kjoremodus); 
+}
+
 //This function sends a message with all the values via MQTT
 void sendMQTTMessage(){
 
   String MQTTmessage = String(powerUsage) + " " + String(averageSpeed) + " " + String(meterIncrease) + " " + String(meterDecrease) + " " + String(averageTemp) + " " + String(averageLatitude) + " " + String(averageLongitude) + " " + String(highAccelerationCount) + " " + String(sharpTurnCount); 
   client.publish(messageTopic, MQTTmessage.c_str());
+  int result = Wire.endTransmission();
+  if(result == 0){
+    Serial.println("transmission sucessfull");
+  }else{
+    Serial.print("transmission failed with error code: ");
+    Serial.println(result);
+  }
   Serial.print(MQTTmessage);
 }
 

kontroller/kontroller.ino

@@ -9,11 +9,11 @@
 
 /// VARIABLES FOR WIFI-CONNECTION ///
 
-const char* ssid = "NTNU-IOT";
-const char* password = "";
+const char* ssid = "Garfield party";
+const char* password = "Lasagnalover6969";
 
 /// VARIABLES FOR MQTT COMMUNICATION ///
-const char* mqtt_server = "10.25.17.47"; //IP-address of Raspberry Pi
+const char* mqtt_server = "192.168.0.144"; //IP-address of Raspberry Pi
 
 WiFiClient espClient;
 PubSubClient client = PubSubClient(espClient);
@@ -42,6 +42,7 @@ int lastButtonState = 0;
 unsigned long lastDebounceTime = 0; 
 unsigned long debounceDelay = 50; 
 int mode = 0; //changes which mode the controller is in. 1 = joystick, 0 = none
+const int LED = 14; 
 
 void setup() {
   Serial.begin(115200);
@@ -50,6 +51,7 @@ void setup() {
   connectWiFi(ssid, password);
   client.setServer(mqtt_server, 1883); 
   pinMode(buttonPin, INPUT);
+  pinMode(LED, OUTPUT); 
 }
 
 void loop() {
@@ -72,8 +74,12 @@ void loop() {
   lastButtonState = reading;
 
   if (mode == 1){
+    digitalWrite(LED, HIGH);
     joyStickMode(); 
   }
+  else {
+    digitalWrite(LED, LOW);
+  }
 
   if (!client.connected()) {
     reconnectMQTT(client);

zumobil/Prosjekt.cpp

@@ -6,8 +6,14 @@
 * @param byte zumoaddress: Adress of the Zumo32u4
 * @param byte kjøremodus: Variable which stores the driving direction
 */
-void wireTransmit(byte espaddress, byte info) {
-    Wire.beginTransmission(espaddress);
-    Wire.write(info);
-    Wire.endTransmission();
+void wireTransmit(int espaddress, int totalTurns) {
+  Wire.beginTransmission(espaddress);
+  Wire.write(totalTurns);
+  int result = Wire.endTransmission();
+  if(result == 0){
+    Serial.println("transmission sucessfull");
+  }else{
+    Serial.print("transmission failed with error code: ");
+    Serial.println(result);
+  }
 }

zumobil/Prosjekt.h

@@ -7,6 +7,6 @@
   void connectWiFi(const char* ssid, const char* password);
   void sendWhatsAppMessage(String& message, String& phoneNumber, String& apiKey);
   void reconnectMQTT(PubSubClient& client);
-  void wireTransmit(byte zumoaddress, byte kjoremodus);
+  void wireTransmit(int espaddress, int totalTurns);
 
 #endif

zumobil/zumobil.ino

@@ -34,13 +34,14 @@ int zumoaddress = 4;
 
 /// CONTROLLER VARIABLES ///
 
-bool joyStickMode = false; 
+//bool joyStickMode = false; 
 int kjoremodus; 
+int controllerInterval = 100; 
 
 void setup()
 {
-  Wire.begin(zumoaddress);
-  Wire.onReceive(receiveEvent); 
+  Wire.begin(); //zumoaddress
+  //Wire.onReceive(receiveEvent); 
   Serial.begin(115200);
   lineSensors.initFiveSensors(); //merges the line sensors 
   motors.setSpeeds(-100,100); 
@@ -52,31 +53,43 @@ void setup()
 
 void loop()
 {
-
   if(millis() - previousMillis >= interval){
     previousMillis = millis(); 
-    calculateEncoders();
+    calculateEncoders(); 
   }
 
-  if (joyStickMode == false) {
-    linjefolging();
+  if(millis() - previousMillis >= controllerInterval){
+    previousMillis = millis(); 
+    calculateEncoders();
+    Wire.requestFrom(espaddress, 1); 
   }
 
+ // if (joyStickMode == false) {
+  //  linjefolging();
+  //}
+
+  while(Wire.available()){
+    kjoremodus = Wire.read();
+    Serial.println(kjoremodus);
+  }
   if(kjoremodus == 1){
-    motors.setSpeeds(50,150);
+    motors.setSpeeds(20,250);
   }
   else if(kjoremodus == 2){
-    motors.setSpeeds(150,50);
+    motors.setSpeeds(250,20);
   }
   else if(kjoremodus == 3){
-    motors.setSpeeds(150,150);
+    motors.setSpeeds(250,250);
   }
   else if(kjoremodus == 4){
-    motors.setSpeeds(-100,-100);
+    motors.setSpeeds(-150,-150);
+  }
+  else if(kjoremodus == 5){
+    linjefolging(); 
   }
 }
 
-// function that executes whenever data is received from master
+/*// function that executes whenever data is received from master
 // this function is registered as an event, see setup()
 void receiveEvent(int howMany)
 {
@@ -86,6 +99,8 @@ void receiveEvent(int howMany)
   }
 }
 
+*/
+
 //A function that follows a taped up line on the floor using the Zumo32u4's linefollower sensors
 void linjefolging(){
   int previousOffset;
@@ -128,7 +143,8 @@ void calculateEncoders() {
    }
    totalTurns += sharpTurn[i];
   }
-  sendCommand();
+  //wireTransmit(espaddress, totalTurns);
+  sendCommand(); 
   totalTurns = 0; 
 }