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cthuloid commits / 9bcb693

Snapshot before pear-git-v3 migration
Real content changes from this session: - Add esp324xlight/: modern ESP32 core 3.x firmware for the 4-light RGB rig with auto-resolution PWM, gamma-corrected fades, OTA, NVS-persisted hostname, TCP stale-client mitigations, and a runtime command surface (pwm, pwm2, freq, gamma, verbose, hostname, reboot) plus a README documenting protocol + hardware - esp32/32wifi12frak/32wifi12frak.ino: drop freq from 20kHz to 1kHz so the LEDC peripheral can actually configure at 16-bit, plus add diagnostic ack markers and TCP stale-client lifecycle fixes - New SC.h next to legacy sketch for header lookup Pre-existing working-tree changes preserved as-is: - File mode changes (chmod +x across ~220 files) - LightArm/, ghettopticon/, cuemgr/, Pcb/ working files - Untracked Blender backups and PCB exports Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
9bcb6936323ffdf2cebdf4f1a19636e0dcccc182
by plankatron <fleeky@gmail.com> · 2026-05-22T22:40:41.000Z

Changed files (321) +23920 -501

.gitignore +0 -0
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Arduino/Blenderbot/Blenderbot.ino +0 -0
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Arduino/CodeGenCommands.h +0 -0
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Arduino/DMX_LED_Controller/DMX_LED_Controller.ino +0 -0
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Arduino/DMX_LED_Controller2/DMX_LED_Controller2.ino +0 -0
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Arduino/LEDController/LEDController.ino +0 -0
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Arduino/LightArm/LightArm.ino +0 -0
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Arduino/LightArm/eeprom.h +0 -0
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Arduino/NanoLEDController/NanoLEDController.ino +0 -0
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Arduino/PrinbooLimbs/PrinbooLimbs.ino +0 -0
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Arduino/RDM_Slave/RDM_Slave.ino +0 -0
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Arduino/RDM_Slave_Eeprom/RDM_Slave_Eeprom.ino +0 -0
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Arduino/RGB_LEDController/RGB_LEDController.ino +0 -0
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Arduino/ServoShieldKeyboard/ServoShieldKeyboard.ino +0 -0
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Arduino/ServoShieldSerial/ServoShieldSerial.ino +0 -0
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Arduino/TestDynamixel/TestDynamixel.ino +0 -0
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Arduino/TestSteppers/TestSteppers.ino +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/Adafruit_PWMServoDriver.cpp +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/Adafruit_PWMServoDriver.h +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/README.md +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/examples/pwmtest/pwmtest.pde +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/examples/servo/servo.pde +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/library.properties +0 -0
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Arduino/libraries/Adafruit_PWM_Servo_Driver_Library/license.txt +0 -0
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Arduino/libraries/Bioloid-fixed-UART0/BioloidController2.cpp +0 -0
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Arduino/libraries/Bioloid-fixed-UART0/BioloidController2.h +0 -0
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Arduino/libraries/Bioloid-fixed-UART0/ax12.cpp +0 -0
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Arduino/libraries/Bioloid-fixed/ax12.cpp +0 -0
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Arduino/libraries/Conceptinetics/Rdm_Defines.h +0 -0
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Arduino/libraries/Conceptinetics/Rdm_Uid.h +0 -0
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Arduino/libraries/Conceptinetics/examples/DMX_Master/DMX_Master.ino +0 -0
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Arduino/libraries/Conceptinetics/examples/DMX_Master_Manual_Break/DMX_Master_Manual_Break.ino +0 -0
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Arduino/libraries/Conceptinetics/examples/DMX_Slave/DMX_Slave.ino +0 -0
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Arduino/libraries/Conceptinetics/examples/DMX_Slave_Signal_Timeout/DMX_Slave_Signal_Timeout.ino +0 -0
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Arduino/libraries/Conceptinetics/examples/RDM_Slave/RDM_Slave.ino +0 -0
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Arduino/libraries/Conceptinetics/examples/RDM_Slave_Eeprom/RDM_Slave_Eeprom.ino +0 -0
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Arduino/libraries/Conceptinetics/license/gpl-3.0.webarchive +0 -0
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Arduino/libraries/PWM/PWM.h +0 -0
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Arduino/libraries/PWM/utility/ATimerDefs.cpp +0 -0
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Arduino/libraries/PrintLevel/PrintLevel.h +0 -0
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Arduino/libraries/SC/SC.cpp +0 -0
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Arduino/readme +0 -0
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Arduino/servotest/servotest.ino +0 -0
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Arduino/test_dynamixel_torque/test_dynamixel_torque.ino +0 -0
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LightArm/android/LightArms/.gitignore +0 -0
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LightArm/android/LightArms/app/src/androidTest/java/circusautomatic/com/lightarms/ApplicationTest.java +0 -0
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LightArm/android/LightArms/app/src/main/AndroidManifest.xml +0 -0
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LightArm/android/LightArms/app/src/main/java/circusautomatic/com/lightarms/MainActivity.java +0 -0
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LightArm/android/LightArms/app/src/main/res/layout/activity_main.xml +0 -0
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LightArm/android/LightArms/app/src/main/res/mipmap-hdpi/ic_launcher.png +0 -0
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LightArm/blender/light-control.py +0 -0
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LightArm/blender/robotarm with anim.blend +0 -0
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LightArm/blender/robotarm3.blend1 +0 -0
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LightArm/blender/robotpanel.py +0 -0
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LightArm/blender/single_light.blend +0 -0
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LightArm/blender/single_light2.blend +0 -0
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LightArm/blender/single_light2.blend1 +0 -0
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LightArm/python/__pycache__/console.cpython-34.pyc +0 -0
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LightArm/python/console.py +0 -0
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LightArm/python/fade-up.py +37 -0
……@@ -0,0 +1,37 @@
1# pwm fade over network socket
2
3import socket, math, time
4
5# Create a TCP/IP socket
6#server_addresses = [('10.0.2.3', 1337), ('10.0.2.4', 1337), ('10.0.2.6', 1337)]
7server_addresses = [('192.168.42.75', 1337)]
8sockets = []
9
10try:
11 for server_address in server_addresses:
12 print('connecting to', server_address)
13 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
14 sock.settimeout(2.0)
15 sock.connect(server_address)
16 sockets.append(sock)
17
18 print('connected?')
19 interval = .01 #seconds
20 maxpwm = 255
21 minpwm = 1
22 inc = 2
23 i = minpwm
24 while True:
25 for sock in sockets:
26 s = 'c ' + str(abs(i)) + '\n'
27# print(s)
28 sock.sendall(bytes(s, 'UTF-8'))
29 if i % 1 == 0: print(i)
30
31 i += inc
32 if i <= minpwm or i >= maxpwm: inc *= -1
33 time.sleep(interval)
34
35except socket.timeout:
36 print('error: connected timed out')
37
LightArm/python/moverandom.py +0 -0
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LightArm/python/perform.py +0 -0
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LightArm/python/pwmfade-up.py +0 -0
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LightArm/python/pwmfade.py +7 -7
……@@ -4,7 +4,7 @@ import socket, math, time
44
55# Create a TCP/IP socket
66#server_addresses = [('10.0.2.3', 1337), ('10.0.2.4', 1337), ('10.0.2.6', 1337)]
7server_addresses = [('10.0.0.253', 1337)]
7server_addresses = [('192.168.42.75', 1337)]
88sockets = []
99
1010try:
……@@ -16,17 +16,17 @@ try:
1616 sockets.append(sock)
1717
1818 print('connected?')
19 interval = .033 #seconds
20 maxpwm = 65535
21 minpwm = 2000
22 inc = 36000
19 interval = .005 #seconds
20 maxpwm = 255
21 minpwm = 1
22 inc = 1
2323 i = minpwm
2424 while True:
2525 for sock in sockets:
26 s = 'pwm ' + str(abs(i)) + '\n'
26 s = 'c ' + str(abs(i)) + '\n'
2727# print(s)
2828 sock.sendall(bytes(s, 'UTF-8'))
29 if i % 1000 == 0: print(i)
29 if i % 1 == 0: print(i)
3030
3131 i += inc
3232 if i <= minpwm or i >= maxpwm: inc *= -1
LightArm/python/single.py +0 -0
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LightArm/python/sockserv.py +0 -0
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LightArm/python/socktest.py +0 -0
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LightArm/python/udprecv.py +0 -0
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LightArm/python/udpsend.py +0 -0
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LightArm/readme +0 -0
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Pcb/12v5v-breakout.fzz +0 -0
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Pcb/breakout-export/breakout_etch_copper_bottom.svg +125 -0
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esp32/32wifi12frak/32wifi12frak.ino +124 -26
……@@ -9,8 +9,8 @@
99//#include "/home/cayuga/.arduino15/packages/esp32/hardware/esp32/1.0.1/tools/sdk/include/soc/soc/rtc.h"
1010#include "/home/fleeky/Arduino/hardware/espressif/esp32/tools/sdk/include/soc/soc/rtc.h"
1111
12const char* ssid = "ubitron";
13const char* password = "superduper";
12const char* ssid = "prsm space";
13const char* password = "";
1414
1515// TCP server at port 80 will respond to HTTP requests
1616WiFiServer server(1337);
……@@ -25,14 +25,14 @@ const int timeout = 30;
2525#include <SC.h>
2626#include <PrintLevel.h>
2727#define INVERT_HIGH_AND_LOW
28#define RED_MAX_PWM 65534
29#define MAX_PWM 65534
28#define RED_MAX_PWM 65534 // protective cap for red diodes (lower voltage tolerance)
29#define MAX_PWM 65535 // full 16-bit range; LEDC handles 65535 via duty=max+1 special case
3030
3131constexpr int NumPeriods = 1; // number of steps in fade
3232constexpr int PeriodLength = 10; // sleep for this many ms
3333
3434//////////////////////////////////////////////////////////////////////////////////////
35int freq = 20000;
35int freq = 1000; // 20kHz at 16-bit is impossible on ESP32 LEDC (80MHz/2^16 ≈ 1220 Hz max); 1kHz keeps full 16-bit precision
3636int res = 16;
3737int steps = 1;
3838int defaultlight = 4000;
……@@ -60,6 +60,33 @@ int PinCurrentValues[NumPWMPins] = {0};
6060
6161const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
6262
63/////////////////////////////////////////////////////////////////////////////////////////
64// TCP client tracking + diagnostic helpers
65// Works around arduino-esp32 issues #1527 (connected() lies after FIN) and #4773
66// (server.available() can leave stale clients in place). See setup()/loop() below.
67/////////////////////////////////////////////////////////////////////////////////////////
68WiFiClient LastClient;
69unsigned long lastClientByteMs = 0;
70const unsigned long CLIENT_IDLE_TIMEOUT_MS = 300000; // 5 min — drop a dead session
71
72// When true, command handlers also write GOT/OK/ERR markers to the active telnet
73// client so you can see whether commands are reaching the parser. Toggle at runtime
74// with "verbose 0" or "verbose 1".
75bool diagVerbose = true;
76
77void diagPrint(const char *s) {
78 Serial.print(s);
79 if (diagVerbose && LastClient && LastClient.connected()) LastClient.print(s);
80}
81void diagPrintln(const char *s) {
82 Serial.println(s);
83 if (diagVerbose && LastClient && LastClient.connected()) LastClient.println(s);
84}
85void diagPrintln(long v) {
86 Serial.println(v);
87 if (diagVerbose && LastClient && LastClient.connected()) LastClient.println(v);
88}
89
6390/////////////////////////////////////////////////////////////////////////////////////////
6491// Command Manager and forward declarations for commands accessible from text interface
6592/////////////////////////////////////////////////////////////////////////////////////////
……@@ -75,14 +102,16 @@ void cmdPWMPins();
75102void cmdPWMPins2();
76103void cmdSetPrintLevel();
77104void cmdServo();
105void cmdVerbose();
78106
79107SerialCommand::Entry CommandsList[] = {
80 {"plevel", cmdSetPrintLevel},
81 {"freq", cmdSetFrequency},
82 {"pwm", cmdPWMPins},
83 {"pwm2", cmdPWMPins2},
84 {"s", cmdServo},
85 {NULL, NULL}
108 {"plevel", cmdSetPrintLevel},
109 {"freq", cmdSetFrequency},
110 {"pwm", cmdPWMPins},
111 {"pwm2", cmdPWMPins2},
112 {"s", cmdServo},
113 {"verbose", cmdVerbose},
114 {NULL, NULL}
86115};
87116SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
88117
……@@ -213,14 +242,17 @@ long parsePWM(const char *arg, long maxPWM) {
213242
214243void cmdUnrecognized(const char *cmd) {
215244 printlnError("unrecognized command");
245 diagPrintln("ERR unrecognized");
216246}
217247
218248// if no argument, prints the frequency
219249// if one argument, sets the frequency and then prints it
220250void cmdSetFrequency() {
251 diagPrintln("GOT freq");
221252 if(char *arg = CmdMgr.next()) {
222253 if(CmdMgr.next()) {
223254 printlnError("Error: takes 0 or 1 arguments");
255 diagPrintln("ERR freq too many args");
224256 return;
225257 }
226258
……@@ -229,18 +261,22 @@ void cmdSetFrequency() {
229261
230262 if(*end != '\0' || v < 1 || v > maxfreq) {
231263 printlnError("Error: speed is in angle-units per second; between 1 and 1000");
264 diagPrintln("ERR freq out of range");
232265 return;
233266 }
234
267
235268 freq = round(v);
236269 }
237
270
238271 updateFrequency();
239272 printAck("frequency: ");
240273 printlnAck(freq);
274 diagPrint("OK freq ");
275 diagPrintln((long)freq);
241276}
242277
243278void cmdPWMPins2() {
279 diagPrintln("GOT pwm2");
244280 const char *SetPWM2UsageMsg = "Error: takes up to 13 arguments between 0 and 65535 (except argument 3's max is 45000).";
245281
246282 long channelValues[NumPWMPins];
……@@ -249,6 +285,7 @@ void cmdPWMPins2() {
249285 char *arg = CmdMgr.next();
250286 if (arg == NULL) {
251287 printlnError("Error: no arguments");
288 diagPrintln("ERR pwm2 no args");
252289 return;
253290 }
254291
……@@ -263,6 +300,7 @@ void cmdPWMPins2() {
263300
264301 if (count >= NumPWMPins) {
265302 printlnError(SetPWM2UsageMsg);
303 diagPrintln("ERR pwm2 too many args");
266304 return;
267305 }
268306
……@@ -271,6 +309,7 @@ void cmdPWMPins2() {
271309 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
272310 if (value < 0) {
273311 printlnError(SetPWM2UsageMsg);
312 diagPrintln("ERR pwm2 bad arg");
274313// value = 4000;
275314 return;
276315 }
……@@ -309,14 +348,17 @@ void cmdPWMPins2() {
309348 PinCurrentValues[i] = v;
310349 myHRWrite(PWMPins[i], v);
311350 }
312
351
313352 //printAck("OK set ");
314353 //printAck(count);
315354 //printlnAck(" pins");
355 diagPrint("OK pwm2 ");
356 diagPrintln((long)count);
316357}
317358
318359// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
319360void cmdPWMPins() {
361 diagPrintln("GOT pwm");
320362 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
321363
322364 long channelValues[NumPWMPins];
……@@ -325,6 +367,7 @@ void cmdPWMPins() {
325367 char *arg = CmdMgr.next();
326368 if (arg == NULL) {
327369 printlnError("Error: no arguments");
370 diagPrintln("ERR pwm no args");
328371 return;
329372 }
330373
……@@ -334,6 +377,7 @@ void cmdPWMPins() {
334377
335378 if (count >= NumPWMPins) {
336379 printlnError(SetPWMUsageMsg);
380 diagPrintln("ERR pwm too many args");
337381 return;
338382 }
339383
……@@ -342,6 +386,7 @@ void cmdPWMPins() {
342386 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
343387 if (value < 0) {
344388 printlnError(SetPWMUsageMsg);
389 diagPrintln("ERR pwm bad arg");
345390// value = 4000;
346391 return;
347392 }
……@@ -376,28 +421,50 @@ void cmdPWMPins() {
376421 printAck("OK set ");
377422 printAck(count);
378423 printlnAck(" pins");
424 diagPrint("OK pwm ");
425 diagPrintln((long)count);
379426}
380427
381428void cmdSetPrintLevel() {
429 diagPrintln("GOT plevel");
382430 if (char *arg = CmdMgr.next()) {
383431 if (CmdMgr.next()) {
384432 printlnAlways("Error: takes 0 or 1 arguments");
433 diagPrintln("ERR plevel too many args");
385434 return;
386435 }
387436
388437 if (!PrintLevel::set(arg)) {
389438 PrintLevel::printErrorString();
439 diagPrintln("ERR plevel bad arg");
390440 return;
391441 }
392442 }
393443
394444 printAck("print level ");
395445 printlnAck(PrintLevel::toString());
446 diagPrint("OK plevel ");
447 diagPrintln(PrintLevel::toString());
396448}
397449
398450void cmdServo() {
451 diagPrintln("GOT s");
399452 Serial.print("Got Servo shit");
453 diagPrintln("OK s");
454}
400455
456// verbose 0 | verbose 1 — toggle telnet diagnostic markers
457void cmdVerbose() {
458 if (char *arg = CmdMgr.next()) {
459 diagVerbose = (atoi(arg) != 0);
460 }
461 // Force-print this one to telnet so user knows the toggle took effect
462 Serial.print("verbose ");
463 Serial.println(diagVerbose ? "1" : "0");
464 if (LastClient && LastClient.connected()) {
465 LastClient.print("verbose ");
466 LastClient.println(diagVerbose ? "1" : "0");
467 }
401468}
402469
403470///////////////////////////////////////////////////////////////////////////////////////////////////////////
……@@ -405,7 +472,7 @@ void cmdServo() {
405472///////////////////////////////////////////////////////////////////////////////////////////////////////////
406473
407474void setup() {
408 rtc_clk_cpu_freq_set(RTC_CPU_FREQ_240M);
475 //rtc_clk_cpu_freq_set(RTC_CPU_FREQ_240M);
409476 ledsetup();
410477 for (int i=0; i < NumPWMPins; i++){
411478 myHRWrite(PWMPins[i], 0);
……@@ -415,6 +482,7 @@ void setup() {
415482 Serial.begin(115200);
416483
417484 WiFi.begin(ssid, password);
485 WiFi.setSleep(false); // forum-recommended stability fix for persistent TCP servers
418486 Serial.println("");
419487
420488 // Wait for connection
……@@ -443,7 +511,7 @@ void setup() {
443511 // the fully-qualified domain name is "esp8266.local"
444512 // - second argument is the IP address to advertise
445513 // we send our IP address on the WiFi network
446 if (!MDNS.begin("esp32")) {
514 if (!MDNS.begin("studiolight1")) {
447515 Serial.println("Error setting up MDNS responder!");
448516 while (1) {
449517 delay(1000);
……@@ -459,22 +527,52 @@ void setup() {
459527 MDNS.addService("telnet", "tcp", 23);
460528 }
461529 Serial.println("Initial LED Setup");
462}
530 // INSERT HERE
531 {
532 const char *cmd =
533 "pwm 60000 60000 30000 60000 60000 30000 60000 60000 30000 60000 60000 30000";
463534
464WiFiClient LastClient;
535 for (const char *p = cmd; *p; p++) {
536 CmdMgr.handleChar(*p);
537 }
538 CmdMgr.handleChar('\n'); // finalize the command
539 }
540}
465541
466542void loop() {
467543 CmdMgr.readSerial();
468 if (WiFiClient newClient = server.available()) {
469 Serial.println("New Client.");
470 LastClient = newClient;
544
545 // Accept a new TCP client if one is pending. If we already have one, stop()
546 // it first so we don't leak the socket — arduino-esp32 #1527 means connected()
547 // can lie about old sessions long after they've actually ended.
548 WiFiClient newClient = server.available();
549 if (newClient) {
550 if (LastClient) {
551 LastClient.stop();
552 }
553 LastClient = newClient;
554 lastClientByteMs = millis();
555 Serial.println("New Client.");
556 LastClient.println("studiolight1 ready");
471557 }
472558
473559 if (LastClient && LastClient.connected()) {
474 while (LastClient.available()) {
475 char c = LastClient.read(); // read a byte, then
476 CmdMgr.handleChar(c);
477 Serial.write(c); // print it out the serial monitor
478 }
560 while (LastClient.available()) {
561 char c = LastClient.read();
562 CmdMgr.handleChar(c);
563 Serial.write(c);
564 lastClientByteMs = millis();
565 }
566 // Idle-timeout: forcibly drop sessions that have gone silent. Protects
567 // against half-open TCP where connected() never returns false.
568 if (millis() - lastClientByteMs > CLIENT_IDLE_TIMEOUT_MS) {
569 Serial.println("Client idle — dropping");
570 LastClient.stop();
571 LastClient = WiFiClient();
479572 }
573 } else if (LastClient) {
574 // connected() finally became false — clean up.
575 LastClient.stop();
576 LastClient = WiFiClient();
577 }
480578}
esp32/32wifi12frak/SC.h +90 -0
……@@ -0,0 +1,90 @@
1/**
2 * SerialCommand - A Wiring/Arduino library to tokenize and parse commands
3 * received over a serial port.
4 *
5 * Copyright (C) 2012 Stefan Rado
6 * Copyright (C) 2011 Steven Cogswell <steven.cogswell@gmail.com>
7 * http://husks.wordpress.com
8 *
9 * Version 20120522
10 *
11 * This library is free software: you can redistribute it and/or modify
12 * it under the terms of the GNU Lesser General Public License as published by
13 * the Free Software Foundation, either version 3 of the License, or
14 * (at your option) any later version.
15 *
16 * This library is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Lesser General Public License for more details.
20 *
21 * You should have received a copy of the GNU General Public License
22 * along with this library. If not, see <http://www.gnu.org/licenses/>.
23 */
24#ifndef SerialCommand_h
25#define SerialCommand_h
26
27#if defined(WIRING) && WIRING >= 100
28 #include <Wiring.h>
29#elif defined(ARDUINO) && ARDUINO >= 100
30 #include <Arduino.h>
31#else
32 #include <WProgram.h>
33#endif
34#include <string.h>
35
36// Uncomment the next line to run the library in debug mode (verbose messages)
37//#define SERIALCOMMAND_DEBUG
38
39
40// array of name-command pairs must end with {NULL, NULL}
41
42// Size of the input buffer in bytes (maximum length of one command plus arguments)
43#define COMMAND_BUFFER_LENGTH 99
44//template<int COMMAND_BUFFER_LENGTH=255>
45class SerialCommand {
46 public:
47 // data structure to hold Command/Handler function key-value pairs
48 struct Entry {
49 const char *command;
50 void (*function)();
51 };
52
53 typedef void (*DefaultHandler)(const char *);
54
55
56 SerialCommand(const Entry *commandList,
57 DefaultHandler defaultHandler,
58 char terminator = '\n',
59 const char *delimiters = " ");
60
61 void setDefaultHandler(DefaultHandler function); // A handler to call when no valid command received.
62
63 void readSerial(); // Main entry point.
64 void clearBuffer(); // Clears the input buffer.
65 char *next(); // Returns pointer to next token found in command buffer (for getting arguments to commands).
66
67 void handleChar(char inChar); // Call this to pass input one char at a time
68
69 // Call this begin receiving binary data. Callback will be called when done.
70 void enterBinaryMode(int numBytes, void (*callback)(char *buf, int len));
71
72 private:
73 // Command/handler array of {name, function} pairs
74 // Array must end with {NULL, NULL}
75 const Entry *commandList;
76
77 void (*defaultHandler)(const char *); // pointer to the default handler function
78
79 const char *delim; // null-terminated list of delimiter characters for tokenizing (default " ")
80 char term; // character that signals end of command (default '\n')
81
82 int numBinaryBytes; // number of bytes to receive when in binary mode; 0 when in text mode
83 void (*binaryDone)(char *buf, int len); // callback when binary data has been fully received
84
85 char buffer[COMMAND_BUFFER_LENGTH + 1]; // Buffer of stored characters while waiting for terminator
86 byte bufPos; // Current position in the buffer
87 char *last; // State variable used by strtok_r during processing
88};
89
90#endif //SerialCommand_h
esp32/32wifi12frakadafruit/32wifi12frakadafruit.ino +229 -0
……@@ -0,0 +1,229 @@
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2
3
4#include <WiFi.h>
5#include <ESPmDNS.h>
6#include <WiFiClient.h>
7#include <SC.h>
8#include <PrintLevel.h>
9
10#include <Adafruit_NeoPixel.h>
11#ifdef __AVR__
12 #include <avr/power.h>
13#endif
14
15// How many leds are in the strip?
16#define NUM_LEDS 18
17
18// Data pin that led data will be written out over
19#define PIN 27
20
21// This is an array of leds. One item for each led in your strip.
22CRGB leds[NUM_LEDS];
23
24//Initial Values for CMDSetColor
25int numr = 0;
26int numg = 0;
27int numb = 0;
28
29int colorSetBlock[] = {0, 0, 0};
30const int numColors = 3;
31
32
33//WIFI PASS
34const char* ssid = "touchametron";
35const char* password = "superduper";
36
37// TCP server at port 80 will respond to HTTP requests
38WiFiServer server(1337);
39const int timeout = 30;
40
41/////////////////////////////////////////////////////////////////////////////////////////
42// Command Manager and forward declarations for commands accessible from text interface
43/////////////////////////////////////////////////////////////////////////////////////////
44
45void cmdUnrecognized(const char *cmd);
46void cmdRed();
47void cmdBlue();
48void cmdGreen();
49void cmdAmber();
50void cmdBlack();
51void cmdMultiColor();
52void cmdSetColor();
53
54SerialCommand::Entry CommandsList[] = {
55 {"red", cmdRed},
56 {"blue", cmdBlue},
57 {"green", cmdGreen},
58 {"amber", cmdAmber},
59 {"black", cmdBlack},
60 {"multi", cmdMultiColor},
61 {"c", cmdSetColor},
62 {NULL, NULL}
63};
64SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
65
66
67/////////////////////////////////////////////////////////////////////////////////////////////
68// helpers
69/////////////////////////////////////////////////////////////////////////////////////////////
70
71void cmdUnrecognized(const char *cmd) {
72 printlnError("unrecognized command");
73}
74
75void cmdRed() {
76 // Turn the LED red
77 fill_solid( leds, NUM_LEDS, CRGB(255, 0, 0));
78 FastLED.show();
79 // delay(30);
80
81}
82
83void cmdBlue() {
84 // Turn the LED blue
85 fill_solid( leds, NUM_LEDS, CRGB(0, 0, 255));
86 FastLED.show();
87 // delay(30);
88}
89
90void cmdGreen() {
91 // Turn the LED green
92 fill_solid( leds, NUM_LEDS, CRGB(0, 255, 0));
93 FastLED.show();
94 // delay(30);
95}
96
97void cmdBlack() {
98 // Turn the LED off
99 fill_solid( leds, NUM_LEDS, CRGB(0, 0, 0));
100 FastLED.show();
101 // delay(30);
102}
103
104void cmdAmber() {
105 // Turn the LED amber
106 fill_solid( leds, NUM_LEDS, CRGB(178, 68, 0));
107 FastLED.show();
108 // delay(30);
109}
110
111void cmdMultiColor() {
112 // Turn the LED amber
113 fill_solid( leds, NUM_LEDS, CRGB(0, 0, 255));
114 fill_solid( leds, 9, CRGB(255, 0, 0));
115 FastLED.show();
116 // delay(30);
117}
118void cmdSetColor() {
119 char *arg = CmdMgr.next();
120 if (arg == NULL) {
121 printlnError("Error: no red arguments");
122 }
123 else {
124 numr = atoi(arg);
125 }
126 char *arg1 = CmdMgr.next();
127 if (arg1 == NULL) {
128 printlnError("Error: no green arguments");
129 }
130 else {
131 numg = atoi(arg1);
132 }
133 char *arg2 = CmdMgr.next();
134 if (arg2 == NULL) {
135 printlnError("Error: no blue arguments");
136 }
137 else {
138 numb = atoi(arg2);
139 }
140 for (uint8_t i = 0; i < NUM_LEDS; i++) {
141 fill_solid( leds, NUM_LEDS, CRGB(numr, numg, numb));
142 }
143 FastLED.show();
144 Serial.println(numb);
145 Serial.println(numg);
146 Serial.println(numr);
147 return;
148}
149
150///////////////////////////////////////////////////////////////////////////////////////////////////////////
151// setup & loop
152///////////////////////////////////////////////////////////////////////////////////////////////////////////
153
154void setup() {
155 FastLED.addLeds<WS2811, DATA_PIN, GRB>(leds, NUM_LEDS);
156 fill_solid( leds, NUM_LEDS, CRGB(0, 0, 0));
157 FastLED.show();
158 delay(10);
159 Serial.begin(115200);
160
161 WiFi.begin(ssid, password);
162 Serial.println("");
163
164 // cmdPWMPins();
165
166
167
168 // Wait for connection
169 int i = 0;
170
171 while (WiFi.status() != WL_CONNECTED ) {
172 if (i < timeout) {
173 delay(500);
174 Serial.print(".");
175 i++;
176 }
177 else {
178 Serial.println(" ");
179 break;
180 }
181 }
182 if (WiFi.status() == WL_CONNECTED ) {
183 Serial.println("");
184 Serial.print("Connected to ");
185 Serial.println(ssid);
186 Serial.print("IP address: ");
187 Serial.println(WiFi.localIP());
188
189 // Set up mDNS responder:
190 // - first argument is the domain name, in this example
191 // the fully-qualified domain name is "esp8266.local"
192 // - second argument is the IP address to advertise
193 // we send our IP address on the WiFi network
194 if (!MDNS.begin("esp32")) {
195 Serial.println("Error setting up MDNS responder!");
196 while (1) {
197 delay(1000);
198 }
199 }
200 Serial.println("mDNS responder started");
201
202 // Start TCP (HTTP) server
203 server.begin();
204 Serial.println("TCP server started");
205
206 // Add service to MDNS-SD
207 MDNS.addService("telnet", "tcp", 1337);
208 }
209 Serial.println("Done setting up");
210}
211
212void loop() {
213 CmdMgr.readSerial();
214 WiFiClient client = server.available();
215 if (client) { // if you get a client,
216 Serial.println("New Client."); // print a message out the serial port
217 String currentLine = ""; // make a String to hold incoming data from the client
218 while (client.connected()) { // loop while the client's connected
219 if (client.available()) { // if there's bytes to read from the client,
220 char c = client.read(); // read a byte, then
221 CmdMgr.handleChar(c);
222 Serial.write(c); // print it out the serial monitor
223 }
224 }
225 }
226}
227
228
229
esp32/32wifi12frakfastled/32wifi12frakfastled.ino +0 -0
(no content changes — binary or rename)
esp32/32wifi12frakfled/32wifi12frakfled.ino +0 -0
(no content changes — binary or rename)
esp32/esp32-arnet-fastled/esp32-arnet-fastled.ino +2 -2
……@@ -5,11 +5,11 @@
55
66//Wifi settings - be sure to replace these with the WiFi network that your computer is connected to
77
8const char* ssid = "ubitron";
8const char* ssid = "touchametron";
99const char* password = "superduper";
1010
1111// LED Strip
12const int numLeds = 19; // Change if your setup has more or less LED's
12const int numLeds = 114; // Change if your setup has more or less LED's
1313const int numberOfChannels = numLeds * 3; // Total number of DMX channels you want to receive (1 led = 3 channels)
1414#define DATA_PIN 27 //The data pin that the WS2812 strips are connected to.
1515CRGB leds[numLeds];
esp32/esp8266-pwm-net/32wifi12frak/32wifi12frak.ino +478 -0
……@@ -0,0 +1,478 @@
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2
3
4#include <WiFi.h>
5#include <ESPmDNS.h>
6#include <WiFiClient.h>
7//#include "/Users/jmzorko/work/circusautomatic/hardware/espressif/esp32/tools/sdk/include/soc/soc/rtc.h"
8include "/home/fleeky/Arduino/hardware/espressif/esp32/tools/sdk/include/freertos/freertos/task.h"
9
10const char* ssid = "ubitron";
11const char* password = "superduper";
12
13// TCP server at port 80 will respond to HTTP requests
14WiFiServer server(1337);
15const int timeout = 30;
16// Serial commands accepted:
17// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels
18// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list
19// - plevel <level>, change the amount of response text
20//
21// NOTE: initHRPWM and myHRWrite are set specifically to work on MEGAS. It could be tuned to work on
22// unos.
23#include <SC.h>
24#include <PrintLevel.h>
25#define INVERT_HIGH_AND_LOW
26#define RED_MAX_PWM 65534
27#define MAX_PWM 65534
28
29constexpr int NumPeriods = 3; // number of steps in fade
30constexpr int PeriodLength = 1; // sleep for this many ms
31
32//////////////////////////////////////////////////////////////////////////////////////
33int freq = 20000;
34int res = 16;
35int steps = 1;
36int defaultlight = 4000;
37int maxfreq = 40000;
38
39
40int ledChannel = 0;
41int ledChannel1 = 1;
42int ledChannel2 = 2;
43int ledChannel3 = 3;
44int ledChannel4 = 4;
45int ledChannel5 = 5;
46int ledChannel6 = 6;
47int ledChannel7 = 7;
48int ledChannel8 = 8;
49int ledChannel9 = 9;
50int ledChannel10 = 10;
51int ledChannel11 = 11;
52
53const int PWMPins[] = {32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21};
54const int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);
55int PinCurrentValues[NumPWMPins] = {0};
56
57// this flag will invert PWM output (65535 - PWM), for active-low devices
58
59const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
60
61/////////////////////////////////////////////////////////////////////////////////////////
62// Command Manager and forward declarations for commands accessible from text interface
63/////////////////////////////////////////////////////////////////////////////////////////
64struct IDTuple {
65 int id;
66 long value;
67};
68int parseID(const char *arg);
69int parseListOfIDs(int *outIDs, int maxIDs);
70void cmdUnrecognized(const char *cmd);
71void cmdSetFrequency();
72void cmdPWMPins();
73void cmdPWMPins2();
74void cmdSetPrintLevel();
75void cmdServo();
76
77SerialCommand::Entry CommandsList[] = {
78 {"plevel", cmdSetPrintLevel},
79 {"freq", cmdSetFrequency},
80 {"pwm", cmdPWMPins},
81 {"pwm2", cmdPWMPins2},
82 {"s", cmdServo},
83 {NULL, NULL}
84};
85SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
86
87
88/////////////////////////////////////////////////////////////////////////////////////////////
89// helpers
90/////////////////////////////////////////////////////////////////////////////////////////////
91
92unsigned long invertPWM(unsigned long c) {
93#ifdef INVERT_HIGH_AND_LOW
94 c = 65535 - c;
95#endif
96 return c;
97}
98
99void myHRWrite(int pin, unsigned value) {
100 //printAlways("setting pin to value: ");
101 //printAlways(pin);
102 //printAlways(" ");
103 //printlnAlways(value);
104 value = invertPWM(value);
105
106 switch (pin) {
107 case 32: ledcWrite(ledChannel, value); break;
108 case 33: ledcWrite(ledChannel1, value); break;
109 case 25: ledcWrite(ledChannel2, value); break;
110 case 26: ledcWrite(ledChannel3, value); break;
111 case 27: ledcWrite(ledChannel4, value); break;
112 case 14: ledcWrite(ledChannel5, value); break;
113 case 12: ledcWrite(ledChannel6, value); break;
114 case 13: ledcWrite(ledChannel7, value); break;
115 case 2: ledcWrite(ledChannel8, value); break;
116 case 23: ledcWrite(ledChannel9, value); break;
117 case 22: ledcWrite(ledChannel10, value); break;
118 case 21: ledcWrite(ledChannel11, value); break;
119 default: printlnError("invalid pin");
120 }
121}
122
123void updateFrequency() {
124 ledcSetup(ledChannel, freq, res);
125 ledcAttachPin(32, ledChannel);
126 myHRWrite(PWMPins[0], 0);
127
128 ledcSetup(ledChannel1, freq, res);
129 ledcAttachPin(33, ledChannel);
130 myHRWrite(PWMPins[1], 0);
131
132 ledcSetup(ledChannel2, freq, res);
133 ledcAttachPin(25, ledChannel);
134 myHRWrite(PWMPins[2], 0);
135
136 ledcSetup(ledChannel3, freq, res);
137 ledcSetup(ledChannel4, freq, res);
138 ledcSetup(ledChannel5, freq, res);
139 ledcSetup(ledChannel6, freq, res);
140 ledcSetup(ledChannel7, freq, res);
141 ledcSetup(ledChannel8, freq, res);
142 ledcSetup(ledChannel9, freq, res);
143 ledcSetup(ledChannel10, freq, res);
144 ledcSetup(ledChannel11, freq, res);
145
146 ledcAttachPin(32, ledChannel);
147 ledcAttachPin(33, ledChannel1);
148 ledcAttachPin(25, ledChannel2);
149 ledcAttachPin(26, ledChannel3);
150 ledcAttachPin(27, ledChannel4);
151 ledcAttachPin(14, ledChannel5);
152 ledcAttachPin(12, ledChannel6);
153 ledcAttachPin(13, ledChannel7);
154 ledcAttachPin(2, ledChannel8);
155 ledcAttachPin(23, ledChannel9);
156 ledcAttachPin(22, ledChannel10);
157 ledcAttachPin(21, ledChannel11);
158}
159
160void ledsetup() {
161 updateFrequency();
162
163// Pins that work 27,26,25 23,22,21 32,33,14 12,13,2
164
165
166 //for(uint8_t i=0; i < 12; i++)
167 // ledcWrite(channel, dutycycle)
168 // For 8-bit resolution duty cycle is 0 - 255
169// ledcWrite(ledChannel, 0); // test high output of all leds in sequence
170// ledcWrite(ledChannel1, 0); // test high output of all leds in sequence
171// ledcWrite(ledChannel2, 0); // test high output of all leds in sequence
172// ledcWrite(ledChannel3, 0); // test high output of all leds in sequence
173// ledcWrite(ledChannel4, 0); // test high output of all leds in sequence
174// ledcWrite(ledChannel5, 0); // test high output of all leds in sequence
175// ledcWrite(ledChannel6, 0); // test high output of all leds in sequence
176// ledcWrite(ledChannel7, 0); // test high output of all leds in sequence
177// ledcWrite(ledChannel8, 0); // test high output of all leds in sequence
178// ledcWrite(ledChannel9, 0); // test high output of all leds in sequence
179// ledcWrite(ledChannel10, 0); // test high output of all leds in sequence
180// ledcWrite(ledChannel11, 0); // test high output of all leds in sequence
181}
182
183// Takes a string of an integer (numeric chars only). Returns the integer on success.
184// Prints error and returns 0 if there is a parse error or the ID is out of range.
185int parseID(const char *arg) {
186 char *end;
187 int id = strtol(arg, &end, 10);
188
189 if (*end != '\0' || id < 1 || id > 253) {
190 printlnError("Error: ID must be between 1 and 253");
191 return 0;
192 }
193
194 return id;
195}
196
197// Takes a string of an integer (numeric chars only). Returns the integer on success.
198// Prints error and returns -1 if there is a parse error or the PWM value is out of range.
199long parsePWM(const char *arg, long maxPWM) {
200 char *end;
201 long v = strtol(arg, &end, 10);
202
203 if (*end != '\0' || v < 0 || v > maxPWM) {
204 printlnError("Error: PWM value must be between 0 and ");
205 printlnError(maxPWM);
206 return -1;
207 }
208
209 return v;
210}
211
212void cmdUnrecognized(const char *cmd) {
213 printlnError("unrecognized command");
214}
215
216// if no argument, prints the frequency
217// if one argument, sets the frequency and then prints it
218void cmdSetFrequency() {
219 if(char *arg = CmdMgr.next()) {
220 if(CmdMgr.next()) {
221 printlnError("Error: takes 0 or 1 arguments");
222 return;
223 }
224
225 char *end;
226 double v = strtod(arg, &end);
227
228 if(*end != '\0' || v < 1 || v > maxfreq) {
229 printlnError("Error: speed is in angle-units per second; between 1 and 1000");
230 return;
231 }
232
233 freq = round(v);
234 }
235
236 updateFrequency();
237 printAck("frequency: ");
238 printlnAck(freq);
239}
240
241void cmdPWMPins2() {
242 const char *SetPWM2UsageMsg = "Error: takes up to 13 arguments between 0 and 65535 (except argument 3's max is 45000).";
243
244 long channelValues[NumPWMPins];
245 int count = 0;
246
247 char *arg = CmdMgr.next();
248 if (arg == NULL) {
249 printlnError("Error: no arguments");
250 return;
251 }
252
253 long numPeriods = parsePWM(arg, 100);
254 arg = CmdMgr.next();
255 long periodLength = parsePWM(arg, 100);
256 arg = CmdMgr.next();
257
258 do {
259 int index;
260 long value;
261
262 if (count >= NumPWMPins) {
263 printlnError(SetPWM2UsageMsg);
264 return;
265 }
266
267 char *end;
268 index = count;
269 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
270 if (value < 0) {
271 printlnError(SetPWM2UsageMsg);
272// value = 4000;
273 return;
274 }
275
276 //printInfo("Set pin ");
277 //printInfo(PWMPins[index]);
278 //printInfo(" to ");
279 //printlnInfo(value);
280 channelValues[index] = value;
281 count++;
282 } while (arg = CmdMgr.next());
283
284 // interpolate over a period of time
285 const TickType_t xDelay = periodLength / portTICK_PERIOD_MS;
286
287 float frameDelay = 9.14; // 9.14ms - length of time between frames at 60fps
288
289 long beginTime = micros();
290 long endTime = beginTime + 9140;
291
292 for (long period = 1; period < 1+numPeriods; period++) {
293 //long beginTime = millis();
294 float fraction = period / (float)numPeriods;
295 for (int i = 0; i < count; i++) {
296 unsigned long v = PinCurrentValues[i] + (channelValues[i] - PinCurrentValues[i]) * fraction;
297 //printlnAlways(v);
298 myHRWrite(PWMPins[i], v);
299 }
300 //long endTime = millis();
301 //printlnAlways(endTime - beginTime);
302 //vTaskDelay(xDelay);
303 }
304
305 for (int i = 0; i < count; i++) {
306 unsigned long v = channelValues[i];
307 PinCurrentValues[i] = v;
308 myHRWrite(PWMPins[i], v);
309 }
310
311 //printAck("OK set ");
312 //printAck(count);
313 //printlnAck(" pins");
314}
315
316// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
317void cmdPWMPins() {
318 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
319
320 long channelValues[NumPWMPins];
321 int count = 0;
322
323 char *arg = CmdMgr.next();
324 if (arg == NULL) {
325 printlnError("Error: no arguments");
326 return;
327 }
328
329 do {
330 int index;
331 long value;
332
333 if (count >= NumPWMPins) {
334 printlnError(SetPWMUsageMsg);
335 return;
336 }
337
338 char *end;
339 index = count;
340 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
341 if (value < 0) {
342 printlnError(SetPWMUsageMsg);
343// value = 4000;
344 return;
345 }
346
347 printInfo("Set pin ");
348 printInfo(PWMPins[index]);
349 printInfo(" to ");
350 printlnInfo(value);
351 channelValues[index] = value;
352 count++;
353 } while (arg = CmdMgr.next());
354
355 // interpolate over a period of time
356 const TickType_t xDelay = PeriodLength / portTICK_PERIOD_MS;
357
358 for (int period = 1; period < 1+NumPeriods; period++) {
359 float fraction = period / (float)NumPeriods;
360 for (int i = 0; i < count; i++) {
361 unsigned long v = PinCurrentValues[i] + (channelValues[i] - PinCurrentValues[i]) * fraction;
362 //printlnAlways(v);
363 myHRWrite(PWMPins[i], v);
364 }
365 //vTaskDelay(xDelay);
366 }
367
368 for (int i = 0; i < count; i++) {
369 unsigned long v = channelValues[i];
370 PinCurrentValues[i] = v;
371 myHRWrite(PWMPins[i], v);
372 }
373
374 printAck("OK set ");
375 printAck(count);
376 printlnAck(" pins");
377}
378
379void cmdSetPrintLevel() {
380 if (char *arg = CmdMgr.next()) {
381 if (CmdMgr.next()) {
382 printlnAlways("Error: takes 0 or 1 arguments");
383 return;
384 }
385
386 if (!PrintLevel::set(arg)) {
387 PrintLevel::printErrorString();
388 return;
389 }
390 }
391
392 printAck("print level ");
393 printlnAck(PrintLevel::toString());
394}
395
396void cmdServo() {
397 Serial.print("Got Servo shit");
398
399}
400
401///////////////////////////////////////////////////////////////////////////////////////////////////////////
402// setup & loop
403///////////////////////////////////////////////////////////////////////////////////////////////////////////
404
405void setup() {
406 rtc_clk_cpu_freq_set(RTC_CPU_FREQ_240M);
407 ledsetup();
408 for (int i=0; i < NumPWMPins; i++){
409 myHRWrite(PWMPins[i], 0);
410 PinCurrentValues[i] = 0;
411 delay(10);
412 }
413 Serial.begin(115200);
414
415 WiFi.begin(ssid, password);
416 Serial.println("");
417
418 // Wait for connection
419 int i = 0;
420
421 while (WiFi.status() != WL_CONNECTED ) {
422 if (i < timeout) {
423 delay(500);
424 Serial.print(".");
425 i++;
426 }
427 else {
428 Serial.println(" ");
429 break;
430 }
431 }
432 if (WiFi.status() == WL_CONNECTED ) {
433 Serial.println("");
434 Serial.print("Connected to ");
435 Serial.println(ssid);
436 Serial.print("IP address: ");
437 Serial.println(WiFi.localIP());
438
439 // Set up mDNS responder:
440 // - first argument is the domain name, in this example
441 // the fully-qualified domain name is "esp8266.local"
442 // - second argument is the IP address to advertise
443 // we send our IP address on the WiFi network
444 if (!MDNS.begin("esp32")) {
445 Serial.println("Error setting up MDNS responder!");
446 while (1) {
447 delay(1000);
448 }
449 }
450 Serial.println("mDNS responder started");
451
452 // Start TCP (HTTP) server
453 server.begin();
454 Serial.println("TCP server started");
455
456 // Add service to MDNS-SD
457 MDNS.addService("telnet", "tcp", 23);
458 }
459 Serial.println("Initial LED Setup");
460}
461
462WiFiClient LastClient;
463
464void loop() {
465 CmdMgr.readSerial();
466 if (WiFiClient newClient = server.available()) {
467 Serial.println("New Client.");
468 LastClient = newClient;
469 }
470
471 if (LastClient && LastClient.connected()) {
472 while (LastClient.available()) {
473 char c = LastClient.read(); // read a byte, then
474 CmdMgr.handleChar(c);
475 Serial.write(c); // print it out the serial monitor
476 }
477 }
478}
esp32/sc_test/sc_test.ino +119 -0
……@@ -0,0 +1,119 @@
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2
3
4#include <WiFi.h>
5#include <ESPmDNS.h>
6#include <WiFiClient.h>
7#include <SC.h>
8#include <PrintLevel.h>
9
10//WIFI PASS
11const char* ssid = "touchametron";
12const char* password = "superduper";
13
14// TCP server at port 80 will respond to HTTP requests
15WiFiServer server(1337);
16const int timeout = 30;
17
18/////////////////////////////////////////////////////////////////////////////////////////
19// Command Manager and forward declarations for commands accessible from text interface
20/////////////////////////////////////////////////////////////////////////////////////////
21
22void cmdUnrecognized(const char *cmd);
23void cmdRed();
24
25SerialCommand::Entry CommandsList[] = {
26 {"red", cmdRed},
27 {NULL, NULL}
28};
29SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
30
31
32/////////////////////////////////////////////////////////////////////////////////////////////
33// helpers
34/////////////////////////////////////////////////////////////////////////////////////////////
35
36void cmdUnrecognized(const char *cmd) {
37 printlnError("unrecognized command");
38}
39
40void cmdRed() {
41 // Turn the LED red
42 printlnError("hellooo");
43 // delay(30);
44
45}
46
47///////////////////////////////////////////////////////////////////////////////////////////////////////////
48// setup & loop
49///////////////////////////////////////////////////////////////////////////////////////////////////////////
50
51void setup() {
52 delay(10);
53 Serial.begin(115200);
54
55 WiFi.begin(ssid, password);
56 Serial.println("");
57
58 // Wait for connection
59 int i = 0;
60
61 while (WiFi.status() != WL_CONNECTED ) {
62 if (i < timeout) {
63 delay(500);
64 Serial.print(".");
65 i++;
66 }
67 else {
68 Serial.println(" ");
69 break;
70 }
71 }
72 if (WiFi.status() == WL_CONNECTED ) {
73 Serial.println("");
74 Serial.print("Connected to ");
75 Serial.println(ssid);
76 Serial.print("IP address: ");
77 Serial.println(WiFi.localIP());
78
79 // Set up mDNS responder:
80 // - first argument is the domain name, in this example
81 // the fully-qualified domain name is "esp8266.local"
82 // - second argument is the IP address to advertise
83 // we send our IP address on the WiFi network
84 if (!MDNS.begin("esp32")) {
85 Serial.println("Error setting up MDNS responder!");
86 while (1) {
87 delay(1000);
88 }
89 }
90 Serial.println("mDNS responder started");
91
92 // Start TCP (HTTP) server
93 server.begin();
94 Serial.println("TCP server started");
95
96 // Add service to MDNS-SD
97 MDNS.addService("telnet", "tcp", 1337);
98 }
99 Serial.println("Done setting up");
100}
101
102void loop() {
103 CmdMgr.readSerial();
104 WiFiClient client = server.available();
105 if (client) { // if you get a client,
106 Serial.println("New Client."); // print a message out the serial port
107 String currentLine = ""; // make a String to hold incoming data from the client
108 while (client.connected()) { // loop while the client's connected
109 if (client.available()) { // if there's bytes to read from the client,
110 char c = client.read(); // read a byte, then
111 CmdMgr.handleChar(c);
112 Serial.write(c); // print it out the serial monitor
113 }
114 }
115 }
116}
117
118
119
esp32/sketch_colortest/sketch_colortest.ino +466 -466
……@@ -1,466 +1,466 @@
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2// This is the most recent one and the one that is currently being worked on with current issues november 16 2018 AMV
3
4
5#include <WiFi.h>
6#include <ESPmDNS.h>
7#include <WiFiClient.h>
8#include <FastLED.h>
9#include <SC.h>
10#include <PrintLevel.h>
11
12// How many leds are in the strip?
13#define NUM_LEDS 18
14
15// Data pin that led data will be written out over
16#define DATA_PIN 27
17// it really wants to use GRB apparently, RGB won't work
18#define COLOR_ORDER GRB
19#define LED_TYPE WS2811
20
21// Clock pin only needed for SPI based chipsets when not using hardware SPI
22#define CLOCK_PIN 8
23
24// This is an array of leds. One item for each led in your strip.
25CRGB leds[NUM_LEDS];
26
27const char* ssid = "ubitron";
28const char* password = "superduper";
29
30// TCP server at port 80 will respond to HTTP requests
31WiFiServer server(1337);
32const int timeout = 30;
33// Serial commands accepted:
34// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels
35// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list
36// - plevel <level>, change the amount of response text
37//
38// NOTE: initHRPWM and myHRWrite are set specifically to work on MEGAS. It could be tuned to work on
39// unos.
40
41#define INVERT_HIGH_AND_LOW
42#define RED_MAX_PWM 40000
43#define MAX_PWM 65535
44// AMV tests
45#define BRIGHTNESS 96
46#define FRAMES_PER_SECOND 120
47//////////////////////////////////////////////////////////////////////////////////////
48int freq = 20000;
49int res = 16;
50int steps = 1;
51int defaultlight = 4000;
52int maxfreq = 40000;
53int numr = 100;
54int numg = 100;
55int numb = 100;
56
57int ledChannel = 0;
58int ledChannel1 = 1;
59int ledChannel2 = 2;
60int ledChannel3 = 3;
61int ledChannel4 = 4;
62int ledChannel5 = 5;
63int ledChannel6 = 6;
64int ledChannel7 = 7;
65int ledChannel8 = 8;
66int ledChannel9 = 9;
67int ledChannel10 = 10;
68int ledChannel11 = 11;
69
70const int PWMPins[] = {32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21};
71const int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);
72// this flag will invert PWM output (65535 - PWM), for active-low devices
73
74
75const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
76
77/////////////////////////////////////////////////////////////////////////////////////////
78// Command Manager and forward declarations for commands accessible from text interface
79/////////////////////////////////////////////////////////////////////////////////////////
80
81struct IDTuple {
82 int id;
83 long value;
84};
85int parseID(const char *arg);
86int parseListOfIDs(int *outIDs, int maxIDs);
87void cmdUnrecognized(const char *cmd);
88void cmdSetFrequency();
89void cmdPWMPins();
90void cmdSetPrintLevel();
91void cmdServo();
92void cmdTestfastled();
93void cmdColors();
94void cmdMaxBlue();
95void cmdSetColor();
96
97SerialCommand::Entry CommandsList[] = {
98 {"plevel", cmdSetPrintLevel},
99 {"test", cmdTestfastled},
100 {"colors", cmdColors},
101 {"freq", cmdSetFrequency},
102 {"pwm", cmdPWMPins},
103 {"s", cmdServo},
104 {"c", cmdSetColor},
105 {"blue", cmdMaxBlue},
106 {NULL, NULL}
107};
108SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
109
110
111/////////////////////////////////////////////////////////////////////////////////////////////
112// helpers
113/////////////////////////////////////////////////////////////////////////////////////////////
114
115unsigned long invertPWM(unsigned long c) {
116#ifdef INVERT_HIGH_AND_LOW
117 c = 65535 - c;
118#endif
119 return c;
120}
121
122void myHRWrite(int pin, unsigned value) {
123 printAlways("setting pin to value: ");
124 printAlways(pin);
125 printAlways(" ");
126 printlnAlways(value);
127 value = invertPWM(value);
128
129 switch (pin) {
130 case 32: ledcWrite(ledChannel, value); break;
131 case 33: ledcWrite(ledChannel1, value); break;
132 case 25: ledcWrite(ledChannel2, value); break;
133 case 26: ledcWrite(ledChannel3, value); break;
134 case 27: ledcWrite(ledChannel4, value); break;
135 case 14: ledcWrite(ledChannel5, value); break;
136 case 12: ledcWrite(ledChannel6, value); break;
137 case 13: ledcWrite(ledChannel7, value); break;
138 case 2: ledcWrite(ledChannel8, value); break;
139 case 23: ledcWrite(ledChannel9, value); break;
140 case 22: ledcWrite(ledChannel10, value); break;
141 case 21: ledcWrite(ledChannel11, value); break;
142 default: printlnError("invalid pin");
143 }
144}
145
146void updateFrequency() {
147 ledcSetup(ledChannel, freq, res);
148 ledcAttachPin(32, ledChannel);
149 myHRWrite(PWMPins[0], 0);
150
151 ledcSetup(ledChannel1, freq, res);
152 ledcAttachPin(33, ledChannel);
153 myHRWrite(PWMPins[1], 0);
154
155 ledcSetup(ledChannel2, freq, res);
156 ledcAttachPin(25, ledChannel);
157 myHRWrite(PWMPins[2], 0);
158
159 ledcSetup(ledChannel3, freq, res);
160 ledcSetup(ledChannel4, freq, res);
161 ledcSetup(ledChannel5, freq, res);
162 ledcSetup(ledChannel6, freq, res);
163 ledcSetup(ledChannel7, freq, res);
164 ledcSetup(ledChannel8, freq, res);
165 ledcSetup(ledChannel9, freq, res);
166 ledcSetup(ledChannel10, freq, res);
167 ledcSetup(ledChannel11, freq, res);
168
169 ledcAttachPin(32, ledChannel);
170 ledcAttachPin(33, ledChannel1);
171 ledcAttachPin(25, ledChannel2);
172 ledcAttachPin(26, ledChannel3);
173 ledcAttachPin(27, ledChannel4);
174 ledcAttachPin(14, ledChannel5);
175 ledcAttachPin(12, ledChannel6);
176 ledcAttachPin(13, ledChannel7);
177 ledcAttachPin(2, ledChannel8);
178 ledcAttachPin(23, ledChannel9);
179 ledcAttachPin(22, ledChannel10);
180 ledcAttachPin(21, ledChannel11);
181}
182
183//AMV additions
184void cmdTestfastled() {
185 for(uint8_t i=0; i < NUM_LEDS; i++){
186 leds[i].setRGB(0, 0, 0);
187 printlnError("Led changed");
188 }
189 FastLED.show();
190 return;
191}
192
193void cmdSetColor(){
194 char *arg = CmdMgr.next();
195 if (arg == NULL) {
196 printlnError("Error: no arguments");
197 }
198 else{
199 numb = atoi(arg);
200 numg = 0;
201 numr = 0;
202 }
203 for(uint8_t i=0; i < NUM_LEDS; i++){
204 leds[i].setRGB(numr, numg, numb);
205 }
206 FastLED.show();
207 printlnError(numb);
208 printlnError(numg);
209 printlnError(numr);
210 return;
211}
212
213//AMV additions
214void cmdColors() {
215 for(uint8_t i=0; i < NUM_LEDS; i++){
216 leds[i].setRGB(22, 22, 22);
217 printlnError("Led changed");
218 }
219 FastLED.show();
220 return;
221}
222
223void cmdMaxBlue(){
224 for(uint8_t i=0; i < NUM_LEDS; i++){
225 leds[i].setRGB(0, 0, 255);
226 }
227 FastLED.show();
228 return;
229 }
230
231void ledsetup() {
232 updateFrequency();
233
234// Pins that work 27,26,25 23,22,21 32,33,14 12,13,2
235
236
237 //for(uint8_t i=0; i < 12; i++)
238 // ledcWrite(channel, dutycycle)
239 // For 8-bit resolution duty cycle is 0 - 255
240// ledcWrite(ledChannel, 0); // test high output of all leds in sequence
241// ledcWrite(ledChannel1, 0); // test high output of all leds in sequence
242// ledcWrite(ledChannel2, 0); // test high output of all leds in sequence
243// ledcWrite(ledChannel3, 0); // test high output of all leds in sequence
244// ledcWrite(ledChannel4, 0); // test high output of all leds in sequence
245// ledcWrite(ledChannel5, 0); // test high output of all leds in sequence
246// ledcWrite(ledChannel6, 0); // test high output of all leds in sequence
247// ledcWrite(ledChannel7, 0); // test high output of all leds in sequence
248// ledcWrite(ledChannel8, 0); // test high output of all leds in sequence
249// ledcWrite(ledChannel9, 0); // test high output of all leds in sequence
250// ledcWrite(ledChannel10, 0); // test high output of all leds in sequence
251// ledcWrite(ledChannel11, 0); // test high output of all leds in sequence
252}
253
254// Takes a string of an integer (numeric chars only). Returns the integer on success.
255// Prints error and returns 0 if there is a parse error or the ID is out of range.
256int parseID(const char *arg) {
257 char *end;
258 int id = strtol(arg, &end, 10);
259
260 if (*end != '\0' || id < 1 || id > 253) {
261 printlnError("Error: ID must be between 1 and 253");
262 return 0;
263 }
264
265 return id;
266}
267
268// Takes a string of an integer (numeric chars only). Returns the integer on success.
269// Prints error and returns -1 if there is a parse error or the PWM value is out of range.
270long parsePWM(const char *arg, long maxPWM) {
271 char *end;
272 long v = strtol(arg, &end, 10);
273
274 if (*end != '\0' || v < 0 || v > maxPWM) {
275 printlnError("Error: PWM value must be between 0 and ");
276 printlnError(maxPWM);
277 return -1;
278 }
279
280 return v;
281}
282
283void cmdUnrecognized(const char *cmd) {
284 printlnError("unrecognized command");
285}
286
287// if no argument, prints the frequency
288// if one argument, sets the frequency and then prints it
289void cmdSetFrequency() {
290 if(char *arg = CmdMgr.next()) {
291 if(CmdMgr.next()) {
292 printlnError("Error: takes 0 or 1 arguments");
293 return;
294 }
295
296 char *end;
297 double v = strtod(arg, &end);
298
299 if(*end != '\0' || v < 1 || v > maxfreq) {
300 printlnError("Error: speed is in angle-units per second; between 1 and 1000");
301 return;
302 }
303
304 freq = round(v);
305 }
306
307 updateFrequency();
308 printAck("frequency: ");
309 printlnAck(freq);
310}
311
312// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
313void cmdPWMPins() {
314 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
315
316 long channelValues[NumPWMPins];
317 int count = 0;
318
319 char *arg = CmdMgr.next();
320 if (arg == NULL) {
321 printlnError("Error: no arguments");
322 return;
323 }
324
325 do {
326 int index;
327 long value;
328
329 if (count >= NumPWMPins) {
330 printlnError(SetPWMUsageMsg);
331 return;
332 }
333
334 char *end;
335 index = count;
336 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
337 if (value < 0) {
338 printlnError(SetPWMUsageMsg);
339// value = 4000;
340 return;
341 }
342
343 printInfo("Set pin ");
344 printInfo(PWMPins[index]);
345 printInfo(" to ");
346 printlnInfo(value);
347 channelValues[index] = value;
348 count++;
349 } while (arg = CmdMgr.next());
350
351 for (int i = 0; i < count; i++) {
352 unsigned long c = channelValues[i];
353 printlnAlways(c);
354 myHRWrite(PWMPins[i], c);
355 }
356
357
358 printAck("OK set ");
359 printAck(count);
360 printlnAck(" pins");
361}
362
363void cmdSetPrintLevel() {
364 if (char *arg = CmdMgr.next()) {
365 if (CmdMgr.next()) {
366 printlnAlways("Error: takes 0 or 1 arguments");
367 return;
368 }
369
370 if (!PrintLevel::set(arg)) {
371 PrintLevel::printErrorString();
372 return;
373 }
374 }
375
376 printAck("print level ");
377 printlnAck(PrintLevel::toString());
378}
379
380void cmdServo() {
381 Serial.print("Got Servo shit");
382
383}
384
385///////////////////////////////////////////////////////////////////////////////////////////////////////////
386// setup & loop
387///////////////////////////////////////////////////////////////////////////////////////////////////////////
388
389void setup() {
390 delay(10);
391 FastLED.addLeds<WS2811, DATA_PIN, RGB>(leds, NUM_LEDS);
392 Serial.begin(115200);
393
394 WiFi.begin(ssid, password);
395 Serial.println("");
396
397// cmdPWMPins();
398
399
400
401 // Wait for connection
402 int i = 0;
403
404 while (WiFi.status() != WL_CONNECTED ) {
405 if (i < timeout) {
406 delay(500);
407 Serial.print(".");
408 i++;
409 }
410 else {
411 Serial.println(" ");
412 break;
413 }
414 }
415 if (WiFi.status() == WL_CONNECTED ) {
416 Serial.println("");
417 Serial.print("Connected to ");
418 Serial.println(ssid);
419 Serial.print("IP address: ");
420 Serial.println(WiFi.localIP());
421
422 // Set up mDNS responder:
423 // - first argument is the domain name, in this example
424 // the fully-qualified domain name is "esp8266.local"
425 // - second argument is the IP address to advertise
426 // we send our IP address on the WiFi network
427 if (!MDNS.begin("esp32")) {
428 Serial.println("Error setting up MDNS responder!");
429 while (1) {
430 delay(1000);
431 }
432 }
433 Serial.println("mDNS responder started");
434
435 // Start TCP (HTTP) server
436 server.begin();
437 Serial.println("TCP server started");
438
439 // Add service to MDNS-SD
440 MDNS.addService("telnet", "tcp", 23);
441 }
442 FastLED.addLeds<LED_TYPE,DATA_PIN,COLOR_ORDER>(leds, NUM_LEDS);
443 for(uint8_t i=0; i < NUM_LEDS; i++){
444 leds[i].setRGB(0, 0, 100); FastLED.show();
445 }
446// FastLED.show();
447 Serial.println("Initial LED Setup");
448}
449
450void loop() {
451 CmdMgr.readSerial();
452 leds[01].setRGB(200, 0, 0); FastLED.show(); delay(300);
453 leds[01].setRGB(100, 100, 0); FastLED.show(); delay(300);
454 WiFiClient client = server.available();
455 if (client) { // if you get a client,
456 Serial.println("New Client."); // print a message out the serial port
457 String currentLine = ""; // make a String to hold incoming data from the client
458 while (client.connected()) { // loop while the client's connected
459 if (client.available()) { // if there's bytes to read from the client,
460 char c = client.read(); // read a byte, then
461 CmdMgr.handleChar(c);
462 //Serial.write(c); // print it out the serial monitor
463 }
464 }
465 }
466}
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2// This is the most recent one and the one that is currently being worked on with current issues november 16 2018 AMV
3
4
5#include <WiFi.h>
6#include <ESPmDNS.h>
7#include <WiFiClient.h>
8#include <FastLED.h>
9#include <SC.h>
10#include <PrintLevel.h>
11
12// How many leds are in the strip?
13#define NUM_LEDS 18
14
15// Data pin that led data will be written out over
16#define DATA_PIN 27
17// it really wants to use GRB apparently, RGB won't work
18#define COLOR_ORDER GRB
19#define LED_TYPE WS2811
20
21// Clock pin only needed for SPI based chipsets when not using hardware SPI
22#define CLOCK_PIN 8
23
24// This is an array of leds. One item for each led in your strip.
25CRGB leds[NUM_LEDS];
26
27const char* ssid = "ubitron";
28const char* password = "superduper";
29
30// TCP server at port 80 will respond to HTTP requests
31WiFiServer server(1337);
32const int timeout = 30;
33// Serial commands accepted:
34// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels
35// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list
36// - plevel <level>, change the amount of response text
37//
38// NOTE: initHRPWM and myHRWrite are set specifically to work on MEGAS. It could be tuned to work on
39// unos.
40
41#define INVERT_HIGH_AND_LOW
42#define RED_MAX_PWM 40000
43#define MAX_PWM 65535
44// AMV tests
45#define BRIGHTNESS 96
46#define FRAMES_PER_SECOND 120
47//////////////////////////////////////////////////////////////////////////////////////
48int freq = 20000;
49int res = 16;
50int steps = 1;
51int defaultlight = 4000;
52int maxfreq = 40000;
53int numr = 100;
54int numg = 100;
55int numb = 100;
56
57int ledChannel = 0;
58int ledChannel1 = 1;
59int ledChannel2 = 2;
60int ledChannel3 = 3;
61int ledChannel4 = 4;
62int ledChannel5 = 5;
63int ledChannel6 = 6;
64int ledChannel7 = 7;
65int ledChannel8 = 8;
66int ledChannel9 = 9;
67int ledChannel10 = 10;
68int ledChannel11 = 11;
69
70const int PWMPins[] = {32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21};
71const int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);
72// this flag will invert PWM output (65535 - PWM), for active-low devices
73
74
75const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
76
77/////////////////////////////////////////////////////////////////////////////////////////
78// Command Manager and forward declarations for commands accessible from text interface
79/////////////////////////////////////////////////////////////////////////////////////////
80
81struct IDTuple {
82 int id;
83 long value;
84};
85int parseID(const char *arg);
86int parseListOfIDs(int *outIDs, int maxIDs);
87void cmdUnrecognized(const char *cmd);
88void cmdSetFrequency();
89void cmdPWMPins();
90void cmdSetPrintLevel();
91void cmdServo();
92void cmdTestfastled();
93void cmdColors();
94void cmdMaxBlue();
95void cmdSetColor();
96
97SerialCommand::Entry CommandsList[] = {
98 {"plevel", cmdSetPrintLevel},
99 {"test", cmdTestfastled},
100 {"colors", cmdColors},
101 {"freq", cmdSetFrequency},
102 {"pwm", cmdPWMPins},
103 {"s", cmdServo},
104 {"c", cmdSetColor},
105 {"blue", cmdMaxBlue},
106 {NULL, NULL}
107};
108SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
109
110
111/////////////////////////////////////////////////////////////////////////////////////////////
112// helpers
113/////////////////////////////////////////////////////////////////////////////////////////////
114
115unsigned long invertPWM(unsigned long c) {
116#ifdef INVERT_HIGH_AND_LOW
117 c = 65535 - c;
118#endif
119 return c;
120}
121
122void myHRWrite(int pin, unsigned value) {
123 printAlways("setting pin to value: ");
124 printAlways(pin);
125 printAlways(" ");
126 printlnAlways(value);
127 value = invertPWM(value);
128
129 switch (pin) {
130 case 32: ledcWrite(ledChannel, value); break;
131 case 33: ledcWrite(ledChannel1, value); break;
132 case 25: ledcWrite(ledChannel2, value); break;
133 case 26: ledcWrite(ledChannel3, value); break;
134 case 27: ledcWrite(ledChannel4, value); break;
135 case 14: ledcWrite(ledChannel5, value); break;
136 case 12: ledcWrite(ledChannel6, value); break;
137 case 13: ledcWrite(ledChannel7, value); break;
138 case 2: ledcWrite(ledChannel8, value); break;
139 case 23: ledcWrite(ledChannel9, value); break;
140 case 22: ledcWrite(ledChannel10, value); break;
141 case 21: ledcWrite(ledChannel11, value); break;
142 default: printlnError("invalid pin");
143 }
144}
145
146void updateFrequency() {
147 ledcSetup(ledChannel, freq, res);
148 ledcAttachPin(32, ledChannel);
149 myHRWrite(PWMPins[0], 0);
150
151 ledcSetup(ledChannel1, freq, res);
152 ledcAttachPin(33, ledChannel);
153 myHRWrite(PWMPins[1], 0);
154
155 ledcSetup(ledChannel2, freq, res);
156 ledcAttachPin(25, ledChannel);
157 myHRWrite(PWMPins[2], 0);
158
159 ledcSetup(ledChannel3, freq, res);
160 ledcSetup(ledChannel4, freq, res);
161 ledcSetup(ledChannel5, freq, res);
162 ledcSetup(ledChannel6, freq, res);
163 ledcSetup(ledChannel7, freq, res);
164 ledcSetup(ledChannel8, freq, res);
165 ledcSetup(ledChannel9, freq, res);
166 ledcSetup(ledChannel10, freq, res);
167 ledcSetup(ledChannel11, freq, res);
168
169 ledcAttachPin(32, ledChannel);
170 ledcAttachPin(33, ledChannel1);
171 ledcAttachPin(25, ledChannel2);
172 ledcAttachPin(26, ledChannel3);
173 ledcAttachPin(27, ledChannel4);
174 ledcAttachPin(14, ledChannel5);
175 ledcAttachPin(12, ledChannel6);
176 ledcAttachPin(13, ledChannel7);
177 ledcAttachPin(2, ledChannel8);
178 ledcAttachPin(23, ledChannel9);
179 ledcAttachPin(22, ledChannel10);
180 ledcAttachPin(21, ledChannel11);
181}
182
183//AMV additions
184void cmdTestfastled() {
185 for(uint8_t i=0; i < NUM_LEDS; i++){
186 leds[i].setRGB(0, 0, 0);
187 printlnError("Led changed");
188 }
189 FastLED.show();
190 return;
191}
192
193void cmdSetColor(){
194 char *arg = CmdMgr.next();
195 if (arg == NULL) {
196 printlnError("Error: no arguments");
197 }
198 else{
199 numb = atoi(arg);
200 numg = 0;
201 numr = 0;
202 }
203 for(uint8_t i=0; i < NUM_LEDS; i++){
204 leds[i].setRGB(numr, numg, numb);
205 }
206 FastLED.show();
207 printlnError(numb);
208 printlnError(numg);
209 printlnError(numr);
210 return;
211}
212
213//AMV additions
214void cmdColors() {
215 for(uint8_t i=0; i < NUM_LEDS; i++){
216 leds[i].setRGB(22, 22, 22);
217 printlnError("Led changed");
218 }
219 FastLED.show();
220 return;
221}
222
223void cmdMaxBlue(){
224 for(uint8_t i=0; i < NUM_LEDS; i++){
225 leds[i].setRGB(0, 0, 255);
226 }
227 FastLED.show();
228 return;
229 }
230
231void ledsetup() {
232 updateFrequency();
233
234// Pins that work 27,26,25 23,22,21 32,33,14 12,13,2
235
236
237 //for(uint8_t i=0; i < 12; i++)
238 // ledcWrite(channel, dutycycle)
239 // For 8-bit resolution duty cycle is 0 - 255
240// ledcWrite(ledChannel, 0); // test high output of all leds in sequence
241// ledcWrite(ledChannel1, 0); // test high output of all leds in sequence
242// ledcWrite(ledChannel2, 0); // test high output of all leds in sequence
243// ledcWrite(ledChannel3, 0); // test high output of all leds in sequence
244// ledcWrite(ledChannel4, 0); // test high output of all leds in sequence
245// ledcWrite(ledChannel5, 0); // test high output of all leds in sequence
246// ledcWrite(ledChannel6, 0); // test high output of all leds in sequence
247// ledcWrite(ledChannel7, 0); // test high output of all leds in sequence
248// ledcWrite(ledChannel8, 0); // test high output of all leds in sequence
249// ledcWrite(ledChannel9, 0); // test high output of all leds in sequence
250// ledcWrite(ledChannel10, 0); // test high output of all leds in sequence
251// ledcWrite(ledChannel11, 0); // test high output of all leds in sequence
252}
253
254// Takes a string of an integer (numeric chars only). Returns the integer on success.
255// Prints error and returns 0 if there is a parse error or the ID is out of range.
256int parseID(const char *arg) {
257 char *end;
258 int id = strtol(arg, &end, 10);
259
260 if (*end != '\0' || id < 1 || id > 253) {
261 printlnError("Error: ID must be between 1 and 253");
262 return 0;
263 }
264
265 return id;
266}
267
268// Takes a string of an integer (numeric chars only). Returns the integer on success.
269// Prints error and returns -1 if there is a parse error or the PWM value is out of range.
270long parsePWM(const char *arg, long maxPWM) {
271 char *end;
272 long v = strtol(arg, &end, 10);
273
274 if (*end != '\0' || v < 0 || v > maxPWM) {
275 printlnError("Error: PWM value must be between 0 and ");
276 printlnError(maxPWM);
277 return -1;
278 }
279
280 return v;
281}
282
283void cmdUnrecognized(const char *cmd) {
284 printlnError("unrecognized command");
285}
286
287// if no argument, prints the frequency
288// if one argument, sets the frequency and then prints it
289void cmdSetFrequency() {
290 if(char *arg = CmdMgr.next()) {
291 if(CmdMgr.next()) {
292 printlnError("Error: takes 0 or 1 arguments");
293 return;
294 }
295
296 char *end;
297 double v = strtod(arg, &end);
298
299 if(*end != '\0' || v < 1 || v > maxfreq) {
300 printlnError("Error: speed is in angle-units per second; between 1 and 1000");
301 return;
302 }
303
304 freq = round(v);
305 }
306
307 updateFrequency();
308 printAck("frequency: ");
309 printlnAck(freq);
310}
311
312// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
313void cmdPWMPins() {
314 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
315
316 long channelValues[NumPWMPins];
317 int count = 0;
318
319 char *arg = CmdMgr.next();
320 if (arg == NULL) {
321 printlnError("Error: no arguments");
322 return;
323 }
324
325 do {
326 int index;
327 long value;
328
329 if (count >= NumPWMPins) {
330 printlnError(SetPWMUsageMsg);
331 return;
332 }
333
334 char *end;
335 index = count;
336 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
337 if (value < 0) {
338 printlnError(SetPWMUsageMsg);
339// value = 4000;
340 return;
341 }
342
343 printInfo("Set pin ");
344 printInfo(PWMPins[index]);
345 printInfo(" to ");
346 printlnInfo(value);
347 channelValues[index] = value;
348 count++;
349 } while (arg = CmdMgr.next());
350
351 for (int i = 0; i < count; i++) {
352 unsigned long c = channelValues[i];
353 printlnAlways(c);
354 myHRWrite(PWMPins[i], c);
355 }
356
357
358 printAck("OK set ");
359 printAck(count);
360 printlnAck(" pins");
361}
362
363void cmdSetPrintLevel() {
364 if (char *arg = CmdMgr.next()) {
365 if (CmdMgr.next()) {
366 printlnAlways("Error: takes 0 or 1 arguments");
367 return;
368 }
369
370 if (!PrintLevel::set(arg)) {
371 PrintLevel::printErrorString();
372 return;
373 }
374 }
375
376 printAck("print level ");
377 printlnAck(PrintLevel::toString());
378}
379
380void cmdServo() {
381 Serial.print("Got Servo shit");
382
383}
384
385///////////////////////////////////////////////////////////////////////////////////////////////////////////
386// setup & loop
387///////////////////////////////////////////////////////////////////////////////////////////////////////////
388
389void setup() {
390 delay(10);
391 FastLED.addLeds<WS2811, DATA_PIN, RGB>(leds, NUM_LEDS);
392 Serial.begin(115200);
393
394 WiFi.begin(ssid, password);
395 Serial.println("");
396
397// cmdPWMPins();
398
399
400
401 // Wait for connection
402 int i = 0;
403
404 while (WiFi.status() != WL_CONNECTED ) {
405 if (i < timeout) {
406 delay(500);
407 Serial.print(".");
408 i++;
409 }
410 else {
411 Serial.println(" ");
412 break;
413 }
414 }
415 if (WiFi.status() == WL_CONNECTED ) {
416 Serial.println("");
417 Serial.print("Connected to ");
418 Serial.println(ssid);
419 Serial.print("IP address: ");
420 Serial.println(WiFi.localIP());
421
422 // Set up mDNS responder:
423 // - first argument is the domain name, in this example
424 // the fully-qualified domain name is "esp8266.local"
425 // - second argument is the IP address to advertise
426 // we send our IP address on the WiFi network
427 if (!MDNS.begin("esp32")) {
428 Serial.println("Error setting up MDNS responder!");
429 while (1) {
430 delay(1000);
431 }
432 }
433 Serial.println("mDNS responder started");
434
435 // Start TCP (HTTP) server
436 server.begin();
437 Serial.println("TCP server started");
438
439 // Add service to MDNS-SD
440 MDNS.addService("telnet", "tcp", 23);
441 }
442 FastLED.addLeds<LED_TYPE,DATA_PIN,COLOR_ORDER>(leds, NUM_LEDS);
443 for(uint8_t i=0; i < NUM_LEDS; i++){
444 leds[i].setRGB(0, 0, 100); FastLED.show();
445 }
446// FastLED.show();
447 Serial.println("Initial LED Setup");
448}
449
450void loop() {
451 CmdMgr.readSerial();
452 leds[01].setRGB(200, 0, 0); FastLED.show(); delay(300);
453 leds[01].setRGB(100, 100, 0); FastLED.show(); delay(300);
454 WiFiClient client = server.available();
455 if (client) { // if you get a client,
456 Serial.println("New Client."); // print a message out the serial port
457 String currentLine = ""; // make a String to hold incoming data from the client
458 while (client.connected()) { // loop while the client's connected
459 if (client.available()) { // if there's bytes to read from the client,
460 char c = client.read(); // read a byte, then
461 CmdMgr.handleChar(c);
462 //Serial.write(c); // print it out the serial monitor
463 }
464 }
465 }
466}
esp324xlight/README.md +296 -0
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1# esp324xlight
2
3ESP32 firmware for the cthuloid 4-light RGB rig. Each "light" is an RGB triple
4driven from three GPIO pins via PWM. 4 lights × 3 channels = 12 PWM outputs.
5
6This is the **modern** sketch — uses ESP32 Arduino core 3.x APIs (`ledcAttach`,
7`server.accept()`, etc.). For the legacy core-2.x version see `../esp32/32wifi12frak/`.
8
9## Hardware
10
11| Item | Value |
12|---|---|
13| Board | ESP32 Wrover Module |
14| Core | ESP32 Arduino 3.x (tested with 3.3.8) |
15| PWM frequency | 1200 Hz |
16| PWM resolution | 16-bit (65535 brightness levels) |
17| Pin order | `{32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21}` |
18| Logic level | Active-low LED drivers, `INVERT_HIGH_AND_LOW` defined |
19
20### Pin → light → color mapping
21
22The 12 pins are grouped into 4 RGB triples (one per light). The triple ordering
23in the wire protocol is **BGR** (matching Blender's `bgr-<index>-<ip>` send code).
24
25| Light | Pin pos 0 (Blue) | Pin pos 1 (Green) | Pin pos 2 (Red) |
26|---|---|---|---|
27| 1 | GPIO 32 | GPIO 33 | GPIO 25 |
28| 2 | GPIO 26 | GPIO 27 | GPIO 14 |
29| 3 | GPIO 12 | GPIO 13 | GPIO 2 |
30| 4 | GPIO 23 | GPIO 22 | GPIO 21 |
31
32### LED voltages and the red cap
33
34- Blue/Green diodes: ~32 V rated
35- Red diodes: ~26 V rated (lower forward voltage, more efficient)
36
37Because red can't survive the same duty/voltage as B/G, the firmware enforces
38a **hard ceiling on red** via `RED_MAX_PWM = 45000` — any `pwm`/`pwm2` value
39above 45000 for a position-2 (red) channel is rejected at parse time. In normal
40Blender operation values stay ≤ 30000; the 45000 is a safety red line.
41
42## Input value semantics
43
44The protocol uses a 0..65535 range per channel. **Higher value = brighter LED**
45(after `INVERT_HIGH_AND_LOW` flips the duty for the active-low driver):
46
47| Input | Output duty | LED state |
48|---|---|---|
49| `0` | 100% high (pin always HIGH) | off (active-low LED) |
50| `30000` | ~54% high | ~46% bright |
51| `45000` | ~31% high | ~69% bright (red's safety ceiling) |
52| `65534` | ~0% high (pin always LOW) | full on |
53
54## Boot behavior
55
561. PWM peripheral initialized at 1200 Hz / 16-bit.
572. **Boot fade self-test** — all 12 channels fade off → on → off over 10 seconds.
58 Confirms the chip is alive and PWM is working; visible immediately on power-up.
593. WiFi associates with the configured SSID (`prsm space`).
604. mDNS responder starts with hostname `HOSTNAME` (defined near the top of the sketch).
615. TCP command server listens on port **1337**.
626. ArduinoOTA listener starts on port **3232** for over-the-air firmware updates.
63
64### Per-unit hostnames
65
66Each light unit should have a unique hostname so they don't fight on mDNS. Change
67the `#define HOSTNAME "studiolight"` at the top of the sketch before flashing each
68unit. The same `HOSTNAME` is used for mDNS, ArduinoOTA, and the telnet greeting.
69
70Examples: `studiolight`, `studiolight1`, `studiolight2`, `studiolight-stage-left`.
71
72## OTA (over-the-air) firmware updates
73
74Once a unit is flashed and on the network, you can push new firmware without
75plugging in USB:
76
77```bash
78arduino-cli upload \
79 --fqbn esp32:esp32:esp32wrover:FlashFreq=80,UploadSpeed=921600,PartitionScheme=default,DebugLevel=none \
80 --port studiolight.local \
81 --protocol network \
82 esp324xlight.ino
83```
84
85In the Arduino IDE: Tools → Port → Network Ports → select `studiolight at 192.168.x.x`.
86
87The unit requires the OTA password defined by `#define OTA_PASSWORD` in the
88sketch. Change this before flashing if you don't want anyone on the WiFi to be
89able to push firmware. Default: `studiolight-ota`.
90
91While an OTA upload is in progress, the chip's main loop is paused — telnet
92commands during the ~5 second upload window are not processed.
93
94## Network protocol
95
96Connect via `telnet <ip-or-hostname> 1337`. Commands are newline-terminated
97ASCII. The chip greets each new connection with `studiolight1 ready`.
98
99Numeric arguments are space-separated decimal integers (or floats for `gamma`).
100
101### Commands
102
103#### `pwm <v1> <v2> ... <vN>`
104Set channel values immediately. `N` ≤ 12. Values follow the BGR-per-light order
105listed above. Channels beyond `N` are left at their previous value.
106
107```
108pwm 0 0 0 0 0 0 0 0 0 0 0 0 # all 12 channels to off
109pwm 65534 65534 30000 ... # one light to "warm white" (Blender's typical max)
110```
111
112Brief 3-step interpolation from previous → target, but no per-frame delay, so
113visually it snaps. Range 0–65535 per channel (red position capped at 45000).
114
115Response: `OK pwm <count>` on success, `ERR pwm <reason>` on failure.
116
117#### `pwm2 <numPeriods> <periodMs> <v1> ... <vN>`
118Fade interpolation from current value to target over `numPeriods × periodMs` ms.
119
120| Arg | Range | Meaning |
121|---|---|---|
122| `numPeriods` | 1–1000 | number of interpolation steps |
123| `periodMs` | 1–1000 | milliseconds between steps |
124| `v1..vN` | 0–65535 | target value per channel (BGR order, ≤12) |
125
126Total fade time = `numPeriods × periodMs` ms.
127
128For maximum smoothness over a long fade: max out `numPeriods` (1000), set
129`periodMs` to `total_ms / 1000`.
130
131```
132pwm2 100 10 0 0 0 0 0 0 0 0 0 0 0 0 # 1s fade to off, all 12
133pwm2 1000 30 65534 65534 30000 ... (×4) # 30s perceptually-smooth fade to white
134```
135
136Interpolation is **perceptually corrected** via per-channel gamma — see the
137`gamma` command. Default gamma is 1.0 (linear); raise to perceptually equalize
138ramp rates across colors.
139
140Response: `OK pwm2 <count>` on success.
141
142#### `freq [hz]`
143Get or set the PWM frequency. With no argument, prints the current frequency.
144With one argument, sets it (range 1 to `maxfreq`, currently 40000).
145
146Resolution is auto-selected: the firmware picks the highest bit-depth (up to 16)
147that fits in the LEDC peripheral's 80 MHz clock at the requested frequency. The
148new setting is applied to all 12 channels.
149
150```
151freq # report current
152freq 1000 # 1 kHz; gets full 16-bit res
153freq 20000 # 20 kHz; auto-drops to 11-bit
154```
155
156#### `gamma [b] [g] [r]`
157Get or set per-channel gamma exponents used by `pwm2`'s interpolation. Three
158floats in **BGR order**, range 0.5–5.0. Values outside the range are silently
159ignored.
160
161| Gamma | Behavior |
162|---|---|
163| `1.0` | linear in input value (default, no perceptual correction) |
164| `1.5–1.8` | gentle perceptual correction |
165| `2.2` | full perceptual correction (steep at start, race at end) |
166| `> 2.5` | aggressively slow this channel's ramp |
167
168Tune red higher than B/G if red leads visually during fades:
169
170```
171gamma # report current
172gamma 1.0 1.0 1.5 # mild red slowdown
173gamma 1.2 1.2 1.8 # stronger correction
174```
175
176Response: `gamma B=<b> G=<g> R=<r>`.
177
178#### `plevel [level]`
179Set the verbosity level of `PrintLevel`-tagged output (the `printInfo` /
180`printAck` / `printError` calls scattered through the code). Levels:
181
182| Level | Shows |
183|---|---|
184| `silent` | nothing |
185| `error` | errors only |
186| `ack` | + success confirmations ("OK set 12 pins") |
187| `info` | + per-pin info lines ("Set pin 32 to 0") |
188
189```
190plevel # report current
191plevel ack # quieter — hides info-level Serial chatter
192plevel info # most verbose
193```
194
195#### `verbose 0 | 1`
196Toggle the `GOT <cmd>` / `OK <cmd>` / `ERR <cmd>` markers that are echoed back
197to telnet (and Serial) for every command. Default ON for debugging.
198
199```
200verbose 0 # quiet — production
201verbose 1 # noisy — debugging
202```
203
204When off, telnet sessions get no command feedback; useful when the chip is
205driven by a tight-loop controller (like Blender) that doesn't need ack chatter.
206
207#### `s ...`
208Servo command (stub — currently just prints "Got Servo shit"). Reserved for
209future servo control on a per-light tilt/pan basis.
210
211### Unrecognized commands
212Reply: `ERR unrecognized: <command>`.
213
214## TCP connection management
215
216The loop in this firmware works around two known arduino-esp32 issues:
217
218- **#1527** — `WiFiClient.connected()` doesn't react to FIN/shutdown from the
219 other side, so it can keep returning `true` for minutes after the peer is gone.
220- **#4773** — `server.accept()` can leave stale clients in place.
221
222Mitigations applied:
2231. On every new accept, the previous `LastClient` is explicitly `stop()`-ed.
2242. 5-minute idle timeout drops sessions that have stopped sending bytes.
2253. `WiFi.setSleep(false)` is set during boot for persistent-server stability.
226
227If you reconnect and a previous session was hung, the new connection will
228displace it cleanly.
229
230## Long-run stability
231
232This firmware is designed to run for days/weeks unattended. Audit notes:
233
234| Concern | Status | Notes |
235|---|---|---|
236| Watchdog timer | OK | Every long-running path (`pwm2` interpolation, WiFi wait, boot fade) calls `delay()` or `vTaskDelay()` which yields and feeds the watchdog |
237| `millis()` rollover (~49 days) | OK | All elapsed-time comparisons use unsigned subtraction (`millis() - lastX > threshold`), which wraps correctly across rollover |
238| Memory leaks | OK | No `malloc`/`free` or `new`/`delete` in user code; all buffers are stack-allocated and bounded |
239| Stack usage | OK | Largest stack frame is `cmdPWMPins2` at ~150 bytes; well under the 8KB loopTask stack |
240| TCP socket leaks | OK | Stale-client mitigation (above) ensures sockets are explicitly stopped |
241| WiFi reconnect after drop | OK | Every 10 seconds in the `RUNNING` state, `WiFi.status()` is checked; if disconnected, `WiFi.reconnect()` is called |
242| Brownout / power glitch | Hardware-managed | ESP32's brownout detector resets the chip; sketch reboots cleanly with no persisted state |
243| LEDC channel exhaustion on `freq` change | OK | `updateFrequency` does `ledcDetach` before re-attach; channels are recycled |
244| Long `pwm2` blocks new connections | Known limitation | While `pwm2` is interpolating (up to 1000s with max args), the main loop is blocked. New telnet connections will queue but not be accepted until the fade completes. Typical fades are seconds — not an issue in practice |
245| Multiple units sharing hostname | Manual | If two units boot with the same `HOSTNAME`, mDNS will be a coin flip on which one resolves. Use unique `#define HOSTNAME` per unit |
246| OTA blocks main loop during upload | By design | OTA upload takes ~5s during which commands are ignored; chip reboots into new firmware automatically |
247
248## Building
249
250### With arduino-cli (recommended)
251
252```bash
253arduino-cli compile \
254 --fqbn esp32:esp32:esp32wrover:FlashFreq=80,UploadSpeed=921600,PartitionScheme=default,DebugLevel=none \
255 esp324xlight.ino
256
257arduino-cli upload \
258 --fqbn esp32:esp32:esp32wrover:FlashFreq=80,UploadSpeed=921600,PartitionScheme=default,DebugLevel=none \
259 --port /dev/ttyUSB1 \
260 esp324xlight.ino
261```
262
263### With Arduino IDE 1.8.x
264
265Tools → Board → ESP32 Arduino → **ESP32 Wrover Module**. Default partition
266scheme, 80 MHz flash, 921600 upload, no debug. Sketch compiles cleanly against
267ESP32 core 3.3.8.
268
269### Switching core versions
270
271This repo also includes the legacy core-2.x sketch at `../esp32/32wifi12frak/`.
272Use the `use-esp32-core` helper in `~/.local/bin/` to flip the active core:
273
274```bash
275use-esp32-core 3.3.8 # modern; for esp324xlight
276use-esp32-core 2.0.17 # legacy; for 32wifi12frak
277use-esp32-core list # see current state
278```
279
280## Quick troubleshooting
281
282| Symptom | Likely cause |
283|---|---|
284| `ledcAttach FAILED` in Serial on boot | freq × 2^res exceeds LEDC's 80 MHz clock; lower freq or accept a lower res |
285| Telnet connects but no response to commands | stale TCP session; close telnet, wait a beat, reconnect — the new connection now displaces the old one cleanly |
286| Red leads visually during a fade | bump red gamma: `gamma 1.0 1.0 1.5` (or higher) |
287| Channels stuck at unexpected brightness on boot | the boot fade test ends with all channels at input 65535 ("off" with INVERT). Send a `pwm` command to set the desired state |
288| `ERR pwm bad arg at index 2` | red channel value exceeded 45000 — drop the value |
289
290## Related files
291
292- `esp324xlight.ino` — the firmware
293- `../esp32/32wifi12frak/32wifi12frak.ino` — legacy core-2.x version
294- Blender-side controller: `/home/fleeky/cthuloid/<blender script>` — sends
295 commands in BGR order using `pwm` for steady-state and could be extended to
296 use `pwm2` for fades
esp324xlight/esp324xlight.ino +695 -0
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1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2//
3// Migrated from 32wifi12frak.ino for ESP32 Arduino core 3.x:
4// - ledcSetup() + ledcAttachPin() replaced with ledcAttach() / ledcChangeFrequency()
5// - ledcWrite() is now keyed off the GPIO pin, not the channel
6// - WiFiServer::available() replaced with accept()
7
8
9#include <WiFi.h>
10#include <ESPmDNS.h>
11#include <WiFiClient.h>
12#include <ArduinoOTA.h>
13#include <Preferences.h>
14
15// Default hostname compiled into firmware. Runtime hostname is loaded from NVS
16// on boot; if NVS is empty (first boot after a fresh flash), this is the
17// fallback. Change at runtime with the "hostname <name>" command, then "reboot".
18#define HOSTNAME "studiolight"
19
20// Password required to push OTA updates. Change before flashing if you don't
21// want anyone on the WiFi network to be able to overwrite the firmware.
22#define OTA_PASSWORD "studiolight-ota"
23
24// Persistent storage and runtime hostname
25Preferences prefs;
26char currentHostname[64];
27
28const char* ssid = "prsm space";
29const char* password = "";
30
31// TCP server at port 1337
32WiFiServer server(1337);
33const int timeout = 30;
34// Serial commands accepted:
35// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels
36// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list
37// - plevel <level>, change the amount of response text
38#include <SC.h>
39#include <PrintLevel.h>
40// Active-low LED drivers: GPIO high = LED off, GPIO low = LED on.
41// With INVERT, input 0 → output dutyMax (pin high) → LED off (intuitive 0=off).
42#define INVERT_HIGH_AND_LOW
43// Red diodes have lower voltage tolerance than green/blue — cap their input
44// so they can't be driven to full brightness. Applied to the 3rd pin in each
45// RGB triple (count % 3 == 2). Input range is 0..65535; 45000 ≈ 69% max.
46#define RED_MAX_PWM 45000
47#define MAX_PWM 65535 // full 16-bit range; LEDC handles duty=max via max+1 special case
48
49constexpr int NumPeriods = 3; // number of steps in fade
50constexpr int PeriodLength = 1; // sleep for this many ms
51
52//////////////////////////////////////////////////////////////////////////////////////
53// 1 kHz matches the bandwidth of an ESP32-direct-driven MOSFET (no gate-driver
54// IC). At higher freqs the MOSFET spends a non-trivial fraction of each cycle
55// in its linear region, and switching losses dim the LEDs (worst on red, which
56// carries more current). 1 kHz also keeps full 16-bit resolution (dutyMax=65535).
57// At runtime, change with `freq <hz>` — but expect dimming above ~1.2 kHz on this
58// hardware until a proper gate driver IC is added.
59int freq = 1000;
60int res = 16; // recomputed from freq in computeRes()
61int dutyMax = 65535; // (1 << res) - 1
62int steps = 1;
63int defaultlight = 4000;
64int maxfreq = 40000;
65
66// ESP32 LEDC clock — APB is 80 MHz. Max resolution at a given freq is
67// floor(log2(80_000_000 / freq))
68// e.g. 20 kHz → 11 bits, 1 kHz → 16 bits.
69void computeRes() {
70 const long ledcClk = 80000000L;
71 int r = 16;
72 while (r > 1 && ((long)freq << r) > ledcClk) r--;
73 res = r;
74 dutyMax = (1 << res) - 1;
75}
76
77const int PWMPins[] = {32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21};
78const int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);
79int PinCurrentValues[NumPWMPins] = {0};
80
81// tracks whether ledcAttach has been called for each pin yet
82bool PinAttached[NumPWMPins] = {false};
83
84// this flag will invert PWM output (65535 - PWM), for active-low devices
85
86const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
87
88/////////////////////////////////////////////////////////////////////////////////////////
89// TCP client tracking + diagnostic helpers
90// Works around arduino-esp32 issues #1527 (connected() lies after FIN) and #4773
91// (server.accept() can leave stale clients in place).
92/////////////////////////////////////////////////////////////////////////////////////////
93WiFiClient LastClient;
94unsigned long lastClientByteMs = 0;
95const unsigned long CLIENT_IDLE_TIMEOUT_MS = 300000; // 5 min — drop a dead session
96
97// When true, command handlers also write GOT/OK/ERR markers to the active telnet
98// client so you can see whether commands are reaching the parser. Toggle at runtime
99// with "verbose 0" or "verbose 1". Default on for debugging.
100bool diagVerbose = true;
101
102// Per-channel gamma exponents (indexed by RGB triple position: 0=Blue, 1=Green, 2=Red,
103// matching Blender's BGR send order). Used by pwm2's perceptual interpolation. Higher
104// gamma slows that channel's perceived ramp; tune red higher if it visually leads.
105// Adjust at runtime with "gamma <b> <g> <r>" (range 0.5–5.0).
106// Default 1.0 = linear interpolation in input value (no gamma correction).
107float channelGamma[3] = {1.0f, 1.0f, 1.0f};
108
109void diagPrint(const char *s) {
110 Serial.print(s);
111 if (diagVerbose && LastClient && LastClient.connected()) LastClient.print(s);
112}
113void diagPrint(long v) {
114 Serial.print(v);
115 if (diagVerbose && LastClient && LastClient.connected()) LastClient.print(v);
116}
117void diagPrintln(const char *s) {
118 Serial.println(s);
119 if (diagVerbose && LastClient && LastClient.connected()) LastClient.println(s);
120}
121void diagPrintln(long v) {
122 Serial.println(v);
123 if (diagVerbose && LastClient && LastClient.connected()) LastClient.println(v);
124}
125
126/////////////////////////////////////////////////////////////////////////////////////////
127// Command Manager and forward declarations for commands accessible from text interface
128/////////////////////////////////////////////////////////////////////////////////////////
129struct IDTuple {
130 int id;
131 long value;
132};
133int parseID(const char *arg);
134int parseListOfIDs(int *outIDs, int maxIDs);
135void cmdUnrecognized(const char *cmd);
136void cmdSetFrequency();
137void cmdPWMPins();
138void cmdPWMPins2();
139void cmdSetPrintLevel();
140void cmdServo();
141void cmdVerbose();
142void cmdGamma();
143void cmdHostname();
144void cmdReboot();
145
146SerialCommand::Entry CommandsList[] = {
147 {"plevel", cmdSetPrintLevel},
148 {"freq", cmdSetFrequency},
149 {"pwm", cmdPWMPins},
150 {"pwm2", cmdPWMPins2},
151 {"s", cmdServo},
152 {"verbose", cmdVerbose},
153 {"gamma", cmdGamma},
154 {"hostname", cmdHostname},
155 {"reboot", cmdReboot},
156 {NULL, NULL}
157};
158SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
159
160
161/////////////////////////////////////////////////////////////////////////////////////////////
162// helpers
163/////////////////////////////////////////////////////////////////////////////////////////////
164
165// Callers always pass values in 0..65535 (the protocol range).
166// We scale down to the actual duty range, then invert if configured.
167//
168// Clamp at dutyMax-1 instead of dutyMax to avoid the LEDC peripheral's
169// "full ON" special case: when duty == max_duty exactly, the driver bumps
170// it internally to max_duty+1 ("ON for the whole period, no transition"),
171// which causes a subtle one-tick brightness pop at the endpoints of any
172// full-range fade. Capping at max-1 keeps the behaviour smooth — we lose
173// one duty level out of 65536, which is imperceptible.
174unsigned long invertPWM(unsigned long c) {
175 if (c > 65535) c = 65535;
176 unsigned long scaled = (c * dutyMax) / 65535;
177#ifdef INVERT_HIGH_AND_LOW
178 scaled = dutyMax - scaled;
179#endif
180 if (scaled >= (unsigned long)dutyMax) scaled = dutyMax - 1;
181 return scaled;
182}
183
184void myHRWrite(int pin, unsigned value) {
185 ledcWrite(pin, invertPWM(value));
186}
187
188void updateFrequency() {
189 computeRes();
190 for (int i = 0; i < NumPWMPins; i++) {
191 if (PinAttached[i]) ledcDetach(PWMPins[i]);
192 if (!ledcAttach(PWMPins[i], freq, res)) {
193 Serial.printf("ledcAttach FAILED for pin %d at %d Hz / %d-bit\n",
194 PWMPins[i], freq, res);
195 PinAttached[i] = false;
196 } else {
197 PinAttached[i] = true;
198 }
199 }
200 Serial.printf("PWM: %d Hz at %d-bit (dutyMax=%d)\n", freq, res, dutyMax);
201}
202
203void ledsetup() {
204 updateFrequency();
205}
206
207// Takes a string of an integer (numeric chars only). Returns the integer on success.
208// Prints error and returns 0 if there is a parse error or the ID is out of range.
209int parseID(const char *arg) {
210 char *end;
211 int id = strtol(arg, &end, 10);
212
213 if (*end != '\0' || id < 1 || id > 253) {
214 printlnError("Error: ID must be between 1 and 253");
215 return 0;
216 }
217
218 return id;
219}
220
221// Takes a string of an integer (numeric chars only). Returns the integer on success.
222// Prints error and returns -1 if there is a parse error or the PWM value is out of range.
223long parsePWM(const char *arg, long maxPWM) {
224 char *end;
225 long v = strtol(arg, &end, 10);
226
227 if (*end != '\0' || v < 0 || v > maxPWM) {
228 printlnError("Error: PWM value must be between 0 and ");
229 printlnError(maxPWM);
230 return -1;
231 }
232
233 return v;
234}
235
236void cmdUnrecognized(const char *cmd) {
237 printlnError("unrecognized command");
238 diagPrint("ERR unrecognized: ");
239 diagPrintln(cmd);
240}
241
242// if no argument, prints the frequency
243// if one argument, sets the frequency and then prints it
244void cmdSetFrequency() {
245 diagPrintln("GOT freq");
246 if(char *arg = CmdMgr.next()) {
247 if(CmdMgr.next()) {
248 printlnError("Error: takes 0 or 1 arguments");
249 diagPrintln("ERR freq too many args");
250 return;
251 }
252
253 char *end;
254 double v = strtod(arg, &end);
255
256 if(*end != '\0' || v < 1 || v > maxfreq) {
257 printlnError("Error: frequency must be between 1 and maxfreq Hz");
258 diagPrintln("ERR freq out of range");
259 return;
260 }
261
262 freq = round(v);
263 }
264
265 updateFrequency();
266 printAck("frequency: ");
267 printlnAck(freq);
268 // Report the actual chosen freq + the auto-selected resolution back to telnet
269 char buf[80];
270 snprintf(buf, sizeof(buf), "OK freq %d Hz at %d-bit (dutyMax=%d)", freq, res, dutyMax);
271 Serial.println(buf);
272 if (diagVerbose && LastClient && LastClient.connected()) LastClient.println(buf);
273}
274
275// pwm2 <numPeriods> <periodLengthMs> <v1> ... <v12>
276// Interpolates from each pin's current value to <vN> over numPeriods steps of
277// periodLengthMs ms each. Total fade time = numPeriods * periodLengthMs.
278// Examples:
279// pwm2 100 10 0 0 0 ... 0 → fade all to "on" over 1 second (100 × 10ms)
280// pwm2 50 100 65535 ... 65535 → fade all to "off" over 5 seconds (50 × 100ms)
281void cmdPWMPins2() {
282 diagPrintln("GOT pwm2");
283 const char *Usage = "Usage: pwm2 <numPeriods 1-1000> <periodMs 1-1000> <v1> ... <v12>";
284
285 // --- parse numPeriods ---
286 char *arg = CmdMgr.next();
287 if (arg == NULL) { printlnError(Usage); diagPrintln("ERR pwm2 no numPeriods"); return; }
288 long numPeriods = parsePWM(arg, 1000);
289 if (numPeriods < 1) { printlnError(Usage); diagPrintln("ERR pwm2 bad numPeriods"); return; }
290
291 // --- parse periodLength ---
292 arg = CmdMgr.next();
293 if (arg == NULL) { printlnError(Usage); diagPrintln("ERR pwm2 no periodMs"); return; }
294 long periodLength = parsePWM(arg, 1000);
295 if (periodLength < 1) { printlnError(Usage); diagPrintln("ERR pwm2 bad periodMs"); return; }
296
297 // --- parse channel values ---
298 long channelValues[NumPWMPins];
299 int count = 0;
300 while ((arg = CmdMgr.next())) {
301 if (count >= NumPWMPins) { printlnError(Usage); diagPrintln("ERR pwm2 too many args"); return; }
302 long value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
303 if (value < 0) {
304 printlnError(Usage);
305 diagPrint("ERR pwm2 bad arg at index ");
306 diagPrintln((long)count);
307 return;
308 }
309 channelValues[count++] = value;
310 }
311 if (count == 0) { printlnError(Usage); diagPrintln("ERR pwm2 no channel values"); return; }
312 diagPrint("pwm2 parsed ");
313 diagPrint((long)count);
314 diagPrint(" values, fade ");
315 diagPrint((long)(numPeriods * periodLength));
316 diagPrintln(" ms");
317
318 // --- interpolate with per-channel gamma correction ---
319 // Eye perceives brightness logarithmically; linear duty makes the dim end "pop"
320 // and the bright end "crawl." We interpolate in perceptual space (input^(1/gamma))
321 // so the perceived brightness changes linearly over time. Per-channel gamma
322 // (channelGamma[i % 3]) lets us slow more-efficient diodes (red) relative to
323 // less-efficient ones (blue/green).
324 float perceptualStart[NumPWMPins];
325 float perceptualEnd[NumPWMPins];
326 for (int i = 0; i < count; i++) {
327 float invG = 1.0f / channelGamma[i % 3];
328 perceptualStart[i] = powf(PinCurrentValues[i] / 65535.0f, invG);
329 perceptualEnd[i] = powf(channelValues[i] / 65535.0f, invG);
330 }
331
332 const TickType_t xDelay = pdMS_TO_TICKS(periodLength);
333 for (long period = 1; period <= numPeriods; period++) {
334 float t = period / (float)numPeriods;
335 for (int i = 0; i < count; i++) {
336 float p = perceptualStart[i] + (perceptualEnd[i] - perceptualStart[i]) * t;
337 float lum = powf(p, channelGamma[i % 3]);
338 unsigned long v = (unsigned long)(lum * 65535.0f);
339 myHRWrite(PWMPins[i], v);
340 }
341 vTaskDelay(xDelay); // yields to other tasks and feeds the watchdog
342 }
343
344 // snap to final target
345 for (int i = 0; i < count; i++) {
346 PinCurrentValues[i] = channelValues[i];
347 myHRWrite(PWMPins[i], channelValues[i]);
348 }
349
350 printAck("OK pwm2 ");
351 printAck(count);
352 printAck(" pins over ");
353 printAck(numPeriods * periodLength);
354 printlnAck(" ms");
355 diagPrint("OK pwm2 ");
356 diagPrintln((long)count);
357}
358
359// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
360void cmdPWMPins() {
361 diagPrintln("GOT pwm");
362 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
363
364 long channelValues[NumPWMPins];
365 int count = 0;
366
367 char *arg = CmdMgr.next();
368 if (arg == NULL) {
369 printlnError("Error: no arguments");
370 diagPrintln("ERR pwm no args");
371 return;
372 }
373
374 do {
375 int index;
376 long value;
377
378 if (count >= NumPWMPins) {
379 printlnError(SetPWMUsageMsg);
380 return;
381 }
382
383 char *end;
384 index = count;
385 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
386 if (value < 0) {
387 printlnError(SetPWMUsageMsg);
388 return;
389 }
390
391 printInfo("Set pin ");
392 printInfo(PWMPins[index]);
393 printInfo(" to ");
394 printlnInfo(value);
395 channelValues[index] = value;
396 count++;
397 } while ((arg = CmdMgr.next()));
398
399 // interpolate over a period of time
400 const TickType_t xDelay = PeriodLength / portTICK_PERIOD_MS;
401
402 for (int period = 1; period < 1+NumPeriods; period++) {
403 float fraction = period / (float)NumPeriods;
404 for (int i = 0; i < count; i++) {
405 unsigned long v = PinCurrentValues[i] + (channelValues[i] - PinCurrentValues[i]) * fraction;
406 myHRWrite(PWMPins[i], v);
407 }
408 }
409
410 for (int i = 0; i < count; i++) {
411 unsigned long v = channelValues[i];
412 PinCurrentValues[i] = v;
413 myHRWrite(PWMPins[i], v);
414 }
415
416 printAck("OK set ");
417 printAck(count);
418 printlnAck(" pins");
419 diagPrint("OK pwm ");
420 diagPrintln((long)count);
421}
422
423// verbose 0 | verbose 1 — toggle telnet GOT/OK/ERR markers
424void cmdVerbose() {
425 if (char *arg = CmdMgr.next()) {
426 diagVerbose = (atoi(arg) != 0);
427 }
428 Serial.print("verbose ");
429 Serial.println(diagVerbose ? "1" : "0");
430 if (LastClient && LastClient.connected()) {
431 LastClient.print("verbose ");
432 LastClient.println(diagVerbose ? "1" : "0");
433 }
434}
435
436// gamma <b> <g> <r> — set per-channel gamma exponents (BGR order, range 0.5–5.0).
437// Higher gamma slows that channel's perceived ramp during pwm2 fades.
438// "gamma" with no args reports the current values.
439void cmdGamma() {
440 for (int i = 0; i < 3; i++) {
441 char *arg = CmdMgr.next();
442 if (!arg) break;
443 float v = strtof(arg, NULL);
444 if (v >= 0.5f && v <= 5.0f) channelGamma[i] = v;
445 }
446 char buf[80];
447 snprintf(buf, sizeof(buf), "gamma B=%.2f G=%.2f R=%.2f",
448 channelGamma[0], channelGamma[1], channelGamma[2]);
449 Serial.println(buf);
450 if (LastClient && LastClient.connected()) LastClient.println(buf);
451}
452
453// hostname [name] — get or set the mDNS/OTA hostname. Set persists to NVS and
454// takes effect after a reboot (since mDNS and OTA bind their names at start).
455// Valid: 1–63 chars, ASCII letters/digits/hyphens.
456void cmdHostname() {
457 if (char *arg = CmdMgr.next()) {
458 size_t len = strlen(arg);
459 if (len < 1 || len > 63) {
460 printlnError("hostname must be 1-63 characters");
461 diagPrintln("ERR hostname bad length");
462 return;
463 }
464 // Basic sanity: alphanumeric + hyphen
465 for (size_t i = 0; i < len; i++) {
466 char c = arg[i];
467 bool ok = (c >= 'a' && c <= 'z') || (c >= 'A' && c <= 'Z') ||
468 (c >= '0' && c <= '9') || c == '-';
469 if (!ok) {
470 printlnError("hostname must be ASCII letters, digits, or hyphens");
471 diagPrintln("ERR hostname invalid chars");
472 return;
473 }
474 }
475 prefs.putString("hostname", arg);
476 char buf[128];
477 snprintf(buf, sizeof(buf),
478 "hostname stored as '%s' — `reboot` to apply", arg);
479 Serial.println(buf);
480 if (LastClient && LastClient.connected()) LastClient.println(buf);
481 } else {
482 char buf[128];
483 snprintf(buf, sizeof(buf), "hostname: %s", currentHostname);
484 Serial.println(buf);
485 if (LastClient && LastClient.connected()) LastClient.println(buf);
486 }
487}
488
489// reboot — soft-restart the chip. Useful after setting hostname or to recover
490// from a stuck state.
491void cmdReboot() {
492 Serial.println("Rebooting...");
493 if (LastClient && LastClient.connected()) {
494 LastClient.println("Rebooting...");
495 LastClient.flush();
496 LastClient.stop();
497 }
498 delay(200); // let buffers flush
499 ESP.restart();
500}
501
502void cmdSetPrintLevel() {
503 if (char *arg = CmdMgr.next()) {
504 if (CmdMgr.next()) {
505 printlnAlways("Error: takes 0 or 1 arguments");
506 return;
507 }
508
509 if (!PrintLevel::set(arg)) {
510 PrintLevel::printErrorString();
511 return;
512 }
513 }
514
515 printAck("print level ");
516 printlnAck(PrintLevel::toString());
517}
518
519void cmdServo() {
520 Serial.print("Got Servo shit");
521}
522
523///////////////////////////////////////////////////////////////////////////////////////////////////////////
524// setup & loop
525///////////////////////////////////////////////////////////////////////////////////////////////////////////
526
527void setup() {
528 Serial.begin(115200);
529 delay(50); // let USB-UART settle so the first prints don't get clipped
530
531 // Load hostname from NVS (set via `hostname <name>` command). Falls back to
532 // the compiled-in HOSTNAME #define if nothing has been stored yet.
533 prefs.begin("studiolight", false);
534 String stored = prefs.getString("hostname", HOSTNAME);
535 strncpy(currentHostname, stored.c_str(), sizeof(currentHostname) - 1);
536 currentHostname[sizeof(currentHostname) - 1] = '\0';
537 Serial.print("Hostname: ");
538 Serial.println(currentHostname);
539
540 ledsetup();
541 // Init pins to 0 — with INVERT, that's dutyMax → pin high → LEDs off.
542 for (int i=0; i < NumPWMPins; i++){
543 myHRWrite(PWMPins[i], 0);
544 PinCurrentValues[i] = 0;
545 }
546 // Kick off WiFi here; loop() will poll until associated. Keeping setup()
547 // short avoids the TG1 task watchdog firing on a slow cold boot.
548 WiFi.begin(ssid, password);
549 WiFi.setSleep(false); // arduino-esp32 forum: improves persistent-server stability
550 Serial.println("WiFi connecting...");
551}
552
553// loop()-side init state machine. Each loop() invocation does a small amount
554// of work and returns, which feeds the watchdog.
555enum InitState { FADE_TEST, WAIT_WIFI, START_SERVICES, RUNNING };
556InitState initState = FADE_TEST;
557int wifiWaitCount = 0;
558bool serverStarted = false;
559unsigned long fadeStartMs = 0;
560// LastClient declared at the top with the diag helpers.
561
562// 10-second boot self-test: fade all pins off→on→off so we can see the chip
563// is alive. Runs before WiFi so it's visible on every cold boot.
564// Protocol input space (with INVERT_HIGH_AND_LOW for active-high LEDs):
565// input 65535 → LED off, input 0 → LED full on.
566void loop() {
567 switch (initState) {
568 case FADE_TEST: {
569 if (fadeStartMs == 0) fadeStartMs = millis();
570 const unsigned long FADE_TOTAL_MS = 10000;
571 unsigned long elapsed = millis() - fadeStartMs;
572 if (elapsed >= FADE_TOTAL_MS) {
573 for (int i = 0; i < NumPWMPins; i++) {
574 myHRWrite(PWMPins[i], 65535); // off
575 PinCurrentValues[i] = 65535;
576 }
577 Serial.println("Boot fade test complete");
578 initState = WAIT_WIFI;
579 break;
580 }
581 // Triangle wave: brightness 0→1 over first half, 1→0 over second half.
582 float t = elapsed / (float)FADE_TOTAL_MS;
583 float brightness = (t < 0.5f) ? (t * 2.0f) : ((1.0f - t) * 2.0f);
584 unsigned long input = (unsigned long)((1.0f - brightness) * 65535.0f);
585 for (int i = 0; i < NumPWMPins; i++) {
586 unsigned long pinInput = input;
587 // Red channels (3rd pin of each RGB triple) honor RED_MAX_PWM, same as parsePWM.
588 if (i % 3 == 2 && pinInput > RED_MAX_PWM) pinInput = RED_MAX_PWM;
589 myHRWrite(PWMPins[i], pinInput);
590 }
591 delay(50); // ~20 fps; also feeds the watchdog
592 break;
593 }
594
595 case WAIT_WIFI:
596 if (WiFi.status() == WL_CONNECTED) {
597 Serial.println();
598 Serial.print("Connected to ");
599 Serial.println(ssid);
600 Serial.print("IP address: ");
601 Serial.println(WiFi.localIP());
602 initState = START_SERVICES;
603 } else if (wifiWaitCount < timeout) {
604 Serial.print(".");
605 wifiWaitCount++;
606 delay(500);
607 } else {
608 Serial.println(" (giving up on WiFi)");
609 initState = RUNNING; // run anyway, accept serial commands
610 }
611 break;
612
613 case START_SERVICES:
614 if (MDNS.begin(currentHostname)) {
615 Serial.print("mDNS responder started: ");
616 Serial.print(currentHostname);
617 Serial.println(".local");
618 MDNS.addService("telnet", "tcp", 23);
619 } else {
620 Serial.println("MDNS.begin failed — continuing without mDNS");
621 }
622 server.begin();
623 Serial.println("TCP server started on port 1337");
624
625 // ArduinoOTA — accept firmware uploads over WiFi
626 ArduinoOTA.setHostname(currentHostname);
627 ArduinoOTA.setPassword(OTA_PASSWORD);
628 ArduinoOTA.onStart([]() {
629 Serial.println("OTA: upload starting");
630 });
631 ArduinoOTA.onEnd([]() {
632 Serial.println("OTA: upload complete, rebooting");
633 });
634 ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
635 if ((progress * 100 / total) % 10 == 0) {
636 Serial.printf("OTA: %u%%\n", progress * 100 / total);
637 }
638 });
639 ArduinoOTA.onError([](ota_error_t error) {
640 Serial.printf("OTA error %u\n", error);
641 });
642 ArduinoOTA.begin();
643 Serial.println("ArduinoOTA started on port 3232");
644
645 serverStarted = true;
646 initState = RUNNING;
647 break;
648
649 case RUNNING: {
650 CmdMgr.readSerial();
651 ArduinoOTA.handle();
652
653 // Periodic WiFi health check. If association drops, retry — without this
654 // the chip would happily sit forever with no network after a router blip.
655 static unsigned long lastWifiCheckMs = 0;
656 if (millis() - lastWifiCheckMs > 10000) {
657 lastWifiCheckMs = millis();
658 if (WiFi.status() != WL_CONNECTED) {
659 Serial.println("WiFi dropped — reconnecting");
660 WiFi.reconnect();
661 }
662 }
663
664 if (serverStarted) {
665 WiFiClient newClient = server.accept();
666 if (newClient) {
667 if (LastClient) LastClient.stop(); // drop the old session cleanly
668 LastClient = newClient;
669 lastClientByteMs = millis();
670 Serial.println("New Client.");
671 LastClient.print(currentHostname);
672 LastClient.println(" ready");
673 }
674 if (LastClient && LastClient.connected()) {
675 while (LastClient.available()) {
676 char c = LastClient.read();
677 CmdMgr.handleChar(c);
678 Serial.write(c);
679 lastClientByteMs = millis();
680 }
681 // Idle-timeout: connected() can lie after FIN. Drop stale sessions.
682 if (millis() - lastClientByteMs > CLIENT_IDLE_TIMEOUT_MS) {
683 Serial.println("Client idle — dropping");
684 LastClient.stop();
685 LastClient = WiFiClient();
686 }
687 } else if (LastClient) {
688 LastClient.stop();
689 LastClient = WiFiClient();
690 }
691 }
692 break;
693 }
694 }
695}
esp8266/esp8266-frak/esp8266-frak.ino +478 -0
……@@ -0,0 +1,478 @@
1// Arduino sketch which outputs PWM for a set of channels based on serial input.
2
3
4#include <ESP8266WiFi.h>
5#include <ESP8266mDNS.h>
6#include <WiFiClient.h>
7//#include "/Users/jmzorko/work/circusautomatic/hardware/espressif/esp32/tools/sdk/include/soc/soc/rtc.h"
8//#include "/home/fleeky/Arduino/hardware/espressif/esp32/tools/sdk/include/freertos/freertos/task.h"
9
10const char* ssid = "ubitron";
11const char* password = "superduper";
12
13// TCP server at port 80 will respond to HTTP requests
14WiFiServer server(1337);
15const int timeout = 30;
16// Serial commands accepted:
17// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels
18// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list
19// - plevel <level>, change the amount of response text
20//
21// NOTE: initHRPWM and myHRWrite are set specifically to work on MEGAS. It could be tuned to work on
22// unos.
23#include <SC.h>
24#include <PrintLevel.h>
25#define INVERT_HIGH_AND_LOW
26#define RED_MAX_PWM 65534
27#define MAX_PWM 65534
28
29constexpr int NumPeriods = 3; // number of steps in fade
30constexpr int PeriodLength = 1; // sleep for this many ms
31
32//////////////////////////////////////////////////////////////////////////////////////
33int freq = 20000;
34int res = 16;
35int steps = 1;
36int defaultlight = 4000;
37int maxfreq = 40000;
38
39
40int ledChannel = 0;
41int ledChannel1 = 1;
42int ledChannel2 = 2;
43int ledChannel3 = 3;
44int ledChannel4 = 4;
45int ledChannel5 = 5;
46int ledChannel6 = 6;
47int ledChannel7 = 7;
48int ledChannel8 = 8;
49int ledChannel9 = 9;
50int ledChannel10 = 10;
51int ledChannel11 = 11;
52
53const int PWMPins[] = {32, 33, 25, 26, 27, 14, 12, 13, 2, 23, 22, 21};
54const int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);
55int PinCurrentValues[NumPWMPins] = {0};
56
57// this flag will invert PWM output (65535 - PWM), for active-low devices
58
59const char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";
60
61/////////////////////////////////////////////////////////////////////////////////////////
62// Command Manager and forward declarations for commands accessible from text interface
63/////////////////////////////////////////////////////////////////////////////////////////
64struct IDTuple {
65 int id;
66 long value;
67};
68int parseID(const char *arg);
69int parseListOfIDs(int *outIDs, int maxIDs);
70void cmdUnrecognized(const char *cmd);
71void cmdSetFrequency();
72void cmdPWMPins();
73void cmdPWMPins2();
74void cmdSetPrintLevel();
75void cmdServo();
76
77SerialCommand::Entry CommandsList[] = {
78 {"plevel", cmdSetPrintLevel},
79 {"freq", cmdSetFrequency},
80 {"pwm", cmdPWMPins},
81 {"pwm2", cmdPWMPins2},
82 {"s", cmdServo},
83 {NULL, NULL}
84};
85SerialCommand CmdMgr(CommandsList, cmdUnrecognized);
86
87
88/////////////////////////////////////////////////////////////////////////////////////////////
89// helpers
90/////////////////////////////////////////////////////////////////////////////////////////////
91
92unsigned long invertPWM(unsigned long c) {
93#ifdef INVERT_HIGH_AND_LOW
94 c = 65535 - c;
95#endif
96 return c;
97}
98
99void myHRWrite(int pin, unsigned value) {
100 //printAlways("setting pin to value: ");
101 //printAlways(pin);
102 //printAlways(" ");
103 //printlnAlways(value);
104 value = invertPWM(value);
105
106 switch (pin) {
107 case 32: ledcWrite(ledChannel, value); break;
108 case 33: ledcWrite(ledChannel1, value); break;
109 case 25: ledcWrite(ledChannel2, value); break;
110 case 26: ledcWrite(ledChannel3, value); break;
111 case 27: ledcWrite(ledChannel4, value); break;
112 case 14: ledcWrite(ledChannel5, value); break;
113 case 12: ledcWrite(ledChannel6, value); break;
114 case 13: ledcWrite(ledChannel7, value); break;
115 case 2: ledcWrite(ledChannel8, value); break;
116 case 23: ledcWrite(ledChannel9, value); break;
117 case 22: ledcWrite(ledChannel10, value); break;
118 case 21: ledcWrite(ledChannel11, value); break;
119 default: printlnError("invalid pin");
120 }
121}
122
123void updateFrequency() {
124 ledcSetup(ledChannel, freq, res);
125 ledcAttachPin(32, ledChannel);
126 myHRWrite(PWMPins[0], 0);
127
128 ledcSetup(ledChannel1, freq, res);
129 ledcAttachPin(33, ledChannel);
130 myHRWrite(PWMPins[1], 0);
131
132 ledcSetup(ledChannel2, freq, res);
133 ledcAttachPin(25, ledChannel);
134 myHRWrite(PWMPins[2], 0);
135
136 ledcSetup(ledChannel3, freq, res);
137 ledcSetup(ledChannel4, freq, res);
138 ledcSetup(ledChannel5, freq, res);
139 ledcSetup(ledChannel6, freq, res);
140 ledcSetup(ledChannel7, freq, res);
141 ledcSetup(ledChannel8, freq, res);
142 ledcSetup(ledChannel9, freq, res);
143 ledcSetup(ledChannel10, freq, res);
144 ledcSetup(ledChannel11, freq, res);
145
146 ledcAttachPin(32, ledChannel);
147 ledcAttachPin(33, ledChannel1);
148 ledcAttachPin(25, ledChannel2);
149 ledcAttachPin(26, ledChannel3);
150 ledcAttachPin(27, ledChannel4);
151 ledcAttachPin(14, ledChannel5);
152 ledcAttachPin(12, ledChannel6);
153 ledcAttachPin(13, ledChannel7);
154 ledcAttachPin(2, ledChannel8);
155 ledcAttachPin(23, ledChannel9);
156 ledcAttachPin(22, ledChannel10);
157 ledcAttachPin(21, ledChannel11);
158}
159
160void ledsetup() {
161 updateFrequency();
162
163// Pins that work 27,26,25 23,22,21 32,33,14 12,13,2
164
165
166 //for(uint8_t i=0; i < 12; i++)
167 // ledcWrite(channel, dutycycle)
168 // For 8-bit resolution duty cycle is 0 - 255
169// ledcWrite(ledChannel, 0); // test high output of all leds in sequence
170// ledcWrite(ledChannel1, 0); // test high output of all leds in sequence
171// ledcWrite(ledChannel2, 0); // test high output of all leds in sequence
172// ledcWrite(ledChannel3, 0); // test high output of all leds in sequence
173// ledcWrite(ledChannel4, 0); // test high output of all leds in sequence
174// ledcWrite(ledChannel5, 0); // test high output of all leds in sequence
175// ledcWrite(ledChannel6, 0); // test high output of all leds in sequence
176// ledcWrite(ledChannel7, 0); // test high output of all leds in sequence
177// ledcWrite(ledChannel8, 0); // test high output of all leds in sequence
178// ledcWrite(ledChannel9, 0); // test high output of all leds in sequence
179// ledcWrite(ledChannel10, 0); // test high output of all leds in sequence
180// ledcWrite(ledChannel11, 0); // test high output of all leds in sequence
181}
182
183// Takes a string of an integer (numeric chars only). Returns the integer on success.
184// Prints error and returns 0 if there is a parse error or the ID is out of range.
185int parseID(const char *arg) {
186 char *end;
187 int id = strtol(arg, &end, 10);
188
189 if (*end != '\0' || id < 1 || id > 253) {
190 printlnError("Error: ID must be between 1 and 253");
191 return 0;
192 }
193
194 return id;
195}
196
197// Takes a string of an integer (numeric chars only). Returns the integer on success.
198// Prints error and returns -1 if there is a parse error or the PWM value is out of range.
199long parsePWM(const char *arg, long maxPWM) {
200 char *end;
201 long v = strtol(arg, &end, 10);
202
203 if (*end != '\0' || v < 0 || v > maxPWM) {
204 printlnError("Error: PWM value must be between 0 and ");
205 printlnError(maxPWM);
206 return -1;
207 }
208
209 return v;
210}
211
212void cmdUnrecognized(const char *cmd) {
213 printlnError("unrecognized command");
214}
215
216// if no argument, prints the frequency
217// if one argument, sets the frequency and then prints it
218void cmdSetFrequency() {
219 if(char *arg = CmdMgr.next()) {
220 if(CmdMgr.next()) {
221 printlnError("Error: takes 0 or 1 arguments");
222 return;
223 }
224
225 char *end;
226 double v = strtod(arg, &end);
227
228 if(*end != '\0' || v < 1 || v > maxfreq) {
229 printlnError("Error: speed is in angle-units per second; between 1 and 1000");
230 return;
231 }
232
233 freq = round(v);
234 }
235
236 updateFrequency();
237 printAck("frequency: ");
238 printlnAck(freq);
239}
240
241void cmdPWMPins2() {
242 const char *SetPWM2UsageMsg = "Error: takes up to 13 arguments between 0 and 65535 (except argument 3's max is 45000).";
243
244 long channelValues[NumPWMPins];
245 int count = 0;
246
247 char *arg = CmdMgr.next();
248 if (arg == NULL) {
249 printlnError("Error: no arguments");
250 return;
251 }
252
253 long numPeriods = parsePWM(arg, 100);
254 arg = CmdMgr.next();
255 long periodLength = parsePWM(arg, 100);
256 arg = CmdMgr.next();
257
258 do {
259 int index;
260 long value;
261
262 if (count >= NumPWMPins) {
263 printlnError(SetPWM2UsageMsg);
264 return;
265 }
266
267 char *end;
268 index = count;
269 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
270 if (value < 0) {
271 printlnError(SetPWM2UsageMsg);
272// value = 4000;
273 return;
274 }
275
276 //printInfo("Set pin ");
277 //printInfo(PWMPins[index]);
278 //printInfo(" to ");
279 //printlnInfo(value);
280 channelValues[index] = value;
281 count++;
282 } while (arg = CmdMgr.next());
283
284 // interpolate over a period of time
285 const TickType_t xDelay = periodLength / portTICK_PERIOD_MS;
286
287 float frameDelay = 9.14; // 9.14ms - length of time between frames at 60fps
288
289 long beginTime = micros();
290 long endTime = beginTime + 9140;
291
292 for (long period = 1; period < 1+numPeriods; period++) {
293 //long beginTime = millis();
294 float fraction = period / (float)numPeriods;
295 for (int i = 0; i < count; i++) {
296 unsigned long v = PinCurrentValues[i] + (channelValues[i] - PinCurrentValues[i]) * fraction;
297 //printlnAlways(v);
298 myHRWrite(PWMPins[i], v);
299 }
300 //long endTime = millis();
301 //printlnAlways(endTime - beginTime);
302 //vTaskDelay(xDelay);
303 }
304
305 for (int i = 0; i < count; i++) {
306 unsigned long v = channelValues[i];
307 PinCurrentValues[i] = v;
308 myHRWrite(PWMPins[i], v);
309 }
310
311 //printAck("OK set ");
312 //printAck(count);
313 //printlnAck(" pins");
314}
315
316// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs
317void cmdPWMPins() {
318 const char *SetPWMUsageMsg = "Error: takes up to 12 arguments between 0 and 65535 (except argument 3's max is 45000).";
319
320 long channelValues[NumPWMPins];
321 int count = 0;
322
323 char *arg = CmdMgr.next();
324 if (arg == NULL) {
325 printlnError("Error: no arguments");
326 return;
327 }
328
329 do {
330 int index;
331 long value;
332
333 if (count >= NumPWMPins) {
334 printlnError(SetPWMUsageMsg);
335 return;
336 }
337
338 char *end;
339 index = count;
340 value = parsePWM(arg, count % 3 == 2 ? RED_MAX_PWM : MAX_PWM);
341 if (value < 0) {
342 printlnError(SetPWMUsageMsg);
343// value = 4000;
344 return;
345 }
346
347 printInfo("Set pin ");
348 printInfo(PWMPins[index]);
349 printInfo(" to ");
350 printlnInfo(value);
351 channelValues[index] = value;
352 count++;
353 } while (arg = CmdMgr.next());
354
355 // interpolate over a period of time
356 const TickType_t xDelay = PeriodLength / portTICK_PERIOD_MS;
357
358 for (int period = 1; period < 1+NumPeriods; period++) {
359 float fraction = period / (float)NumPeriods;
360 for (int i = 0; i < count; i++) {
361 unsigned long v = PinCurrentValues[i] + (channelValues[i] - PinCurrentValues[i]) * fraction;
362 //printlnAlways(v);
363 myHRWrite(PWMPins[i], v);
364 }
365 //vTaskDelay(xDelay);
366 }
367
368 for (int i = 0; i < count; i++) {
369 unsigned long v = channelValues[i];
370 PinCurrentValues[i] = v;
371 myHRWrite(PWMPins[i], v);
372 }
373
374 printAck("OK set ");
375 printAck(count);
376 printlnAck(" pins");
377}
378
379void cmdSetPrintLevel() {
380 if (char *arg = CmdMgr.next()) {
381 if (CmdMgr.next()) {
382 printlnAlways("Error: takes 0 or 1 arguments");
383 return;
384 }
385
386 if (!PrintLevel::set(arg)) {
387 PrintLevel::printErrorString();
388 return;
389 }
390 }
391
392 printAck("print level ");
393 printlnAck(PrintLevel::toString());
394}
395
396void cmdServo() {
397 Serial.print("Got Servo shit");
398
399}
400
401///////////////////////////////////////////////////////////////////////////////////////////////////////////
402// setup & loop
403///////////////////////////////////////////////////////////////////////////////////////////////////////////
404
405void setup() {
406 rtc_clk_cpu_freq_set(RTC_CPU_FREQ_240M);
407 ledsetup();
408 for (int i=0; i < NumPWMPins; i++){
409 myHRWrite(PWMPins[i], 0);
410 PinCurrentValues[i] = 0;
411 delay(10);
412 }
413 Serial.begin(115200);
414
415 WiFi.begin(ssid, password);
416 Serial.println("");
417
418 // Wait for connection
419 int i = 0;
420
421 while (WiFi.status() != WL_CONNECTED ) {
422 if (i < timeout) {
423 delay(500);
424 Serial.print(".");
425 i++;
426 }
427 else {
428 Serial.println(" ");
429 break;
430 }
431 }
432 if (WiFi.status() == WL_CONNECTED ) {
433 Serial.println("");
434 Serial.print("Connected to ");
435 Serial.println(ssid);
436 Serial.print("IP address: ");
437 Serial.println(WiFi.localIP());
438
439 // Set up mDNS responder:
440 // - first argument is the domain name, in this example
441 // the fully-qualified domain name is "esp8266.local"
442 // - second argument is the IP address to advertise
443 // we send our IP address on the WiFi network
444 if (!MDNS.begin("esp32")) {
445 Serial.println("Error setting up MDNS responder!");
446 while (1) {
447 delay(1000);
448 }
449 }
450 Serial.println("mDNS responder started");
451
452 // Start TCP (HTTP) server
453 server.begin();
454 Serial.println("TCP server started");
455
456 // Add service to MDNS-SD
457 MDNS.addService("telnet", "tcp", 23);
458 }
459 Serial.println("Initial LED Setup");
460}
461
462WiFiClient LastClient;
463
464void loop() {
465 CmdMgr.readSerial();
466 if (WiFiClient newClient = server.available()) {
467 Serial.println("New Client.");
468 LastClient = newClient;
469 }
470
471 if (LastClient && LastClient.connected()) {
472 while (LastClient.available()) {
473 char c = LastClient.read(); // read a byte, then
474 CmdMgr.handleChar(c);
475 Serial.write(c); // print it out the serial monitor
476 }
477 }
478}
esp8266/esp8266-rgb/esp8266-rgb/esp8266-rgb.ino +31 -0
……@@ -0,0 +1,31 @@
1int red = D4;
2int green = D3;
3int blue = D2;
4
5// the setup routine runs once when you press reset:
6void setup()
7{
8// initialize the digital pin as an output.
9pinMode(red, OUTPUT);
10pinMode(green, OUTPUT);
11pinMode(blue, OUTPUT);
12digitalWrite(red, HIGH);
13digitalWrite(green, HIGH);
14digitalWrite(blue, HIGH);
15}
16
17// the loop routine runs over and over again forever:
18void loop() {
19
20digitalWrite(red, HIGH); // turn the LED on
21digitalWrite(green, LOW); // turn the LED on
22digitalWrite(blue, LOW); // turn the LED on
23delay(1000); // wait for a second
24digitalWrite(red, LOW); // turn the LED on
25digitalWrite(green, HIGH); // turn the LED on
26delay(1000); // wait for a second
27digitalWrite(green, LOW); // turn the LED on
28digitalWrite(blue, HIGH); // turn the LED on
29delay(1000); // wait for a second
30
31}
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1import bpy, socket, math, ast, threading, queue
2from enum import Enum
3
4ARM_NAME_PREFIX = 'arm.'
5LIGHT_NAME_PREFIX = 'light.'
6#QUAD_NAME_PREFIX = 'quad.'
7BGR_PREFIX = 'bgr-'
8LIGHT_PWM_MAX = 255
9LIGHT_PWM_RED_MAX = 255
10LIGHT_LUM_MAX = 1.0
11
12ConnState = Enum('ConnState', 'none connecting connected')
13class Connection:
14 def __init__(self, socket, state=ConnState.none):
15 self.socket = socket
16 self.state = state
17
18# map from IP address to Connection
19sockets = {}
20quad_last_command_dict = {}
21# ip addresses to be connected to and added to sockets dict
22sockets_queue = queue.Queue()
23
24# connect to address and store socket in persistent global map
25def connect_socket(ip, port = 1337):
26 server_address = (ip, port)
27 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
28 sock.settimeout(1.0)
29
30 print('connecting to', server_address)
31 sockets[ip].state = ConnState.connecting
32 try:
33 sock.connect(server_address)
34 print('connected to', server_address)
35 sock.sendall(b'speed 200gZ78\n')
36 sockets[ip].socket = sock
37 sockets[ip].state = ConnState.connected
38 return sock
39
40 except socket.timeout:
41 print('error: connection timed out on', ip)
42
43class SocketThread(threading.Thread):
44 def __init__(self, name):
45 self.shouldExit = False
46 threading.Thread.__init__(self, name=name, daemon=True)
47 self.start()
48
49 def run(self):
50 while True:
51 if self.shouldExit: return
52
53 ip = sockets_queue.get()
54 if sockets[ip].state != ConnState.connected:
55 connect_socket(ip)
56 else:
57 print('skipping', ip)
58 sockets_queue.task_done()
59
60socket_thread = SocketThread('st')
61
62# find the LAMP attached to this arm
63def getLamp(arm):
64 for child in arm.children:
65 if child.type == 'LAMP':
66 return child
67
68# returns robot arm LED intensity in integer units
69def pwmFromLuminosity(lum, pwm_max=LIGHT_PWM_MAX):
70 pwm = int(round(abs(lum) / LIGHT_LUM_MAX * pwm_max))
71 return pwm
72
73def luminosityFromPWM(pwm, pwm_max=LIGHT_PWM_MAX):
74 lum = pwm * LIGHT_LUM_MAX / pwm_max
75 return lum
76
77# returns a list of arm angles, starting from the base
78# units are dynamixel units [200, 824]
79def getAngles(arm):
80
81 def dynamixel_from_degrees(angle):
82 return int(round((angle - 90) * 600.0/180 + 512))
83
84 # convert to degrees because they are easier to debug
85 rad_to_deg = 180.0/math.pi
86 up = arm.pose.bones['base']
87 fo = arm.pose.bones['forearm']
88
89 up_q = up.matrix.to_quaternion()
90 fo_q = fo.matrix.to_quaternion()
91 fo_q.rotate(up_q.inverted())
92
93 # TODO get local orientation somehow instead of adding 180 and 90
94 up_a = up.matrix.to_euler().x * rad_to_deg + 180
95 fo_a = fo_q.to_euler().z * rad_to_deg + 90
96 #up_a = 0 if up_a < 0 else up_a
97 #print(fo_q.to_euler(), fo_a)
98
99 # convert to dynamixel units
100 angles = [dynamixel_from_degrees(a) for a in [up_a, fo_a]]
101 #print(angles)
102 return angles
103
104 '''upperarm_angles = upperarm.matrix.to_euler()
105 forearm_angles = (upperarm.matrix.inverted() * forearm.matrix).to_euler()
106 print('upperarm angles:', upperarm_angles)
107 print('forearm angles: ', forearm_angles)
108 s
109 #angles[0] = arm.pose.bones[0].rotation_quaternion.to_euler()[0]
110 #angles[1] = arm.pose.bones[1].rotation_quaternion.to_euler()[1]
111
112 angles = [x * 600/math.pi + 512 for x in angles]
113'''
114
115def robot_anim_handler(scene):
116 # TODO alter serial protocol to use negative IDs
117 #baseID = 1
118
119 # dict mapping ip to (dict mapping 1-based index to pwm string)s
120 quad_pwm_dicts = {}
121
122 # find light arm objects
123 for o in bpy.data.objects:
124 if o.name.startswith(ARM_NAME_PREFIX):
125 ip = o.name[len(ARM_NAME_PREFIX):]
126 pwm = pwmFromLuminosity(getLamp(o).data.energy)
127 angles = getAngles(o)
128
129 # assemble command string
130 s = 's'
131 for i in range(len(angles)):
132 s += ' ' + str(i+baseID) + ':' + str(angles[i])
133
134 s += '\nc ' + str(pwm) + '\n'
135 sendString(ip, s)
136
137 elif o.name.startswith(LIGHT_NAME_PREFIX):
138 ip = o.name[len(LIGHT_NAME_PREFIX):]
139 pwm = pwmFromLuminosity(o.data.energy)
140
141 # assemble command string
142 s = 'c ' + str(pwm) + '\n'
143 sendString(ip, s)
144
145 elif o.name.startswith(BGR_PREFIX):
146 tokens = o.name.split('-')
147 index = int(tokens[1])
148 ip = tokens[2]
149
150 # these will be appended together
151 ss = str(pwmFromLuminosity(o.data.color[0])) + ' '
152 ss += str(pwmFromLuminosity(o.data.color[1])) + ' '
153 ss += str(pwmFromLuminosity(o.data.color[2], LIGHT_PWM_RED_MAX)) + ' '
154
155 try: pwm_dict = quad_pwm_dicts[ip]
156 except:
157 pwm_dict = {}
158 quad_pwm_dicts[ip] = pwm_dict
159 pwm_dict[index] = ss
160
161 for ip,pwm_dict in quad_pwm_dicts.items():
162 # assemble command string in order, starting with index 1
163 s = 'c '
164 for i in range(1, 5):
165 try: s += pwm_dict[i]
166 except: s += '0 0 0 ' # not found--use zeros for this light
167 s += '\n'
168
169 # save the last command sent to an IP address
170 # sending commands every 30 times a second overwhelms the ESP32
171 #global quad_last_command_dict
172 try:
173 if s in quad_last_command_dict[ip]: continue
174 except: pass
175 quad_last_command_dict[ip] = s
176 #print(s)
177 sendString(ip, s)
178
179def sendString(ip, s):
180 if not ip: return
181 #print(s.replace('\n', '_'))
182 print(ip + ": " + s)
183 # if this is the first time trying to talk to this device, create an entry
184 # and connect
185 conn = None
186 try:
187 conn = sockets[ip]
188 except KeyError:
189 print('not connected; queueing', ip)
190 sockets[ip] = Connection(None)
191 sockets_queue.put(ip)
192
193 if conn and conn.state == ConnState.connected:
194 try:
195 #print(s)
196 conn.socket.sendall(bytes(s, 'UTF-8'))
197 except (socket.timeout, BrokenPipeError, ConnectionResetError) as e:
198 print('lost connection; queueing', ip)
199 conn.state = ConnState.none
200 sockets_queue.put(ip)
201
202def saveToFile(filepath):
203 with open(filepath, 'w') as f:
204 arms = {}
205
206 for arm in bpy.data.objects:
207 if not arm.name.startswith(ARM_NAME_PREFIX): continue
208
209 ip = arm.name[len(ARM_NAME_PREFIX):]
210 angles = getAngles(arm)
211 light = pwmFromLuminosity(getLamp(arm).data.energy)
212
213 dict = {'angles': angles, 'light': light}
214 arms[ip] = dict
215
216 text = "{'LightArms': \n " + str(arms) + "\n}\n"
217 f.write(text)
218
219def loadFromFile(filepath):
220 with open(filepath, 'r') as f:
221 text = f.read()
222 json = ast.literal_eval(text)
223 arms = json['LightArms']
224
225 for ip, data in arms.items():
226 name = ARM_NAME_PREFIX + ip
227 arm = bpy.data.objects[name]
228
229 pwm = data['light']
230 getLamp(arm).data.energy = luminosityFromPWM(pwm)
231
232 angles = data['angles']
233 # TODO_set angles
234
235###################################################################################
236# Menu in toolprops region
237class RobotPanel(bpy.types.Panel):
238 bl_label = "Robot Scene"
239 bl_space_type = "VIEW_3D"
240 bl_region_type = "TOOL_PROPS"
241
242 def draw(self, context):
243 self.layout.operator("circus.saver", text='Save Robot Positions')
244 #self.layout.operator("circus.loader", text='Load Robot Positions')
245
246class CircusSaver(bpy.types.Operator):
247 """Export Robot Data"""
248 bl_idname = "circus.saver"
249 bl_label = "Save the robots"
250 filepath = bpy.props.StringProperty(subtype="FILE_PATH")
251
252 @classmethod
253 def poll(cls, context):
254 return context.object is not None
255
256 def execute(self, context):
257 saveToFile(self.filepath)
258 return {'FINISHED'}
259
260 def invoke(self, context, event):
261 context.window_manager.fileselect_add(self)
262 return {'RUNNING_MODAL'}
263
264class CircusLoader(bpy.types.Operator):
265 """Export Robot Data"""
266 bl_idname = "circus.loader"
267 bl_label = "Load the robots"
268 filepath = bpy.props.StringProperty(subtype="FILE_PATH")
269
270 @classmethod
271 def poll(cls, context):
272 return context.object is not None
273
274 def execute(self, context):
275 loadFromFile(self.filepath)
276 return {'FINISHED'}
277
278 def invoke(self, context, event):
279 context.window_manager.fileselect_add(self)
280 return {'RUNNING_MODAL'}
281
282def unregister():
283 bpy.utils.unregister_class(RobotPanel)
284
285if __name__ == "__main__":
286 # re-register this handler
287 bpy.app.handlers.frame_change_post.clear()
288 bpy.app.handlers.frame_change_post.append(robot_anim_handler)
289
290 # create menu
291 #bpy.utils.register_module(__name__)
292 bpy.utils.register_class(RobotPanel)
293 bpy.utils.register_class(CircusLoader)
294 bpy.utils.register_class(CircusSaver)
295