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Commit 1990abba authored by mhby1g21's avatar mhby1g21
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better fist animation

parent d11520bb
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wifi-test/wifi-with-ui.ino
+ 101
− 30
View file @ 1990abba
......@@ -35,7 +35,7 @@ int pinkyTarget = 90;
// Movement parameters
const int STEP_DELAY = 5; // Delay between steps (ms)
const int STEP_SIZE = 15; // Size of each step in degrees
const int STEP_SIZE = 15; // Size of each step in degrees
void setup() {
Serial.begin(9600);
......@@ -72,6 +72,49 @@ void setup() {
server.begin();
}
// Move all servos together for fist motion
void moveAllServosSmooth(int targetPos) {
int maxSteps = 0;
// Calculate the maximum number of steps needed
maxSteps = max(maxSteps, abs(indexTarget - indexPos));
maxSteps = max(maxSteps, abs(middleTarget - middlePos));
maxSteps = max(maxSteps, abs(ringTarget - ringPos));
maxSteps = max(maxSteps, abs(pinkyTarget - pinkyPos));
if (maxSteps > 0) {
// Calculate step size for each finger
float indexStep = (float)(indexTarget - indexPos) / maxSteps;
float middleStep = (float)(middleTarget - middlePos) / maxSteps;
float ringStep = (float)(ringTarget - ringPos) / maxSteps;
float pinkyStep = (float)(pinkyTarget - pinkyPos) / maxSteps;
// Move all fingers together
for (int i = 1; i <= maxSteps; i++) {
// Calculate next position for each finger
int newIndexPos = indexPos + round(indexStep * i);
int newMiddlePos = middlePos + round(middleStep * i);
int newRingPos = ringPos + round(ringStep * i);
int newPinkyPos = pinkyPos + round(pinkyStep * i);
// Move all servos
index_f.write(newIndexPos);
middle.write(newMiddlePos);
ring.write(newRingPos);
pinky.write(newPinkyPos);
delay(STEP_DELAY);
}
// Update the current positions
indexPos = indexTarget;
middlePos = middleTarget;
ringPos = ringTarget;
pinkyPos = pinkyTarget;
}
}
// Individual servo movement for single finger control
void moveServoSmooth(Servo &servo, int &currentPos, int targetPos) {
if (currentPos < targetPos) {
for (int pos = currentPos; pos <= targetPos; pos += STEP_SIZE) {
......@@ -89,11 +132,29 @@ void moveServoSmooth(Servo &servo, int &currentPos, int targetPos) {
}
void loop() {
// Handle smooth servo movements
if (indexPos != indexTarget) moveServoSmooth(index_f, indexPos, indexTarget);
if (middlePos != middleTarget) moveServoSmooth(middle, middlePos, middleTarget);
if (ringPos != ringTarget) moveServoSmooth(ring, ringPos, ringTarget);
if (pinkyPos != pinkyTarget) moveServoSmooth(pinky, pinkyPos, pinkyTarget);
// Check if any finger needs to move to its target position
bool needToMove = (indexPos != indexTarget) ||
(middlePos != middleTarget) ||
(ringPos != ringTarget) ||
(pinkyPos != pinkyTarget);
// If all fingers have the same target (fist motion), move them simultaneously
bool sameFistMotion = (indexTarget == middleTarget &&
middleTarget == ringTarget &&
ringTarget == pinkyTarget);
if (needToMove) {
if (sameFistMotion) {
// Move all fingers together
moveAllServosSmooth(indexTarget);
} else {
// Move individual fingers
if (indexPos != indexTarget) moveServoSmooth(index_f, indexPos, indexTarget);
if (middlePos != middleTarget) moveServoSmooth(middle, middlePos, middleTarget);
if (ringPos != ringTarget) moveServoSmooth(ring, ringPos, ringTarget);
if (pinkyPos != pinkyTarget) moveServoSmooth(pinky, pinkyPos, pinkyTarget);
}
}
WiFiClient client = server.available();
......@@ -127,20 +188,31 @@ void loop() {
client.println(".button:hover { background: #45a049; }");
client.println(".preset { background: #2196F3; }");
client.println(".reset { background: #f44336; }");
client.println(".wave { background: #ff9800; }");
client.println(".fist { background: #9C27B0; }");
client.println("</style>");
client.println("</head>");
client.println("<body>");
client.println("<h1>Robotic Hand Control Panel</h1>");
// Fist motion controls (added at top for prominence)
client.println("<div class='control-group'>");
client.println("<h2>Fist Motion Controls</h2>");
client.println("<button class='button fist' onclick='allFingers(0)'>Close Fist</button>");
client.println("<button class='button fist' onclick='allFingers(180)'>Open Hand</button>");
client.println("<button class='button fist' onclick='fistGrasp()'>Grasp Motion</button>");
client.println("</div>");
// Individual finger controls
String fingers[] = {"Index", "Middle", "Ring", "Pinky"};
int positions[] = {indexPos, middlePos, ringPos, pinkyPos};
String endpoints[] = {"index", "middle", "ring", "pinky"};
client.println("<div class='control-group'>");
client.println("<h2>Individual Finger Controls</h2>");
for(int i = 0; i < 4; i++) {
client.println("<div class='control-group'>");
client.println("<div style='margin-bottom:10px;'>");
client.println("<h3>" + fingers[i] + " Finger</h3>");
client.println("<input type='range' class='slider' min='0' max='180' value='" + String(positions[i]) + "' ");
client.println("oninput='updateFinger(\"" + endpoints[i] + "\", this.value)'>");
......@@ -150,19 +222,12 @@ void loop() {
client.println("<button class='button' onclick='updateFinger(\"" + endpoints[i] + "\", 180)'>Open</button>");
client.println("</div>");
}
// Preset controls
client.println("<div class='control-group'>");
client.println("<h3>Preset Controls</h3>");
client.println("<button class='button preset' onclick='allFingers(0)'>Close All</button>");
client.println("<button class='button preset' onclick='allFingers(180)'>Open All</button>");
client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>");
client.println("</div>");
// Wave motion controls
// Additional preset controls
client.println("<div class='control-group'>");
client.println("<h3>Wave Motion</h3>");
client.println("<button class='button wave' onclick='startWave()'>Start Wave</button>");
client.println("<h3>Other Controls</h3>");
client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>");
client.println("</div>");
// JavaScript
......@@ -172,23 +237,20 @@ void loop() {
client.println("}");
client.println("function allFingers(angle) {");
client.println(" ['index', 'middle', 'ring', 'pinky'].forEach(finger => {");
client.println(" updateFinger(finger, angle);");
client.println(" });");
client.println(" fetch('/fist/' + angle);");
client.println("}");
client.println("function resetPositions() {");
client.println(" allFingers(90);");
client.println("}");
client.println("function startWave() {");
client.println(" let fingers = ['index', 'middle', 'ring', 'pinky'];");
client.println(" let delay = 0;");
client.println(" fingers.forEach(finger => {");
client.println(" setTimeout(() => updateFinger(finger, 180), delay);");
client.println(" setTimeout(() => updateFinger(finger, 0), delay + 1000);");
client.println(" delay += 500;");
client.println(" });");
client.println("function fistGrasp() {");
client.println(" // Open hand first");
client.println(" allFingers(180);");
client.println(" // Close after a delay");
client.println(" setTimeout(() => allFingers(0), 1500);");
client.println(" // Open again after another delay");
client.println(" setTimeout(() => allFingers(180), 3000);");
client.println("}");
client.println("</script>");
......@@ -223,7 +285,16 @@ void processRequest(String request) {
Serial.println("Command: " + command);
// Parse command and set target positions
if (command.startsWith("/index/")) {
if (command.startsWith("/fist/")) {
// Set all fingers to same position
int angle = constrain(command.substring(6).toInt(), 0, 180);
indexTarget = angle;
middleTarget = angle;
ringTarget = angle;
pinkyTarget = angle;
Serial.println("Moving all fingers to " + String(angle));
}
else if (command.startsWith("/index/")) {
indexTarget = constrain(command.substring(7).toInt(), 0, 180);
Serial.println("Moving index to " + String(indexTarget));
}
......
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