diff --git a/wifi-test/wifi-with-ui.ino b/wifi-test/wifi-with-ui.ino
index 2c880ab84163745daa45e1e647b4c85906ccba04..8c1e2b4465bb8db431833b92dfa2aea68cf600b3 100644
--- a/wifi-test/wifi-with-ui.ino
+++ b/wifi-test/wifi-with-ui.ino
@@ -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 ¤tPos, int targetPos) {
if (currentPos < targetPos) {
for (int pos = currentPos; pos <= targetPos; pos += STEP_SIZE) {
@@ -89,11 +132,29 @@ void moveServoSmooth(Servo &servo, int ¤tPos, 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));
}