better fist animation

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 &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));
     }