From 312a8a60c95925fdc0102f69ca7cf3190287035a Mon Sep 17 00:00:00 2001
From: Muhammad Hazimi Bin Yusri <mhby1g21@soton.ac.uk>
Date: Fri, 28 Feb 2025 15:40:09 +0000
Subject: [PATCH] added wifi version to be compatible with uno r4 wifi library
---
wifi-test/get-mac-address-uno-r4.ino | 45 ++++
wifi-test/wifi_with_ui_uno-r4.ino | 333 +++++++++++++++++++++++++++
2 files changed, 378 insertions(+)
create mode 100644 wifi-test/get-mac-address-uno-r4.ino
create mode 100644 wifi-test/wifi_with_ui_uno-r4.ino
diff --git a/wifi-test/get-mac-address-uno-r4.ino b/wifi-test/get-mac-address-uno-r4.ino
new file mode 100644
index 0000000..3d7eec3
--- /dev/null
+++ b/wifi-test/get-mac-address-uno-r4.ino
@@ -0,0 +1,45 @@
+#include <SPI.h>
+#include <WiFi.h>
+
+
+// For some reason, the mac adress code using WifiS3 give 00:00:00... which seems like placeholder value
+// so just used a phone hotspot and chech connected device mac address there.
+char ssid[] = "Danisha's A54"; // the name of your network
+char password[] = "reply1988";
+
+int status = WL_IDLE_STATUS; // the Wifi radio's status
+
+byte mac[6]; // the MAC address of your Wifi shield
+
+void setup()
+{
+ Serial.begin(115200);
+
+ status = WiFi.begin(ssid, password);
+
+ if (status != WL_CONNECTED)
+ {
+ Serial.println("Couldn't get a wifi connection");
+ while (true)
+ ;
+ }
+ // if you are connected, print your MAC address:
+ else
+ {
+ WiFi.macAddress(mac);
+ Serial.print("MAC: ");
+ Serial.print(mac[5], HEX);
+ Serial.print(":");
+ Serial.print(mac[4], HEX);
+ Serial.print(":");
+ Serial.print(mac[3], HEX);
+ Serial.print(":");
+ Serial.print(mac[2], HEX);
+ Serial.print(":");
+ Serial.print(mac[1], HEX);
+ Serial.print(":");
+ Serial.println(mac[0], HEX);
+ }
+}
+
+void loop() {}
\ No newline at end of file
diff --git a/wifi-test/wifi_with_ui_uno-r4.ino b/wifi-test/wifi_with_ui_uno-r4.ino
new file mode 100644
index 0000000..6f683d3
--- /dev/null
+++ b/wifi-test/wifi_with_ui_uno-r4.ino
@@ -0,0 +1,333 @@
+#include <WiFiS3.h>
+#include <Servo.h>
+
+// WiFi credentials
+const char ssid[] = "SOTON-IoT";
+const char pass[] = "pUguZXWtBDzl";
+int status = WL_IDLE_STATUS;
+
+// Server settings
+WiFiServer server(80);
+
+// Create servo objects
+Servo index_f;
+Servo middle;
+Servo ring;
+Servo pinky;
+
+// Servo pins - UNO R4 WiFi has different pin layout, adjust if needed
+const int indexPin = 2;
+const int middlePin = 3;
+const int ringPin = 4;
+const int pinkyPin = 5;
+
+// Current positions
+int indexPos = 90;
+int middlePos = 90;
+int ringPos = 90;
+int pinkyPos = 90;
+
+// Target positions for smooth movement
+int indexTarget = 90;
+int middleTarget = 90;
+int ringTarget = 90;
+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
+
+void setup() {
+ Serial.begin(9600);
+
+ // Initialize servos
+ index_f.attach(indexPin);
+ middle.attach(middlePin);
+ ring.attach(ringPin);
+ pinky.attach(pinkyPin);
+
+ // Set initial positions
+ index_f.write(indexPos);
+ middle.write(middlePos);
+ ring.write(ringPos);
+ pinky.write(pinkyPos);
+
+ // Check for WiFi module
+ if (WiFi.status() == WL_NO_MODULE) {
+ Serial.println("Communication with WiFi module failed!");
+ while (true);
+ }
+
+ // Check firmware version
+ String fv = WiFi.firmwareVersion();
+ Serial.print("Firmware version: ");
+ Serial.println(fv);
+
+ // Attempt to connect to WiFi network
+ while (status != WL_CONNECTED) {
+ Serial.print("Attempting to connect to Network: ");
+ Serial.println(ssid);
+ status = WiFi.begin(ssid, pass);
+ delay(10000);
+ }
+
+ Serial.println("Connected to wifi");
+ printWiFiStatus();
+
+ 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) {
+ servo.write(pos);
+ currentPos = pos;
+ delay(STEP_DELAY);
+ }
+ } else {
+ for (int pos = currentPos; pos >= targetPos; pos -= STEP_SIZE) {
+ servo.write(pos);
+ currentPos = pos;
+ delay(STEP_DELAY);
+ }
+ }
+}
+
+void loop() {
+ // 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();
+
+ if (client) {
+ Serial.println("New client connected");
+ String request = "";
+ boolean currentLineIsBlank = true;
+
+ while (client.connected()) {
+ if (client.available()) {
+ char c = client.read();
+ request += c;
+
+ if (c == '\n' && currentLineIsBlank) {
+ client.println("HTTP/1.1 200 OK");
+ client.println("Content-Type: text/html");
+ client.println("Connection: close");
+ client.println();
+
+ // Send HTML page
+ client.println("<!DOCTYPE html>");
+ client.println("<html>");
+ client.println("<head>");
+ client.println("<title>Robotic Hand Control</title>");
+ client.println("<meta name='viewport' content='width=device-width, initial-scale=1'>");
+ client.println("<style>");
+ client.println("body { font-family: Arial; margin: 20px; }");
+ client.println(".control-group { margin-bottom: 20px; background: #f5f5f5; padding: 15px; border-radius: 8px; }");
+ client.println(".slider { width: 200px; margin: 10px 0; }");
+ client.println(".button { background: #4CAF50; color: white; padding: 10px 20px; border: none; border-radius: 4px; cursor: pointer; margin: 5px; }");
+ client.println(".button:hover { background: #45a049; }");
+ client.println(".preset { background: #2196F3; }");
+ client.println(".reset { background: #f44336; }");
+ 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 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)'>");
+ client.println("<span>Position: " + String(positions[i]) + "°</span>");
+ client.println("<br>");
+ client.println("<button class='button' onclick='updateFinger(\"" + endpoints[i] + "\", 0)'>Close</button>");
+ client.println("<button class='button' onclick='updateFinger(\"" + endpoints[i] + "\", 180)'>Open</button>");
+ client.println("</div>");
+ }
+ client.println("</div>");
+
+ // Additional preset controls
+ client.println("<div class='control-group'>");
+ client.println("<h3>Other Controls</h3>");
+ client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>");
+ client.println("</div>");
+
+ // JavaScript
+ client.println("<script>");
+ client.println("function updateFinger(finger, angle) {");
+ client.println(" fetch('/' + finger + '/' + angle);");
+ client.println("}");
+
+ client.println("function allFingers(angle) {");
+ client.println(" fetch('/fist/' + angle);");
+ client.println("}");
+
+ client.println("function resetPositions() {");
+ client.println(" allFingers(90);");
+ 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>");
+
+ client.println("</body></html>");
+ break;
+ }
+ if (c == '\n') {
+ currentLineIsBlank = true;
+ } else if (c != '\r') {
+ currentLineIsBlank = false;
+ }
+ }
+ }
+
+ // Process the request
+ if (request.indexOf("GET /") != -1) {
+ processRequest(request);
+ }
+
+ delay(10);
+ client.stop();
+ Serial.println("Client disconnected");
+ }
+}
+
+void processRequest(String request) {
+ int start = request.indexOf("GET ") + 4;
+ int end = request.indexOf(" HTTP");
+
+ if (start != -1 && end != -1) {
+ String command = request.substring(start, end);
+ Serial.println("Command: " + command);
+
+ // Parse command and set target positions
+ 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));
+ }
+ else if (command.startsWith("/middle/")) {
+ middleTarget = constrain(command.substring(8).toInt(), 0, 180);
+ Serial.println("Moving middle to " + String(middleTarget));
+ }
+ else if (command.startsWith("/ring/")) {
+ ringTarget = constrain(command.substring(6).toInt(), 0, 180);
+ Serial.println("Moving ring to " + String(ringTarget));
+ }
+ else if (command.startsWith("/pinky/")) {
+ pinkyTarget = constrain(command.substring(7).toInt(), 0, 180);
+ Serial.println("Moving pinky to " + String(pinkyTarget));
+ }
+ }
+}
+
+void printWiFiStatus() {
+ Serial.print("SSID: ");
+ Serial.println(WiFi.SSID());
+
+ IPAddress ip = WiFi.localIP();
+ Serial.print("IP Address: ");
+ Serial.println(ip);
+
+ long rssi = WiFi.RSSI();
+ Serial.print("Signal strength (RSSI):");
+ Serial.print(rssi);
+ Serial.println(" dBm");
+}
\ No newline at end of file
--
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