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Commit 47c32db4 authored by mhby1g21's avatar mhby1g21
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works ish idk

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with 115 additions and 41 deletions
wifi-car.ino
+ 115
− 41
View file @ 47c32db4
......@@ -5,7 +5,7 @@ const char ssid[] = "SOTON-IoT";
const char pass[] = "pUguZXWtBDzl";
int status = WL_IDLE_STATUS;
unsigned long lastConnectionAttempt = 0;
const unsigned long connectionRetryInterval = 10000; // 10 seconds between reconnection attempts
const unsigned long connectionRetryInterval = 1000; // 1 seconds between reconnection attempts
// Server settings
WiFiServer server(80);
......@@ -41,7 +41,7 @@ enum MovementState {
MovementState currentState = STATE_STOP;
unsigned long lastCommandTime = 0;
const unsigned long commandTimeout = 10000; // 10 seconds timeout for safety
const unsigned long commandTimeout = 30000; // 30 seconds timeout for safety
// Simple watchdog implementation
unsigned long lastWatchdogTime = 0;
......@@ -54,6 +54,10 @@ bool newCommandReceived = false;
// Connection monitoring
unsigned long lastConnectionCheck = 0;
const unsigned long connectionCheckInterval = 5000; // Check connection every 5 seconds
bool hasValidIP = false;
// DNS settings to help with connectivity
IPAddress dns(8, 8, 8, 8); // Google DNS
void setup() {
// Initialize serial
......@@ -76,8 +80,16 @@ void setup() {
stopMotors();
digitalWrite(MOVING_LED, LOW);
// Connect to WiFi
connectToWiFi();
// Connect to WiFi - try multiple times if needed
bool connected = false;
for (int attempt = 0; attempt < 3 && !connected; attempt++) {
Serial.print("Connection attempt #");
Serial.println(attempt + 1);
connected = connectToWiFi();
if (!connected) {
delay(5000); // Wait between attempts
}
}
// Initialize watchdog time
lastWatchdogTime = millis();
......@@ -94,17 +106,20 @@ void loop() {
checkWiFiConnection();
}
// Check for new HTTP connections
handleHTTPClient();
// Process any new commands
if (newCommandReceived) {
processCommand(lastCommand);
newCommandReceived = false;
// Only handle client requests if we have a valid IP
if (hasValidIP) {
// Check for new HTTP connections
handleHTTPClient();
// Process any new commands
if (newCommandReceived) {
processCommand(lastCommand);
newCommandReceived = false;
}
}
// Check for command timeout (safety feature)
if (currentState != STATE_STOP &&
if (commandTimeout > 0 && currentState != STATE_STOP &&
(currentMillis - lastCommandTime >= commandTimeout)) {
Serial.println("Command timeout - stopping motors for safety");
executeStop();
......@@ -116,18 +131,39 @@ void simpleWatchdog() {
unsigned long currentMillis = millis();
if (currentMillis - lastWatchdogTime >= watchdogInterval) {
lastWatchdogTime = currentMillis;
// Perform any critical checks here
// This is a good place to verify system state
// Report current state periodically
if (currentState != STATE_STOP) {
Serial.print("Currently ");
Serial.print(getStateString(currentState));
Serial.println(" - maintaining movement until stopped");
}
// Periodically check IP validity if we think we're connected
if (WiFi.status() == WL_CONNECTED) {
IPAddress ip = WiFi.localIP();
if (ip[0] == 0 && ip[1] == 0 && ip[2] == 0 && ip[3] == 0) {
hasValidIP = false;
Serial.println("WARNING: No valid IP address obtained");
} else {
if (!hasValidIP) {
// Just got a valid IP
hasValidIP = true;
server.begin();
printWiFiStatus();
}
}
}
}
}
void connectToWiFi() {
bool connectToWiFi() {
// Check for WiFi module
if (WiFi.status() == WL_NO_MODULE) {
Serial.println("Communication with WiFi module failed!");
// Blink error code on LED
blinkLED(WIFI_LED, 5, 500);
while (true); // Cannot continue without WiFi module
return false;
}
// Print firmware version
......@@ -138,6 +174,13 @@ void connectToWiFi() {
// Set WiFi LED to indicate connecting
digitalWrite(WIFI_LED, HIGH);
// Disconnect if already connected
WiFi.disconnect();
delay(1000);
// Configure WiFi to use Google DNS to help with IP acquisition
WiFi.setDNS(dns);
// Attempt to connect to WiFi network
Serial.print("Attempting to connect to Network: ");
Serial.println(ssid);
......@@ -146,7 +189,7 @@ void connectToWiFi() {
// Wait for connection or timeout
int attempts = 0;
while (status != WL_CONNECTED && attempts < 20) {
while (status != WL_CONNECTED && attempts < 30) { // Increased timeout to 15 seconds
delay(500);
Serial.print(".");
attempts++;
......@@ -157,46 +200,57 @@ void connectToWiFi() {
if (status == WL_CONNECTED) {
Serial.println("\nConnected to WiFi");
digitalWrite(WIFI_LED, HIGH); // Solid on for connected
// Check for valid IP address
IPAddress ip = WiFi.localIP();
if (ip[0] == 0 && ip[1] == 0 && ip[2] == 0 && ip[3] == 0) {
Serial.println("Connected to WiFi but no valid IP address obtained. Will retry...");
digitalWrite(WIFI_LED, LOW);
hasValidIP = false;
return false;
}
hasValidIP = true;
printWiFiStatus();
server.begin();
Serial.println("EMG-controlled car server started");
return true;
} else {
Serial.println("\nFailed to connect to WiFi");
digitalWrite(WIFI_LED, LOW);
hasValidIP = false;
return false;
}
lastConnectionAttempt = millis();
}
void checkWiFiConnection() {
if (WiFi.status() != WL_CONNECTED) {
if (WiFi.status() != WL_CONNECTED || !hasValidIP) {
digitalWrite(WIFI_LED, LOW);
Serial.println("WiFi connection lost!");
if (WiFi.status() != WL_CONNECTED) {
Serial.println("WiFi connection lost!");
} else {
Serial.println("Connected but no valid IP address!");
}
// Only try reconnecting if enough time has passed since last attempt
unsigned long currentMillis = millis();
if (currentMillis - lastConnectionAttempt >= connectionRetryInterval) {
Serial.println("Attempting to reconnect...");
WiFi.disconnect();
delay(1000);
status = WiFi.begin(ssid, pass);
// Wait briefly for connection
delay(5000);
if (WiFi.status() == WL_CONNECTED) {
Serial.println("Successfully reconnected to WiFi");
digitalWrite(WIFI_LED, HIGH);
server.begin();
} else {
Serial.println("Reconnection failed");
}
connectToWiFi();
lastConnectionAttempt = currentMillis;
}
} else {
digitalWrite(WIFI_LED, HIGH); // Ensure LED is on when connected
// Double-check IP validity
IPAddress ip = WiFi.localIP();
if (ip[0] == 0 && ip[1] == 0 && ip[2] == 0 && ip[3] == 0) {
hasValidIP = false;
Serial.println("IP address became invalid!");
}
}
}
......@@ -262,7 +316,9 @@ void sendHTTPResponse() {
response += "{\r\n";
response += " \"status\": \"ok\",\r\n";
response += " \"movement\": \"" + getStateString(currentState) + "\",\r\n";
response += " \"command_received\": true\r\n";
response += " \"command_received\": true,\r\n";
response += " \"continuous\": true,\r\n";
response += " \"ip\": \"" + WiFi.localIP().toString() + "\"\r\n";
response += "}\r\n";
client.print(response);
......@@ -317,6 +373,12 @@ void processCommand(String command) {
// Just for connection testing
Serial.println("Ping received - connection test successful");
}
else if (command == "reconnect") {
// Force WiFi reconnection
Serial.println("Reconnect command received - restarting WiFi");
hasValidIP = false;
connectToWiFi();
}
else {
Serial.println("Unknown command: " + command);
}
......@@ -324,7 +386,7 @@ void processCommand(String command) {
void executeForward() {
if (currentState != STATE_FORWARD) {
Serial.println("Moving forward");
Serial.println("Moving forward - will continue until stopped");
// Motor A forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
......@@ -337,12 +399,15 @@ void executeForward() {
currentState = STATE_FORWARD;
digitalWrite(MOVING_LED, HIGH);
} else {
// Already moving forward, just refresh the command time
Serial.println("Already moving forward - continuing movement");
}
}
void executeBackward() {
if (currentState != STATE_BACKWARD) {
Serial.println("Moving backward");
Serial.println("Moving backward - will continue until stopped");
// Motor A backward
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
......@@ -355,12 +420,15 @@ void executeBackward() {
currentState = STATE_BACKWARD;
digitalWrite(MOVING_LED, HIGH);
} else {
// Already moving backward, just refresh the command time
Serial.println("Already moving backward - continuing movement");
}
}
void executeLeft() {
if (currentState != STATE_LEFT) {
Serial.println("Turning left");
Serial.println("Turning left - will continue until stopped");
// Motor A forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
......@@ -373,12 +441,15 @@ void executeLeft() {
currentState = STATE_LEFT;
digitalWrite(MOVING_LED, HIGH);
} else {
// Already turning left, just refresh the command time
Serial.println("Already turning left - continuing movement");
}
}
void executeRight() {
if (currentState != STATE_RIGHT) {
Serial.println("Turning right");
Serial.println("Turning right - will continue until stopped");
// Motor A backward for sharp turn
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
......@@ -391,6 +462,9 @@ void executeRight() {
currentState = STATE_RIGHT;
digitalWrite(MOVING_LED, HIGH);
} else {
// Already turning right, just refresh the command time
Serial.println("Already turning right - continuing movement");
}
}
......@@ -448,5 +522,5 @@ void printWiFiStatus() {
Serial.print("http://");
Serial.print(ip);
Serial.println("/command");
Serial.println("Where command is: forward, backward, left, right, or stop");
Serial.println("Where command is: forward, backward, left, right, stop, or reconnect");
}
\ No newline at end of file
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