From 47c32db4651ce45d2e61f5d33c9eac870e27b4e4 Mon Sep 17 00:00:00 2001
From: mhby1g21 <mhby1g21@soton.ac.uk>
Date: Tue, 25 Mar 2025 16:33:43 +0000
Subject: [PATCH] works ish idk
---
wifi-car.ino | 156 +++++++++++++++++++++++++++++++++++++--------------
1 file changed, 115 insertions(+), 41 deletions(-)
diff --git a/wifi-car.ino b/wifi-car.ino
index 6e5516f..7097fae 100644
--- a/wifi-car.ino
+++ b/wifi-car.ino
@@ -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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