From d11520bb2d1513623ce3279293507b1d35f58f4b Mon Sep 17 00:00:00 2001
From: Muhammad Hazimi Bin Yusri <mhby1g21@soton.ac.uk>
Date: Tue, 25 Feb 2025 11:21:08 +0000
Subject: [PATCH] added smooth movement
---
wifi-test/wifi-with-ui.ino | 87 +++++++++++++++++++++++++++-----------
1 file changed, 62 insertions(+), 25 deletions(-)
diff --git a/wifi-test/wifi-with-ui.ino b/wifi-test/wifi-with-ui.ino
index cd4dd88..2c880ab 100644
--- a/wifi-test/wifi-with-ui.ino
+++ b/wifi-test/wifi-with-ui.ino
@@ -16,10 +16,10 @@ Servo ring;
Servo pinky;
// Servo pins
-const int indexPin = 5;
-const int middlePin = 4;
-const int ringPin = 3;
-const int pinkyPin = 2;
+const int indexPin = 2;
+const int middlePin = 3;
+const int ringPin = 4;
+const int pinkyPin = 5;
// Current positions
int indexPos = 90;
@@ -27,6 +27,16 @@ 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);
@@ -62,7 +72,29 @@ void setup() {
server.begin();
}
+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() {
+ // 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);
+
WiFiClient client = server.available();
if (client) {
@@ -95,6 +127,7 @@ 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("</style>");
client.println("</head>");
client.println("<body>");
@@ -126,6 +159,12 @@ void loop() {
client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>");
client.println("</div>");
+ // Wave motion 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("</div>");
+
// JavaScript
client.println("<script>");
client.println("function updateFinger(finger, angle) {");
@@ -141,6 +180,16 @@ void loop() {
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("}");
client.println("</script>");
client.println("</body></html>");
@@ -173,34 +222,22 @@ void processRequest(String request) {
String command = request.substring(start, end);
Serial.println("Command: " + command);
- // Parse command and move servos
+ // Parse command and set target positions
if (command.startsWith("/index/")) {
- int angle = command.substring(7).toInt();
- angle = constrain(angle, 0, 180);
- index_f.write(angle);
- indexPos = angle;
- Serial.println("Moving index to " + String(angle));
+ indexTarget = constrain(command.substring(7).toInt(), 0, 180);
+ Serial.println("Moving index to " + String(indexTarget));
}
else if (command.startsWith("/middle/")) {
- int angle = command.substring(8).toInt();
- angle = constrain(angle, 0, 180);
- middle.write(angle);
- middlePos = angle;
- Serial.println("Moving middle to " + String(angle));
+ middleTarget = constrain(command.substring(8).toInt(), 0, 180);
+ Serial.println("Moving middle to " + String(middleTarget));
}
else if (command.startsWith("/ring/")) {
- int angle = command.substring(6).toInt();
- angle = constrain(angle, 0, 180);
- ring.write(angle);
- ringPos = angle;
- Serial.println("Moving ring to " + String(angle));
+ ringTarget = constrain(command.substring(6).toInt(), 0, 180);
+ Serial.println("Moving ring to " + String(ringTarget));
}
else if (command.startsWith("/pinky/")) {
- int angle = command.substring(7).toInt();
- angle = constrain(angle, 0, 180);
- pinky.write(angle);
- pinkyPos = angle;
- Serial.println("Moving pinky to " + String(angle));
+ pinkyTarget = constrain(command.substring(7).toInt(), 0, 180);
+ Serial.println("Moving pinky to " + String(pinkyTarget));
}
}
}
--
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