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Commit d11520bb authored by mhby1g21's avatar mhby1g21
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added smooth movement

parent 38f94011
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wifi-test/wifi-with-ui.ino
+ 62
− 25
View file @ d11520bb
...@@ -16,10 +16,10 @@ Servo ring; ...@@ -16,10 +16,10 @@ Servo ring;
Servo pinky; Servo pinky;
// Servo pins // Servo pins
const int indexPin = 5; const int indexPin = 2;
const int middlePin = 4; const int middlePin = 3;
const int ringPin = 3; const int ringPin = 4;
const int pinkyPin = 2; const int pinkyPin = 5;
// Current positions // Current positions
int indexPos = 90; int indexPos = 90;
...@@ -27,6 +27,16 @@ int middlePos = 90; ...@@ -27,6 +27,16 @@ int middlePos = 90;
int ringPos = 90; int ringPos = 90;
int pinkyPos = 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() { void setup() {
Serial.begin(9600); Serial.begin(9600);
...@@ -62,7 +72,29 @@ void setup() { ...@@ -62,7 +72,29 @@ void setup() {
server.begin(); server.begin();
} }
void moveServoSmooth(Servo &servo, int &currentPos, 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() { 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(); WiFiClient client = server.available();
if (client) { if (client) {
...@@ -95,6 +127,7 @@ void loop() { ...@@ -95,6 +127,7 @@ void loop() {
client.println(".button:hover { background: #45a049; }"); client.println(".button:hover { background: #45a049; }");
client.println(".preset { background: #2196F3; }"); client.println(".preset { background: #2196F3; }");
client.println(".reset { background: #f44336; }"); client.println(".reset { background: #f44336; }");
client.println(".wave { background: #ff9800; }");
client.println("</style>"); client.println("</style>");
client.println("</head>"); client.println("</head>");
client.println("<body>"); client.println("<body>");
...@@ -126,6 +159,12 @@ void loop() { ...@@ -126,6 +159,12 @@ void loop() {
client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>"); client.println("<button class='button reset' onclick='resetPositions()'>Reset to 90°</button>");
client.println("</div>"); 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 // JavaScript
client.println("<script>"); client.println("<script>");
client.println("function updateFinger(finger, angle) {"); client.println("function updateFinger(finger, angle) {");
...@@ -141,6 +180,16 @@ void loop() { ...@@ -141,6 +180,16 @@ void loop() {
client.println("function resetPositions() {"); client.println("function resetPositions() {");
client.println(" allFingers(90);"); client.println(" allFingers(90);");
client.println("}"); 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("</script>");
client.println("</body></html>"); client.println("</body></html>");
...@@ -173,34 +222,22 @@ void processRequest(String request) { ...@@ -173,34 +222,22 @@ void processRequest(String request) {
String command = request.substring(start, end); String command = request.substring(start, end);
Serial.println("Command: " + command); Serial.println("Command: " + command);
// Parse command and move servos // Parse command and set target positions
if (command.startsWith("/index/")) { if (command.startsWith("/index/")) {
int angle = command.substring(7).toInt(); indexTarget = constrain(command.substring(7).toInt(), 0, 180);
angle = constrain(angle, 0, 180); Serial.println("Moving index to " + String(indexTarget));
index_f.write(angle);
indexPos = angle;
Serial.println("Moving index to " + String(angle));
} }
else if (command.startsWith("/middle/")) { else if (command.startsWith("/middle/")) {
int angle = command.substring(8).toInt(); middleTarget = constrain(command.substring(8).toInt(), 0, 180);
angle = constrain(angle, 0, 180); Serial.println("Moving middle to " + String(middleTarget));
middle.write(angle);
middlePos = angle;
Serial.println("Moving middle to " + String(angle));
} }
else if (command.startsWith("/ring/")) { else if (command.startsWith("/ring/")) {
int angle = command.substring(6).toInt(); ringTarget = constrain(command.substring(6).toInt(), 0, 180);
angle = constrain(angle, 0, 180); Serial.println("Moving ring to " + String(ringTarget));
ring.write(angle);
ringPos = angle;
Serial.println("Moving ring to " + String(angle));
} }
else if (command.startsWith("/pinky/")) { else if (command.startsWith("/pinky/")) {
int angle = command.substring(7).toInt(); pinkyTarget = constrain(command.substring(7).toInt(), 0, 180);
angle = constrain(angle, 0, 180); Serial.println("Moving pinky to " + String(pinkyTarget));
pinky.write(angle);
pinkyPos = angle;
Serial.println("Moving pinky to " + String(angle));
} }
} }
} }
......
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