update

RoArm-M2_example/RoArm-M2-S_example.ino

@@ -0,0 +1,181 @@
+#include <ArduinoJson.h>
+StaticJsonDocument<256> jsonCmdReceive;
+StaticJsonDocument<256> jsonInfoSend;
+StaticJsonDocument<256> jsonInfoHttp;
+
+#include <SCServo.h>
+#include <Preferences.h>
+#include <nvs_flash.h>
+#include <esp_system.h>
+#include <LittleFS.h>
+#include <WiFi.h>
+#include <esp_wifi.h>
+#include <WebServer.h>
+#include <esp_now.h>
+#include <nvs_flash.h>
+
+// functions for oled.
+#include "oled_ctrl.h"
+
+// functions for RoArm-M2 ctrl.
+#include "RoArm-M2_module.h"
+
+// functions for pneumatic modules and lights ctrl. 
+#include "switch_module.h"
+
+// define json cmd.
+#include "json_cmd.h"
+
+// functions for editing the files in flash.
+#include "files_ctrl.h"
+
+// advance functions for RoArm-M2 ctrl.
+#include "RoArm-M2_advance.h"
+
+// functions for wifi ctrl.
+#include "wifi_ctrl.h"
+
+// functions for esp-now.
+#include "esp_now_ctrl.h"
+
+// functions for uart json ctrl.
+#include "uart_ctrl.h"
+
+// functions for http & web server.
+#include "http_server.h"
+
+
+void setup() {
+  Serial.begin(115200);
+  Wire.begin(S_SDA, S_SCL);
+  while(!Serial) {}
+
+  delay(1200);
+
+  initOLED();
+  screenLine_0 = "RoArm-M2";
+  screenLine_1 = "version: 0.84";
+  screenLine_2 = "starting...";
+  screenLine_3 = "";
+  oled_update();
+
+  // init the littleFS funcs in files_ctrl.h
+  screenLine_2 = screenLine_3;
+  screenLine_3 = "Initialize LittleFS";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("Initialize LittleFS for Flash files ctrl.");}
+  initFS();
+
+  // init the funcs in switch_module.h
+  screenLine_2 = screenLine_3;
+  screenLine_3 = "Initialize 12V-switch ctrl";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("Initialize the pins used for 12V-switch ctrl.");}
+  switchPinInit();
+
+  // servos power up
+  screenLine_2 = screenLine_3;
+  screenLine_3 = "Power up the servos";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("Power up the servos.");}
+  delay(500);
+
+  // init servo ctrl functions.
+  screenLine_2 = screenLine_3;
+  screenLine_3 = "ServoCtrl init UART2TTL...";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("ServoCtrl init UART2TTL...");}
+  RoArmM2_servoInit();
+
+  // check the status of the servos.
+  screenLine_2 = screenLine_3;
+  screenLine_3 = "Bus servos status check...";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("Bus servos status check...");}
+  RoArmM2_initCheck(false);
+
+  if(InfoPrint == 1 && RoArmM2_initCheckSucceed){
+    Serial.println("All bus servos status checked.");
+  }
+  if(RoArmM2_initCheckSucceed) {
+    screenLine_2 = "Bus servos: succeed";
+  } else {
+    screenLine_2 = "Bus servos: " + 
+    servoFeedback[BASE_SERVO_ID - 11].status +
+    servoFeedback[SHOULDER_DRIVING_SERVO_ID - 11].status +
+    servoFeedback[SHOULDER_DRIVEN_SERVO_ID - 11].status +
+    servoFeedback[ELBOW_SERVO_ID - 11].status +
+    servoFeedback[GRIPPER_SERVO_ID - 11].status;
+  }
+  screenLine_3 = ">>> Moving to init pos...";
+  oled_update();
+  RoArmM2_resetPID();
+  RoArmM2_moveInit();
+
+  screenLine_3 = "Reset joint torque to ST_TORQUE_MAX";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("Reset joint torque to ST_TORQUE_MAX.");}
+  RoArmM2_dynamicAdaptation(0, ST_TORQUE_MAX, ST_TORQUE_MAX, ST_TORQUE_MAX, ST_TORQUE_MAX);
+
+  screenLine_3 = "WiFi init";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("WiFi init.");}
+  initWifi();
+
+  screenLine_3 = "http & web init";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("http & web init.");}
+  initHttpWebServer();
+
+  screenLine_3 = "ESP-NOW init";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("ESP-NOW init.");}
+  initEspNow();
+
+  screenLine_3 = "RoArm-M2 started";
+  oled_update();
+  if(InfoPrint == 1){Serial.println("RoArm-M2 started.");}
+
+  getThisDevMacAddress();
+
+  updateOledWifiInfo();
+
+  screenLine_2 = String("MAC:") + macToString(thisDevMac);
+  oled_update();
+
+  if(InfoPrint == 1){Serial.println("Application initialization settings.");}
+  createMission("boot", "these cmds run automatically at boot.");
+  missionPlay("boot", 1);
+
+  RoArmM2_handTorqueCtrl(300);
+}
+
+
+void loop() {
+  serialCtrl();
+  server.handleClient();
+
+  unsigned long curr_time = millis();
+  if (curr_time - prev_time >= 10){
+    constantHandle();
+    prev_time = curr_time;
+  }
+
+  RoArmM2_getPosByServoFeedback();
+
+  // esp-now flow ctrl as a flow-leader.
+  switch(espNowMode) {
+  case 1: espNowGroupDevsFlowCtrl();break;
+  case 2: espNowSingleDevFlowCtrl();break;
+  }
+
+  if (InfoPrint == 2) {
+    RoArmM2_infoFeedback();
+  }
+
+  if(runNewJsonCmd) {
+    jsonCmdReceiveHandler();
+    jsonCmdReceive.clear();
+    runNewJsonCmd = false;
+  }
+}

RoArm-M2_example/RoArm-M2_example.ino

@@ -178,4 +178,4 @@ void loop() {
     jsonCmdReceive.clear();
     runNewJsonCmd = false;
   }
-}
+}