Truck

#include #include #include #include #include const char* AP_SSID = "Crenux-Truck"; const char* AP_PASS = "MyCrenuxTruck"; WebServer server(80); WebSocketsServer webSocket(81); Servo steering; Servo tractionMotor; const int motorPin = 12; const int steerPin = 13; const int leftEndstop = 14; const int rightEndstop = 22; const int headL = 15, headR = 2; const int turnL = 4, turnR = 16; const int polR1 = 17, polR2 = 5, polB1 = 19, polB2 = 21; const int buzz = 18; Preferences pref; bool fw = false, bw = false, left = false, right = false; bool eng = false, park = true, light = false; bool haz = false, pol = false, horn = false; String mode = "Eco"; float power = 0, tpower = 0; unsigned long t = 0, tHaz = 0, tPol = 0, tRev = 0, tInd = 0; int pStep = 0; bool hState = false, iState = false; const unsigned long CMD_TIMEOUT = 300; unsigned long lastFwCmd = 0, lastBwCmd = 0, lastLeftCmd = 0, lastRightCmd = 0; void refreshCmdTimeout(){ unsigned long n = millis(); if(fw && n - lastFwCmd > CMD_TIMEOUT) fw = false; if(bw && n - lastBwCmd > CMD_TIMEOUT) bw = false; if(left && n - lastLeftCmd > CMD_TIMEOUT) left = false; if(right && n - lastRightCmd > CMD_TIMEOUT) right = false; } const char HTML[] PROGMEM = R"rawliteral( Truck

MERCEDES-BENZOffline

KM/H

STEERING SERVO ADJUSTMENT

TEMP 90°FUEL 100%MODE ECO

)rawliteral"; void buzzTone(int f){if(f<=0){ledcWriteTone(buzz,0);ledcWrite(buzz,0);return;}ledcWrite(buzz,128);ledcWriteTone(buzz,f);} void buzzOff(){ledcWriteTone(buzz,0);ledcWrite(buzz,0);} const bool STEERING_REVERSED = false; const int SERVO_MIN_US = 500; const int SERVO_MAX_US = 2500; int Lmin = 35; int Rmax = 145; int Cmid = 90; int ang = 90; unsigned long lastSteerMove = 0; unsigned long manualSteerUntil = 0; int angleToUs(int a){ a = constrain(a, 0, 180); return map(a, 0, 180, SERVO_MIN_US, SERVO_MAX_US); } void servoRawWrite(int a){ ang = constrain(a, 0, 180); steering.writeMicroseconds(angleToUs(ang)); Serial.print("SERVO ANG="); Serial.println(ang); } void servoWriteSafe(int a){ int lo = min(Lmin, Rmax); int hi = max(Lmin, Rmax); a = constrain(a, lo, hi); servoRawWrite(a); } void save(){ pref.begin("c",false); pref.putInt("l",Lmin); pref.putInt("r",Rmax); pref.putInt("c",Cmid); pref.end(); Serial.print("SAVED L="); Serial.print(Lmin); Serial.print(" C="); Serial.print(Cmid); Serial.print(" R="); Serial.println(Rmax); } void load(){ pref.begin("c",true); Lmin = pref.getInt("l",35); Rmax = pref.getInt("r",145); Cmid = pref.getInt("c",90); pref.end(); if(Lmin < 0 || Lmin > 180) Lmin = 35; if(Rmax < 0 || Rmax > 180) Rmax = 145; if(Cmid < 0 || Cmid > 180) Cmid = 90; if(abs(Rmax-Lmin) < 20){ Lmin=35; Rmax=145; Cmid=90; } ang = Cmid; } void calibrate(){ Lmin = 35; Rmax = 145; Cmid = 90; ang = Cmid; servoRawWrite(Cmid); save(); } void manualServoStep(int delta){ manualSteerUntil = millis() + 8000; servoRawWrite(ang + delta); } void setLeftLimitHere(){ Lmin = ang; save(); } void setRightLimitHere(){ Rmax = ang; save(); } void setCenterHere(){ Cmid = ang; save(); } void goCenterNow(){ manualSteerUntil = millis() + 3000; servoRawWrite(Cmid); } void updateSteering(){ if(millis() < manualSteerUntil) return; if(millis() - lastSteerMove < 20) return; lastSteerMove = millis(); int stepTurn = 2; int stepReturn = 2; if(mode=="Eco") stepTurn = 2; else if(mode=="Comfort") stepTurn = 3; else if(mode=="Sport") stepTurn = 4; else if(mode=="Race") stepTurn = 5; if(left && !right){ if(STEERING_REVERSED) servoWriteSafe(ang + stepTurn); else servoWriteSafe(ang - stepTurn); } else if(right && !left){ if(STEERING_REVERSED) servoWriteSafe(ang - stepTurn); else servoWriteSafe(ang + stepTurn); } else{ if(ang < Cmid){ ang += stepReturn; if(ang > Cmid) ang = Cmid; servoRawWrite(ang); } else if(ang > Cmid){ ang -= stepReturn; if(ang < Cmid) ang = Cmid; servoRawWrite(ang); } } } void setup(){ Serial.begin(115200); pinMode(leftEndstop,INPUT_PULLUP);pinMode(rightEndstop,INPUT_PULLUP); pinMode(headL,OUTPUT);pinMode(headR,OUTPUT);pinMode(turnL,OUTPUT);pinMode(turnR,OUTPUT); pinMode(polR1,OUTPUT);pinMode(polR2,OUTPUT);pinMode(polB1,OUTPUT);pinMode(polB2,OUTPUT); ledcAttach(buzz,2000,8); steering.setPeriodHertz(50); steering.attach(steerPin,SERVO_MIN_US,SERVO_MAX_US); tractionMotor.attach(motorPin); load(); ang = Cmid; servoRawWrite(Cmid); delay(500); WiFi.mode(WIFI_AP);WiFi.softAP(AP_SSID,AP_PASS); server.on("/",[](){ server.sendHeader("Cache-Control","no-store, no-cache, must-revalidate"); server.sendHeader("Pragma","no-cache"); server.send_P(200,"text/html",HTML); }); server.onNotFound([](){server.send(404,"text/plain","404");}); server.begin(); webSocket.begin(); webSocket.onEvent([](uint8_t n,WStype_t t,uint8_t*p,size_t l){ if(t==WStype_DISCONNECTED){ fw=bw=left=right=false; haz=pol=horn=false; goCenterNow(); return; } if(t==WStype_TEXT){String c;c.reserve(l);for(size_t i=0;i=25){ t=n; float mp=.78,ac=.12,br=.16; if(mode=="Eco"){mp=.7;ac=.105;br=.15;} else if(mode=="Comfort"){mp=.82;ac=.125;br=.165;} else if(mode=="Sport"){mp=.94;ac=.145;br=.18;} else if(mode=="Race"){mp=1;ac=.17;br=.2;} tpower=(!eng||park)?0:(fw&&!bw)?mp:(bw&&!fw)?-.78:0; float s=(abs(tpower)>abs(power))?ac:br; if(powertpower)power=max(power-s,tpower); if(abs(power)<.015)power=0; int off=0; if(abs(power)>.02){off=14+(int)(61*abs(power));if(power<0)off=-off;} tractionMotor.write(constrain(90-off,0,180)); updateSteering(); digitalWrite(headL,light);digitalWrite(headR,light); if(pol){if(n-tPol>=150){tPol=n;pStep=(pStep+1)%4;}bool r=pStep<2;digitalWrite(polR1,r);digitalWrite(polR2,r);digitalWrite(polB1,!r);digitalWrite(polB2,!r);} else{digitalWrite(polR1,0);digitalWrite(polR2,0);digitalWrite(polB1,0);digitalWrite(polB2,0);} if(n-tHaz>=400){tHaz=n;hState=!hState;} bool rev=(bw&&eng&&!park); if(haz||rev){digitalWrite(turnL,hState);digitalWrite(turnR,hState);} else if(left){digitalWrite(turnL,hState);digitalWrite(turnR,0);} else if(right){digitalWrite(turnR,hState);digitalWrite(turnL,0);} else{digitalWrite(turnL,0);digitalWrite(turnR,0);} if(horn){buzzTone(520);} else if(pol){buzzTone(pStep<2?880:620);} else if(bw&&eng&&!park){if(n-tRev>=500){tRev=n;iState?buzzOff():buzzTone(900);iState=!iState;}} else if((left||right||haz)&&eng){if(n-tInd>=400){tInd=n;iState?buzzOff():buzzTone(800);iState=!iState;}} else{buzzOff();iState=false;} } }