#include #include // Requires AsyncWebServer and AsyncTCP libraries #include // Requires WebSockets library by Markus Sattler #include // WiFi Credentials const char* ssid = "309"; // [cite: 4] const char* password = "12345678"; // [cite: 5] // Stepper 1 Pins (Table) #define DIR_PIN 18 // [cite: 6] #define STEP_PIN 19 // [cite: 6] // Stepper 2 Pins (Lift) #define DIR_PIN2 16 // [cite: 6] #define STEP_PIN2 17 // [cite: 6] #define EN_PIN 5 // [cite: 6] // Servos Servo myservo1; // [cite: 2] Servo myservo2; // [cite: 2] static const int servoPin1 = 13; // [cite: 3] static const int servoPin2 = 14; // [cite: 4] // Motor movement states int tableSpeedDelay = 0; // 0 means stopped bool tableDirection = HIGH; int liftSpeedDelay = 0; // 0 means stopped bool liftDirection = HIGH; // Create WebServer (Port 80) and WebSocket Server (Port 81) AsyncWebServer server(80); WebSocketsServer webSocket = WebSocketsServer(81); // HTML & JavaScript for the Virtual Control Lever Webpage const char index_html[] PROGMEM = R"rawhtml( ESP32 Control Lever

IoT Machine Control Lever

Table (X): 0 | Lift (Y): 0

)rawhtml"; // Dynamic Speed Conversion Map int mapSpeed(int intensity) { if (intensity == 0) return 0; // Further the displacement, smaller the microsecond delay (meaning faster movement) return map(intensity, 10, 100, 2000, 300); } // WebSocket Event Handler void onWebSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) { if (type == WStype_TEXT) { String message = String((char*)payload); int commaIndex = message.indexOf(','); if (commaIndex > 0) { int xVal = message.substring(0, commaIndex).toInt(); int yVal = message.substring(commaIndex + 1).toInt(); // 1. Process X Axis -> Table if (abs(xVal) > 10) { // Deadzone protection tableDirection = (xVal > 0) ? HIGH : LOW; tableSpeedDelay = mapSpeed(abs(xVal)); } else { tableSpeedDelay = 0; // Stop } // 2. Process Y Axis -> Lift if (abs(yVal) > 10) { // Deadzone protection liftDirection = (yVal > 0) ? HIGH : LOW; liftSpeedDelay = mapSpeed(abs(yVal)); } else { liftSpeedDelay = 0; // Stop } } } } void setup() { Serial.begin(115200); // Initialize Stepper/Driver Hardware Pins pinMode(DIR_PIN, OUTPUT); // [cite: 46] pinMode(STEP_PIN, OUTPUT); // [cite: 47] pinMode(DIR_PIN2, OUTPUT); pinMode(STEP_PIN2, OUTPUT); pinMode(EN_PIN, OUTPUT); // [cite: 47] digitalWrite(EN_PIN, LOW); // Enable drivers [cite: 47] // Attach Servos myservo1.attach(servoPin1); // myservo2.attach(servoPin2); // // Setup Wi-Fi WiFi.begin(ssid, password); // while (WiFi.status() != WL_CONNECTED) { // delay(500); // Serial.print("."); // } Serial.println("\nWiFi Connected!"); Serial.print("Go to this IP address in your browser: "); Serial.println(WiFi.localIP()); // // Serve the Webpage Frontend server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){ request->send_P(200, "text/html", index_html); }); // Start Server Ecosystem server.begin(); webSocket.begin(); webSocket.onEvent(onWebSocketEvent); } void loop() { webSocket.loop(); // Execute Non-Blocking Step Control for the Table if (tableSpeedDelay > 0) { digitalWrite(DIR_PIN, tableDirection); digitalWrite(STEP_PIN, HIGH); delayMicroseconds(10); // Minimum step pulse pulsewidth digitalWrite(STEP_PIN, LOW); delayMicroseconds(tableSpeedDelay); } // Execute Non-Blocking Step Control for the Lift if (liftSpeedDelay > 0) { digitalWrite(DIR_PIN2, liftDirection); digitalWrite(STEP_PIN2, HIGH); delayMicroseconds(10); digitalWrite(STEP_PIN2, LOW); delayMicroseconds(liftSpeedDelay); } }