Project | Robo Roach Wrestling

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mk 4, version 30
05/05/2023 at 18:31 • 0 comments

We hit the "Fusion" version of 30 just as we printed the latest model - it was interesting to find out that the fusion 360 model posted earlier in the logs stays up to date with the latest changes. we're figuring out how to version control between that, the thingiverse page, and this; such will be a problem to solve. The first match was last night, video to follow
It takes two to 'rassle
04/28/2023 at 01:58 • 0 comments
Assembly Video
04/26/2023 at 06:52 • 0 comments
Sharing ≥ Caring
04/01/2023 at 01:40 • 0 comments

Fusion model:
https://a360.co/3nCfYVC

Initial code test

03/29/2023 at 03:26 • 0 comments

It seems like the XIAO esp32c3 does better with the PWM on channel 9, rather than 10 or 7. Still trying to figure out how to run two servos at the same time.

Running this test code to try out different pins for the XIAO:

/*********
  Derived from
  Rui Santos
  Complete project details at http://randomnerdtutorials.com
  Project changed to use "pwmWrite" library  
*********/

#include <WiFi.h>
#include <pwmWrite.h>

Pwm pwm = Pwm();  // create servo object to control a servo
// twelve servo objects can be created on most boards

// GPIO the servo is attached to
static const int servoPin = 10;

// Replace with your network credentials
const char* ssid     = "replace_with_SSID";
const char* password = "replace_with_PW";

// Set web server port number to 80
WiFiServer server(80);

// Variable to store the HTTP request
String header;

// Decode HTTP GET value
String valueString = String(5);
int pos1 = 0;
int pos2 = 0;

// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0; 
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;

void setup() {
  Serial.begin(115200);

  // Connect to Wi-Fi network with SSID and password
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address and start web server
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
  server.begin();
}

void loop(){
  WiFiClient client = server.available();   // Listen for incoming clients

  if (client) {                             // If a new client connects,
    currentTime = millis();
    previousTime = currentTime;
    Serial.println("New Client.");          // print a message out in the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected() && currentTime - previousTime <= timeoutTime) { // loop while the client's connected
      currentTime = millis();
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        header += c;
        if (c == '\n') {                    // if the byte is a newline character
          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println("Connection: close");
            client.println();

            // Display the HTML web page
            client.println("<!DOCTYPE html><html>");
            client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
            client.println("<link rel=\"icon\" href=\"data:,\">");
            // CSS to style the on/off buttons 
            // Feel free to change the background-color and font-size attributes to fit your preferences
            client.println("<style>body { text-align: center; font-family: \"Trebuchet MS\", Arial; margin-left:auto; margin-right:auto;}");
            client.println(".slider { width: 300px; }</style>");
            client.println("");
                     
            // Web Page
            client.println("</head><body><h1>ESP32 with Servo</h1>");
            client.println("<p>Position: <span id=\"servoPos\"></span></p>");          
            client.println("<input type=\"range\" min=\"0\" max=\"180\" class=\"slider\" id=\"servoSlider\" onchange=\"servo(this.value)\" value=\""+valueString+"\"/>");
            
            client.println("<script>var slider = document.getElementById(\"servoSlider\");");
            client.println("var servoP = document.getElementById(\"servoPos\"); servoP.innerHTML = slider.value;");
            client.println("slider.oninput = function() { slider.value = this.value; servoP.innerHTML = this.value; }");
            client.println("$.ajaxSetup({timeout:1000}); function servo(pos) { ");
            client.println("$.get(\"/?value=\" + pos + \"&\"); {Connection: close};}</script>");
           
            client.println("</body></html>");     
            
            //GET /?value=180& HTTP/1.1
            if(header.indexOf("GET /?value=")>=0) {
              pos1 = header.indexOf('=');
              pos2 = header.indexOf('&');
              valueString = header.substring(pos1+1, pos2);
              
              //Rotate the servo
              pwm.writeServo(servoPin,valueString.toInt());
              Serial.println(valueString); 
            }         
            // The HTTP response ends with another blank line
            client.println();
            // Break out of the while loop
            break;
          } else { // if you got a newline, then clear currentLine
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }
      }
    }
    // Clear the header variable
    header = "";
    // Close the connection
    client.stop();
    Serial.println("Client disconnected.");
    Serial.println("");
  }
}

Robo Roach Wrestling

mk 4, version 30

It takes two to 'rassle

Assembly Video

Sharing ≥ Caring

Initial code test