Cleanup and fixes

testsystem/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

testsystem/platformio.ini

@@ -0,0 +1,12 @@
+[platformio]
+default_envs = esp
+
+[env:esp]
+platform = espressif8266
+board = nodemcuv2
+framework = arduino
+monitor_port = /dev/ttyUSB0
+upload_port = /dev/ttyUSB0
+monitor_speed = 115200
+lib_deps =
+    ArduinoJson

testsystem/src/MotorControl.cpp

@@ -0,0 +1,76 @@
+#include "MotorControl.h"
+#include <Arduino.h>
+
+constexpr int PORT_FORWARD = 4;
+constexpr int PORT_BACKWARD = 16;
+constexpr int PORT_SPEED = 5;
+
+// PWM settings
+constexpr int PWM_FREQ = 20000;
+constexpr int PWM_CHANNEL = 0;
+constexpr int PWM_RESOLUTION = 255;
+
+void MotorControl::begin()
+{
+  pinMode(PORT_SPEED, OUTPUT);
+  pinMode(PORT_FORWARD, OUTPUT);
+  pinMode(PORT_BACKWARD, OUTPUT);
+
+  analogWriteRange(PWM_RESOLUTION);
+  analogWriteFreq(PWM_FREQ);
+  startTime_ = millis();
+}
+
+void MotorControl::addCmd(float signedSpeed, unsigned long duration)
+{
+  if (numCmds_ < MAX_MOTOR_COMMANDS)
+    motorCommands_[numCmds_++] = {int(signedSpeed * PWM_RESOLUTION), duration};
+  else
+    Serial.println("Too many commands");
+}
+
+float MotorControl::speed(int cmdIdx) const
+{
+  return float(motorCommands_[cmdIdx].directionAndSpeed) / float(PWM_RESOLUTION);
+}
+
+unsigned long MotorControl::duration(int cmdIdx) const
+{
+  return motorCommands_[cmdIdx].delayToNextCmdInMs;
+}
+
+void MotorControl::iteration()
+{
+  if (numCmds_ == 0)
+  {
+    analogWrite(PORT_SPEED, 0);
+    return;
+  }
+
+  unsigned long timeElapsed = millis() - startTime_;
+  while (timeElapsed > motorCommands_[currentCmd_].delayToNextCmdInMs)
+  {
+    const auto curCmdDuration = motorCommands_[currentCmd_].delayToNextCmdInMs;
+    timeElapsed -= curCmdDuration;
+    startTime_ += curCmdDuration;
+    currentCmd_ = (currentCmd_ + 1) % numCmds_;
+  }
+
+  const auto &curCmd = motorCommands_[currentCmd_];
+  const auto &nextCmd = motorCommands_[(currentCmd_ + 1) % numCmds_];
+  const float fraction = float(timeElapsed) / float(curCmd.delayToNextCmdInMs);
+  const int interpolated = int((1.f - fraction) * curCmd.directionAndSpeed + fraction * nextCmd.directionAndSpeed);
+
+  if (interpolated < 0)
+  {
+    analogWrite(PORT_SPEED, -interpolated);
+    digitalWrite(PORT_FORWARD, 0);
+    digitalWrite(PORT_BACKWARD, 1);
+  }
+  else
+  {
+    analogWrite(PORT_SPEED, interpolated);
+    digitalWrite(PORT_FORWARD, 1);
+    digitalWrite(PORT_BACKWARD, 0);
+  }
+}

testsystem/src/MotorControl.h

@@ -0,0 +1,31 @@
+
+
+class MotorControl
+{
+public:
+  void begin();
+  void clear()
+  {
+    numCmds_ = 0;
+    currentCmd_ = 0;
+  }
+  void addCmd(float signedSpeed, unsigned long duration);
+  void iteration();
+
+  int numCommands() const { return numCmds_; }
+  float speed(int cmdIdx) const;
+  unsigned long duration(int cmdIdx) const;
+
+private:
+  static constexpr int MAX_MOTOR_COMMANDS = 1024;
+  struct MotorCmd
+  {
+    int directionAndSpeed; // fraction of PWM_RESO
+    unsigned long delayToNextCmdInMs;
+  };
+
+  int currentCmd_ = 0;
+  int numCmds_ = 0;
+  MotorCmd motorCommands_[MAX_MOTOR_COMMANDS];
+  unsigned long startTime_ = 0;
+};

testsystem/src/main.cpp

@@ -0,0 +1,87 @@
+#include "MotorControl.h"
+
+#include <ESP8266WiFi.h>
+#include <ESP8266WebServer.h>
+#include <ArduinoJson.h>
+
+ESP8266WebServer server(80);
+MotorControl motorCtl;
+const char *webBuffer[1024 * 4];
+
+void wifiSetup()
+{
+  static const char *ssid = "WLAN";
+  static const char *password = "Bau3rWLAN";
+
+  WiFi.begin(ssid, password);
+  WiFi.hostname("swimtracker-tester");
+
+  while (WiFi.status() != WL_CONNECTED)
+  {
+    delay(500);
+    Serial.println("Waiting to connect...");
+  }
+  Serial.print("IP address: ");
+  Serial.println(WiFi.localIP());
+}
+
+void handleGetRoot()
+{
+  DynamicJsonDocument doc(motorCtl.numCommands() * 16 + 128);
+  JsonArray speeds = doc.createNestedArray("speeds");
+  JsonArray durations = doc.createNestedArray("durations");
+  for (int i = 0; i < motorCtl.numCommands(); ++i)
+  {
+    speeds.add(motorCtl.speed(i));
+    durations.add(motorCtl.duration(i));
+  }
+  size_t length = serializeJson(doc, webBuffer, sizeof(webBuffer));
+  server.send(200, "application/json", (const char *)webBuffer, length);
+}
+
+void handlePostRoot()
+{
+  String postBody = server.arg("plain");
+  DynamicJsonDocument doc(postBody.length() * 2 + 256);
+  DeserializationError error = deserializeJson(doc, postBody);
+  if (error || !doc.containsKey("speeds") || !doc.containsKey("durations"))
+    server.send(400, "application/json", "{ \"msg\" : \"Parsing error\" }");
+  else
+  {
+    JsonArray speeds = doc["speeds"].as<JsonArray>();
+    JsonArray durations = doc["durations"].as<JsonArray>();
+    if (speeds.size() != durations.size())
+      server.send(400, "application/json", "{ \"msg\" : \"Arrays have to have same length!\" }");
+    else
+    {
+      motorCtl.clear();
+      auto speedIt = speeds.begin();
+      auto durationIt = durations.begin();
+      for (; speedIt != speeds.end() && durationIt != durations.end(); ++durationIt, ++speedIt)
+      {
+        motorCtl.addCmd(speedIt->as<float>(), durationIt->as<unsigned long>());
+      }
+      server.send(200, "application/json", "{ \"msg\" : \"Ok\" }");
+    }
+  }
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  wifiSetup();
+
+  server.on("/", HTTP_GET, handleGetRoot);
+  server.on("/", HTTP_POST, handlePostRoot);
+
+  server.begin(); //Start the server
+  Serial.println("Server listening");
+
+  motorCtl.begin();
+}
+
+void loop()
+{
+  server.handleClient(); //Handling of incoming client requests
+  motorCtl.iteration();
+}