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ESP8266_WebServerWiFi/ESP8266_WebServerWiFi.ino

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+// Wi-Servo v1.0 By Igor Fonseca Albuquerque
+
+//include libraries
+#include <SoftwareSerial.h>
+#include <Servo.h>
+
+SoftwareSerial esp8266(10,11); //set ESP8266 RX and TX 
+
+//define variables
+#define DEBUG true //display ESP8266 messages on Serial Monitor
+#define SERV1 9  //servo 1 on digital port 9
+#define SERV2 12 //servo 2 on digital port 10
+
+Servo s1; //servo 1
+Servo s2; //servo 2
+int pos1 = 170; //servo 1 current position
+int pos2 = 170; //servo 2 current position
+int vel = 10; //servos' speed (100 -> 90º in 1 s)(1 -> 90º in 9 s)
+int pos1min = 20; //servo 1 minimum position
+int pos2min = 20; //servo 2 minimum position
+int pos1max = 160; //servo 1 maximum position
+int pos2max = 160; //servo 2 maximum position
+
+
+//**************
+// Arduino Setup
+//**************
+void setup()
+{
+  // Dans un navigateur taper : http://192.168.0.32/?sr1=23
+  // http://192.168.0.32/?sr2=23 23 est la valeur d'angle du servo moteur
+  //attach and set servos' angles
+  s1.attach(SERV1);
+  s2.attach(SERV2);
+  s1.write(pos1max);
+  s2.write(pos2max);
+  //detach servos
+  s1.detach();
+  s2.detach();
+  
+  //start serial communication
+  Serial.begin(9600);
+ // esp8266.begin(9600);
+
+  esp8266.begin(115200);
+  sendData("AT+CIOBAUD=9600\r\n", 2000, DEBUG);
+  //recoitDuESP8266(4000);
+  esp8266.begin(9600);  
+
+  
+  
+  //sendData("AT+RST\r\n", 2000, DEBUG); //reset module
+  sendData("AT+CWMODE=1\r\n", 1000, DEBUG); //set station mode
+  sendData("AT+CWJAP=\"Livebox-37cc\",\"8A6060920A8A86896F770F2C47\"\r\n", 2000, DEBUG);   //connect wifi network
+  while(!esp8266.find("OK")) { //wait for connection
+  } 
+  sendData("AT+CIFSR\r\n", 1000, DEBUG); //show IP address
+  sendData("AT+CIPMUX=1\r\n", 1000, DEBUG); //allow multiple connections
+  sendData("AT+CIPSERVER=1,80\r\n", 1000, DEBUG); // start web server on port 80
+}
+
+//**********
+// Main Loop
+//**********
+void loop()
+{
+  
+  if (esp8266.available())  //check if there is data available on ESP8266
+  {
+    if (esp8266.find("+IPD,")) //if there is a new command
+    {
+      String msg;
+      esp8266.find("?"); //run cursor until command is found
+      msg = esp8266.readStringUntil(' '); //read the message
+      String command = msg.substring(0, 3); //command is informed in the first 3 characters. "sr1" = command to servo #1 and "sr2" = command to servo #2
+      String valueStr = msg.substring(4);   //next 3 characters inform the desired angle
+      int value = valueStr.toInt();         //convert to integer
+      if (DEBUG) {
+        Serial.println(command);
+        Serial.println(value);
+      }
+      delay(100);
+      
+      //************
+      // move servos
+      //************
+      
+      //move servo1 to desired angle
+      if(command == "sr1") {
+         //limit input angle
+         if (value >= pos1max) {
+           value = pos1max;
+         }
+         if (value <= pos1min) {
+           value = pos1min;
+         }
+         s1.attach(SERV1); //attach servo
+         while(pos1 != value) {
+           if (pos1 > value) {
+             pos1 -= 1;
+             s1.write(pos1);
+             delay(100/vel);
+           }
+           if (pos1 < value) {
+             pos1 += 1;
+             s1.write(pos1);
+             delay(100/vel);
+           }
+         }
+         s1.detach(); //dettach
+      }
+
+      //move servo2 to desired angle
+      if(command == "sr2") {
+         //limit input angle
+         if (value >= pos2max) {
+           value = pos2max;
+         }
+         if (value <= pos2min) {
+           value = pos2min;
+         }
+         s2.attach(SERV2);
+         while(pos2 != value) {
+           if (pos2 > value) {
+             pos2 -= 1;
+             s2.write(pos2);
+             delay(100/vel);
+           }
+           if (pos2 < value) {
+             pos2 += 1;
+             s2.write(pos2);
+             delay(100/vel);
+           }
+         }   
+         s2.detach();     
+      } 
+    }
+  }
+}
+
+
+//********************
+// Auxiliary functions
+//********************
+
+//send data to ESP8266
+String sendData(String command, const int timeout, boolean debug)
+{
+  String response = "";
+  esp8266.print(command);
+  long int time = millis();
+  while ( (time + timeout) > millis())
+  {
+    while (esp8266.available())
+    {
+      char c = esp8266.read();
+      response += c;
+    }
+  }
+  if (debug)
+  {
+    Serial.print(response);
+  }
+  return response;
+}