Robot Web Based Remote Control

2/26/2012

I have been working a lot lately on making it so that I can control Salvius using a wireless internet connection. I still have not finished hooking up the motors and the motor controller but I have managed to get the wireless control code working enough to turn the robot's headlights on and off. More on the relay shield that I used can be found here: http://www.seeedstudio.com/wiki/index.php?title=Relay_Shield

And as always because Salvius is an open source robot here is the code as seen working in the video:

/* Programmer: Gunther Cox
http://salviusrobot.blogspot.com
Created: 12/25/11
Last Modified: 02/25/12
Hardware setup instructions:

Plug Ethernet shield into Arduino Uno.
Plug Seeed Relay Shield into Ethernet Shield.
Attach 9 volt power supply to GND and +9V plugs of Relay Shield.
PIR + to arduino 5V, PIR - to arduino GND, PIR OUT to HUB2 D3.
Connect ethernt shield to wireless router with ethernet cable.

Parts of this code is based on work done by others:
* Button controls based on code by Minde
* Navigation buttons based on work by Su Ray Sh
*/

#include <SPI.h>
#include <Client.h>
#include <Ethernet.h>
#include <Server.h>
#include <Udp.h>

// change these to fit your setup:
byte mac[] = { 0x90, 0xA2, 0xDA, 0x0D, 0x00, 0x0F }; // physical mac address
byte ip[] = { 192, 168, 1, 177 }; // ip in lan
byte gateway[] = { 192, 168, 0, 1 }; // internet access via router
byte subnet[] = { 255, 255, 255, 0 }; //subnet mask

// Initialize the Ethernet server library
// with the IP address and port you want to use
// (port 80 is default for HTTP):
EthernetServer server(80);

byte sampledata=50; //some sample data - outputs 2 (ascii = 50 DEC)

int pirPin = 3; // input pin (for PIR sensor)
int relayPin1 = 4; // relay connected to digital pin 4 (D3 on relay shield - on switch)
int relayPin2 = 7; // relay connected to digital pin 5 (D2 on relay shield) - Inferred LEDs
int relayPin3 = 6; // relay connected to digital pin 6 (D1 on relay shield) - Ultraviolte LEDs
int relayPin4 = 5; // relay connected to digital pin 7 (D0 on relay shield) (not used)
//pin 10 - reserved for ethernet shield
//pin 11 - reserved for ethernet shield
//pin 12 - reserved for ethernet shield
//pin 13 - reserved for ethernet shield

// Begin variables for motion sensor
//int pirState = LOW; // we start, assuming no motion detected
//int val; // variable for reading the pin status
//int pirMode = 0; // determines if the relay closed already (0 = not closed yet)
// End variabled for motion sensor

String readString = String(30); //string for fetching data from address
boolean FORWARD = false; //relay status flag
boolean BACKWARD = false; //relay status flag
boolean LEFT = false; //relay status flag
boolean RIGHT = false; //relay status flag
boolean LEDON = false; //LED status flag
boolean LED2ON = false; //LED status flag
void setup(){
//start Ethernet
Ethernet.begin(mac, ip, gateway, subnet);
pinMode(relayPin3, OUTPUT); //Set pin 7 to output
pinMode(relayPin4, OUTPUT);

// pinMode(pirPin, INPUT); // declare sensor as input
pinMode(relayPin1, OUTPUT); // declare relay1 as output
pinMode(relayPin2, OUTPUT); // declare relay2 as output
pinMode(relayPin3, OUTPUT); // declare relay3 as output
pinMode(relayPin4, OUTPUT); // declare relay4 as output

//digitalWrite(relayPin1, LOW);
//digitalWrite(pirPin, LOW);
//pirState = digitalRead(pirPin); // read the initial state
//delay(60000); // pause before calibrating
}

void loop(){
// Create a client connection
EthernetClient client = server.available();
if (client) {
while (client.connected()) {
if (client.available()) {
char c = client.read();
//read char by char HTTP request
if (readString.length() < 100) {
readString += c; //store characters to string
}

if (c == '\n') { //if HTTP request has ended

if (readString.indexOf("?") <0) //dirty skip of "GET /favicon.ico HTTP/1.1"
{
//skip everything
}
else

// begin drive control
if(readString.indexOf("N1=Forward") >0)
{
//item has to be turned ON
digitalWrite(relayPin1, HIGH); // set the item on
FORWARD = true;
}else{
//item has to be turned OFF
digitalWrite(relayPin1, LOW); // set the item off
FORWARD = false;
}

if(readString.indexOf("N2=Backward") >0)
{
//item has to be turned ON
digitalWrite(relayPin2, HIGH); // set the item on
BACKWARD = true;
}else{
//item has to be turned OFF
digitalWrite(relayPin2, LOW); // set the item off
BACKWARD = false;
}

if(readString.indexOf("N3=LEFT") >0)
{
//item has to be turned ON
digitalWrite(relayPin3, HIGH); // set the item on
LEFT = true;
}else{
//item has to be turned OFF
digitalWrite(relayPin3, LOW); // set the item off
LEFT = false;
}

if(readString.indexOf("N4=RIGHT") >0)
{
//item has to be turned ON
digitalWrite(relayPin4, HIGH); // set the item on
RIGHT = true;
}else{
//item has to be turned OFF
digitalWrite(relayPin4, LOW); // set the item off
RIGHT = false;
}
// end drive control

//lets check if LED should be lighted
if(readString.indexOf("L=ON") >0)//replaces if(readString.contains("L=1"))
{
//led has to be turned ON
digitalWrite(relayPin3, HIGH); // set the LED on
LEDON = true;
}
else if(readString.indexOf("L2=ON") >0)//replaces if(readString.contains("L2=1"))
{
//led has to be turned ON
digitalWrite(relayPin4, HIGH); // set the LED on
LED2ON = true;
}
//led has to be turned OFF
else{
//led has to be turned OFF
digitalWrite(relayPin4, LOW); // set the LED OFF
LED2ON = false;
digitalWrite(relayPin3, LOW); // set the LED OFF
LEDON = false;
}

// now output HTML data starting with standart header
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
client.println();
client.println("<body style=background-color:#FFB880><h1>Web Remote</h1><hr />"); // background color and heading

client.println("<h2>Navigation</h2>");
client.println("<form method=get name=NAV><table CELLPADDING='10' style=background-color:#CC6600>");
client.println("<tr><td align=center></td><td align=center><input type=submit name=N1 value=FORWARD></td> <td align=center></td></tr>");
client.println("<tr><td align=center><input type=submit name=N3 value=LEFT></td><td align=center><input type=submit value=STOP></td><td align=center><input type=submit name=N4 value=RIGHT></td></tr>");
client.println("<tr><td align=center></td><td align=center><input type=submit name=N2 value=BACKWARD></td> <td align=center></td></tr>");
//controlling leds via buttons (address will look like http://192.168.1.177/?L=ON when submited)
if (LEDON)
client.println("<tr><td align=center><form method=get name=LED><input type=submit value=OFF></form></td>");
else
client.println("<tr><td align=center><form method=get name=LED><input type=submit name=L value=ON></form></td>");

if (LED2ON) // begin second LED
client.println("<td align=center><form method=get name=LED2><input type=submit value=OFF></form></td></tr>");
else
client.println("<td align=center><form method=get name=LED2><input type=submit name=L2 value=ON></form></td></tr>");
client.println("</table></form>");

// Begin print drive status
if (FORWARD)
client.println("<font size='4'>DRIVING FORWARD</font>");

else if (BACKWARD)
client.println("<font size='4'>DRIVING BACKWARD</font>");

else if (LEFT)
client.println("<font size='4'>TURNING LEFT</font>");

else if (RIGHT)
client.println("<font size='4'>TURNING RIGHT</font>");

else
client.println("<font size='4'>PROBABLY NOT DRIVING</font>");
// End print drive status

//printing LED status
client.print("<font size='4'>LED status: ");
if (LEDON)
client.println("<font color='purple' size='4'>ULTRAVIOLET ON</font>");

else if (LED2ON)
client.println("<font color='red' size='4'>INFERRED ON</font>");

else
client.println("<font color='grey' size='4'>OFF</font>");
// end second LED

client.println("<hr />");
client.println("<hr />");
client.println("</body></html>");
//clearing string for next read
readString="";
//stopping client
client.stop();
}
}
}
}
}

//void loop() {
// // code to do auto activation
// val = digitalRead(pirPin); // read input value and store it in val
// if(digitalRead(pirPin) == HIGH) {
// if (pirMode == 0) {
// if (val != pirState) { //look for 2 inconsistant readings
// // turn main computer on
// digitalWrite(relayPin1, HIGH); // sets relay1 on
// delay(1000); // waits for 1 second
// digitalWrite(relayPin1, LOW); // sets relay1 off
// pirMode = pirMode + 1; // relay has been on
// //delay(50);
// }
// }
// }
//}