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Я работаю над проектом для колледжа, и я использую андроид и ардуино. Проект, который я пытаюсь построить, - это четырехъядерный контроллер полета в ардуине. У меня есть все необходимое оборудование для проекта, но я попал в дорожный блок с кодом, который я использую. Идея состоит в том, чтобы иметь телефон android, управляющий квадрантом, и у меня есть HTTP-сервер на arduino, который может общаться с моим телефоном. Единственная проблема заключается в том, когда я создаю необходимые сервомоторы в эскизе arduino и назначаю их штырьками, которые http-сервер не будет запускать при настройке эскиза arduino. Я не знаю, почему это происходит, и будет признательна за любую необходимую помощь. Заранее спасибо. Копия моего кода будет показана ниже.Arduino programming
/***************************************************
Adafruit CC3000 Breakout/Shield Simple HTTP Server
This is a simple implementation of a bare bones
HTTP server that can respond to very simple requests.
Note that this server is not meant to handle high
load, concurrent connections, SSL, etc. A 16mhz Arduino
with 2K of memory can only handle so much complexity!
This server example is best for very simple status messages
or REST APIs.
See the CC3000 tutorial on Adafruit's learning system
for more information on setting up and using the
CC3000:
http://learn.adafruit.com/adafruit-cc3000-wifi
Requirements:
This sketch requires the Adafruit CC3000 library. You can
download the library from:
https://github.com/adafruit/Adafruit_CC3000_Library
For information on installing libraries in the Arduino IDE
see this page:
http://arduino.cc/en/Guide/Libraries
Usage:
Update the SSID and, if necessary, the CC3000 hardware pin
information below, then run the sketch and check the
output of the serial port. After connecting to the
wireless network successfully the sketch will output
the IP address of the server and start listening for
connections. Once listening for connections, connect
to the server IP from a web browser. For example if your
server is listening on IP 192.168.1.130 you would access
http://192.168.1.130/ from your web browser.
Created by Tony DiCola and adapted from HTTP server code created by Eric Friedrich.
This code was adapted from Adafruit CC3000 library example
code which has the following license:
Designed specifically to work with the Adafruit WiFi products:
----> https://www.adafruit.com/products/1469
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried & Kevin Townsend for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#include <Adafruit_CC3000.h>
#include <Adafruit_VC0706.h>
#include <SoftwareSerial.h>
#include <SPI.h>
#include "utility/debug.h"
#include "utility/socket.h"
#include <Servo.h>
// These are the interrupt and control pins
#define ADAFRUIT_CC3000_IRQ 3 // MUST be an interrupt pin!
// These can be any two pins
#define ADAFRUIT_CC3000_VBAT 5
#define ADAFRUIT_CC3000_CS 10
// Use hardware SPI for the remaining pins
// On an UNO, SCK = 13, MISO = 12, and MOSI = 11
Adafruit_CC3000 cc3000 = Adafruit_CC3000(ADAFRUIT_CC3000_CS, ADAFRUIT_CC3000_IRQ, ADAFRUIT_CC3000_VBAT,
SPI_CLOCK_DIVIDER); // you can change this clock speed
#define WLAN_SSID "AndroidAP" // cannot be longer than 32 characters!
#define WLAN_PASS "tyhv5688"
// Security can be WLAN_SEC_UNSEC, WLAN_SEC_WEP, WLAN_SEC_WPA or WLAN_SEC_WPA2
#define WLAN_SECURITY WLAN_SEC_WPA2
#define LISTEN_PORT 80 // What TCP port to listen on for connections.
// The HTTP protocol uses port 80 by default.
#define MAX_ACTION 10 // Maximum length of the HTTP action that can be parsed.
#define MAX_PATH 64 // Maximum length of the HTTP request path that can be parsed.
// There isn't much memory available so keep this short!
#define BUFFER_SIZE MAX_ACTION + MAX_PATH + 20 // Size of buffer for incoming request data.
// Since only the first line is parsed this
// needs to be as large as the maximum action
// and path plus a little for whitespace and
// HTTP version.
#define TIMEOUT_MS 500 // Amount of time in milliseconds to wait for
// an incoming request to finish. Don't set this
// too high or your server could be slow to respond.
Adafruit_CC3000_Server httpServer(LISTEN_PORT);
Servo m1, m2, m3, m4;
uint8_t buffer[BUFFER_SIZE+1];
int bufindex = 0;
char action[MAX_ACTION+1];
char path[MAX_PATH+1];
int speed = 0;
void setup(void)
{
// Give name to robot
Serial.begin(9600);
Serial.println(F("\nHello, CC3000!\n"));
Serial.print("Free RAM: "); Serial.println(getFreeRam(), DEC);
// Initialise the module
Serial.println(F("\nInitializing..."));
m1.attach(5);
m2.attach(9);
m3.attach(10);
m4.attach(11);
if (!cc3000.begin())
{
Serial.println(F("Couldn't begin()! Check your wiring?"));
while(1);
}
Serial.print(F("\nAttempting to connect to ")); Serial.println(WLAN_SSID);
if (!cc3000.connectToAP(WLAN_SSID, WLAN_PASS, WLAN_SECURITY)) {
Serial.println(F("Failed!"));
while(1);
}
Serial.println(F("Connected!"));
Serial.println(F("Request DHCP"));
while (!cc3000.checkDHCP())
{
delay(100); // ToDo: Insert a DHCP timeout!
}
// Display the IP address DNS, Gateway, etc.
while (! displayConnectionDetails()) {
delay(1000);
}
// Start listening for connections
httpServer.begin();
Serial.println(F("Listening for connections..."));
}
void loop(void)
{
// Try to get a client which is connected.
Adafruit_CC3000_ClientRef client = httpServer.available();
if (client) {
Serial.println(F("Client connected."));
// Process this request until it completes or times out.
// Note that this is explicitly limited to handling one request at a time!
// Clear the incoming data buffer and point to the beginning of it.
bufindex = 0;
memset(&buffer, 0, sizeof(buffer));
// Clear action and path strings.
memset(&action, 0, sizeof(action));
memset(&path, 0, sizeof(path));
// Set a timeout for reading all the incoming data.
unsigned long endtime = millis() + TIMEOUT_MS;
// Read all the incoming data until it can be parsed or the timeout expires.
bool parsed = false;
while (!parsed && (millis() < endtime) && (bufindex < BUFFER_SIZE)) {
if (client.available()) {
buffer[bufindex++] = client.read();
}
parsed = parseRequest(buffer, bufindex, action, path);
}
// Handle the request if it was parsed.
if (parsed) {
Serial.println(F("Processing request"));
Serial.print(F("Action: ")); Serial.println(action);
Serial.print(F("Path: ")); Serial.println(path);
// Check the action to see if it was a GET request.
if (strcmp(action, "GET") == 0) {
// Respond with the path that was accessed.
// First send the success response code.
client.fastrprintln(F("HTTP/1.1 200 OK"));
// Then send a few headers to identify the type of data returned and that
// the connection will not be held open.
client.fastrprintln(F("Content-Type: text/plain"));
client.fastrprintln(F("Connection: close"));
client.fastrprintln(F("Server: Adafruit CC3000"));
// Send an empty line to signal start of body.
client.fastrprintln(F(""));
// Now send the response data.
client.fastrprintln(F("Connected"));
}
else if (strcmp(action, "POST") == 0) {
bool start = true;
startMotors(start);
client.fastrprintln(F("HTTP/1.1 200 OK"));
// Then send a few headers to identify the type of data returned and that
// the connection will not be held open.
client.fastrprintln(F("Content-Type: text/plain"));
client.fastrprintln(F("Connection: close"));
client.fastrprintln(F("Server: Adafruit CC3000"));
// Send an empty line to signal start of body.
client.fastrprintln(F(""));
// Now send the response data.
client.fastrprintln(F("Motors are starting"));
}
else {
// Unsupported action, respond with an HTTP 405 method not allowed error.
client.fastrprintln(F("HTTP/1.1 405 Method Not Allowed"));
}
}
// Wait a short period to make sure the response had time to send before
// the connection is closed (the CC3000 sends data asyncronously).
delay(100);
}
client.close();
}
void startMotors(bool start)
{
if(start == true)
{
for (speed = 0; speed<60; speed++)
{
m1.write(speed);
m2.write(speed);
m3.write(speed);
m4.write(speed);
}
}
}
// Return true if the buffer contains an HTTP request. Also returns the request
// path and action strings if the request was parsed. This does not attempt to
// parse any HTTP headers because there really isn't enough memory to process
// them all.
// HTTP request looks like:
// [method] [path] [version] \r\n
// Header_key_1: Header_value_1 \r\n
// ...
// Header_key_n: Header_value_n \r\n
// \r\n
bool parseRequest(uint8_t* buf, int bufSize, char* action, char* path) {
// Check if the request ends with \r\n to signal end of first line.
if (bufSize < 2)
return false;
if (buf[bufSize-2] == '\r' && buf[bufSize-1] == '\n') {
parseFirstLine((char*)buf, action, path);
return true;
}
return false;
}
// Parse the action and path from the first line of an HTTP request.
void parseFirstLine(char* line, char* action, char* path) {
// Parse first word up to whitespace as action.
char* lineaction = strtok(line, " ");
if (lineaction != NULL)
strncpy(action, lineaction, MAX_ACTION);
// Parse second word up to whitespace as path.
char* linepath = strtok(NULL, " ");
if (linepath != NULL)
strncpy(path, linepath, MAX_PATH);
}
// Tries to read the IP address and other connection details
bool displayConnectionDetails(void)
{
uint32_t ipAddress, netmask, gateway, dhcpserv, dnsserv;
if(!cc3000.getIPAddress(&ipAddress, &netmask, &gateway, &dhcpserv, &dnsserv))
{
Serial.println(F("Unable to retrieve the IP Address!\r\n"));
return false;
}
else
{
Serial.print(F("\nIP Addr: ")); cc3000.printIPdotsRev(ipAddress);
Serial.print(F("\nNetmask: ")); cc3000.printIPdotsRev(netmask);
Serial.print(F("\nGateway: ")); cc3000.printIPdotsRev(gateway);
Serial.print(F("\nDHCPsrv: ")); cc3000.printIPdotsRev(dhcpserv);
Serial.print(F("\nDNSserv: ")); cc3000.printIPdotsRev(dnsserv);
Serial.println();
return true;
}
}
Спасибо большое, это была проблема во всех ура! – user3107619