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• Twelve WiFi controlled Servos on the ESP32

  Hari Wiguna • 04/09/2017 at 22:44 • 0 comments

  Please forgive this messy code, I was just goofing around and did not plan on sharing it, but here I am sharing it. LOL

  #include <WiFi.h>
  
  const char* ssid     = "(Your WiFi Access Point Name)";
  const char* password = "(Your WiFi Access Point Password)";
  int ledPin = 4;
  
  WiFiServer server(80);
  
  //----------------------------------
  #include "esp32-hal-ledc.h"
  
  uint32_t maxint = 65535;
  uint32_t servoMax = 8000;
  uint32_t servoMin = 1700;
  uint32_t servoLow = servoMin; //1700 + 1300;
  uint32_t servoHigh = 1700 + 1000 + 1300; //servoLow+1000;
  uint32_t servoCenter = (servoLow + servoHigh) / 2;
  
  const byte numberOfServos = 12;
  byte servoPins[numberOfServos] = {5, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23};
  char command = 0;
  
  void setupServo()
  {
    for (byte servoIndex = 0; servoIndex < numberOfServos; servoIndex++)
    {
      byte channel = servoIndex;
      byte servoPin = servoPins[servoIndex];
  
      ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
      ledcAttachPin(servoPin, channel);   // GPIO servoPin on channel X
      ledcWrite(channel, servoHigh); //servoMin
    }
    delay(2000);
  }
  //----------------------------------
  
  void setup()
  {
    Serial.begin(115200);
    pinMode(ledPin, OUTPUT);      // set the LED pin mode
  
    delay(10);
  
    // We start by connecting to a WiFi network
  
    Serial.println();
    Serial.println();
    Serial.print("Connecting to ");
    Serial.println(ssid);
  
    WiFi.begin(ssid, password);
  
    while (WiFi.status() != WL_CONNECTED) {
      delay(500);
      Serial.print(".");
    }
  
    Serial.println("");
    Serial.println("WiFi connected");
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());
  
    server.begin();
  
    setupServo();
  }
  
  void Marching()
  {
    for (byte servoIndex = 0; servoIndex < numberOfServos; servoIndex++)
    {
      byte channel = servoIndex;
      ledcWrite(channel, servoHigh);
    }
    delay(500);
    for (byte servoIndex = 0; servoIndex < numberOfServos; servoIndex++)
    {
      byte channel = servoIndex;
      ledcWrite(channel, servoLow);
    }
    delay(500);
  }
  
  void LeftToRight(int servoValue, int dly)
  {
    for (int head = 0; head < numberOfServos; head++)
    {
      if (head >= 0 && head < numberOfServos) ledcWrite(head, servoValue);
      delay(dly);
    }
  }
  
  void RightToLeft(int servoValue, int dly)
  {
    for (int head = numberOfServos - 1; head >= 0 ; head--)
    {
      if (head >= 0 && head < numberOfServos) ledcWrite(head,  servoValue);
      delay(dly);
    }
  }
  
  void SpreadOut(int dly)
  {
    int half = (numberOfServos / 2);
    for (int i = 0; i <= half ; i++)
    {
      int left = half - i;
      int right = half + i;
      if (left >= 0 && left < numberOfServos) ledcWrite(left,  servoHigh);
      if (right >= 0 && right < numberOfServos) ledcWrite(right,  servoLow);
      delay(dly);
    }
  }
  void SpreadOutRestore(int dly)
  {
    int half = (numberOfServos / 2);
    for (int i = 0; i <= half ; i++)
    {
      int left = half - i;
      int right = half + i;
      if (left >= 0 && left < numberOfServos) ledcWrite(left,  servoCenter);
      if (right >= 0 && right < numberOfServos) ledcWrite(right,  servoCenter);
      delay(dly);
    }
  }
  void OutIn(int dly)
  {
    int half = (numberOfServos / 2);
    for (int i = 0; i <= half ; i++)
    {
      int left = (numberOfServos - 1) - i;
      int right = i;
      if (left >= 0 && left < numberOfServos) ledcWrite(left,  servoCenter);
      if (right >= 0 && right < numberOfServos) ledcWrite(right,  servoCenter);
      delay(dly);
    }
  }
  
  int value = 0;
  
  void SendHtmlResponse(WiFiClient client)
  {
    // 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();
  
    // the content of the HTTP response follows the header:
    client.print("<h1 style='font-size:400%;'>");
    client.print("<a href='/'>Home</a><br>");
    client.print("Left to Right: <a href='/A'>&#92;&#92;&#92;</a>&nbsp;&nbsp;<a href='/B'>///</a><br>");
    client.print("Right to Left: <a href='/C'>&#92;&#92;&#92;</a>&nbsp;&nbsp;<a href='/D'>///</a><br>");
    client.print("All: <a href='/E'>&#92;&#92;&#92;</a>&nbsp;&nbsp;<a href='/H'>Center</a>&nbsp;&nbsp;<a...

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