Curso de robotica, Gaztea Tech 2016, Jun 27 -- Jul 1.

1. ROBOTICA
GAZTEATECH 2016
SVET IVANTCHEV

2. SETUP
• Arduino: https://www.arduino.cc/en/Main/Software
• Driver CH340 (si es necesario: OSX, Win 7,8. OK en Linux, Win10)
• Soporte para ESP8266:
• Ir a Arduino (o File) -> Preferences
• En “Additional Boards Managers URLs” poner:
http://arduino.esp8266.com/package_esp8266com_index.json

4. • Ir a Tools -> Board -> Boards Manager …

5. • Buscar esp8266 e instalar:

6. • Seleccionar la placa en:
Tools -> Board -> NodeMCU 1.0 (ESP-12E Module)

7. BLINK

11. int ledPin = D0; // pin LED
void setup() {
// nothing happens in setup
}
void loop() {
// fade in from min to max in increments of 5 points:
for (int fadeValue = 0 ; fadeValue <= 255; fadeValue += 5) {
analogWrite(ledPin, fadeValue);
delay(30);
}
// fade out from max to min in increments of 5 points:
for (int fadeValue = 255 ; fadeValue >= 0; fadeValue -= 5) {
analogWrite(ledPin, fadeValue);
delay(30);
}
}
FADE

12. LDR

13. void setup() {
Serial.begin(9600);
}
void loop() {
// read the input on analog pin 0:
int sensorValue = analogRead(A0);
// Convert the analog reading (which goes from 0 - 1023)
// to a voltage (0 - 3.3V):
float voltage = sensorValue * (3.3 / 1023.0);
Serial.println(voltage);
}
LDR

14. SERVO

15. #include <Servo.h>
Servo myservo; // create servo object to control a servo
void setup()
{
myservo.attach(D8); // connect the servo to D8
}
void loop()
{
int pos;
for(pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=0; pos-=1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}
SERVO

16. #define TRIGGER 12 // D6
#define ECHO 13 // D7 (with voltage divider!)
void setup() {
Serial.begin (9600);
pinMode(TRIGGER, OUTPUT);
pinMode(ECHO, INPUT);
pinMode(BUILTIN_LED, OUTPUT);
pinMode(D0, OUTPUT);
}
void loop() {
long duration, distance;
digitalWrite(TRIGGER, LOW); delayMicroseconds(2);
digitalWrite(TRIGGER, HIGH); delayMicroseconds(10);
digitalWrite(TRIGGER, LOW);
duration = pulseIn(ECHO, HIGH);
distance = (duration/2) / 29.1;
Serial.println(distance);
if (distance < 10) digitalWrite(D0, LOW);
else digitalWrite(D0, HIGH);
delay(300);
}
HC-SR04

17. NEOPIXEL

18. GND
+3.3V
D8
Dout DoutDin Din
pixel 0 pixel 1 pixel 2

19. #include <Adafruit_NeoPixel.h>
Adafruit_NeoPixel pixels = Adafruit_NeoPixel(3, D8, NEO_GRB + NEO_KHZ800);
void setup() {
pixels.begin();
pixels.show();
}
void loop() {
for(int i=0; i<3; i++) {
pixels.setPixelColor(i, pixels.Color(0, 150, 0));
pixels.show();
delay(300);
}
}
NEOPIXELS I
Nota: Instalar la librería NeoPixel si en necesario desde Sketch -> Include Library -> Manage Libraries …

20. #include <Adafruit_NeoPixel.h>
Adafruit_NeoPixel strip = Adafruit_NeoPixel(3, D8, NEO_GRB + NEO_KHZ800);
void setup() {
strip.begin();
strip.show(); // Initialize all pixels to 'off'
}
void loop() {
colorWipe(strip.Color(255, 0, 0), 20); // Red
colorWipe(strip.Color(0, 255, 0), 20); // Green
colorWipe(strip.Color(0, 0, 255), 20); // Blue
}
// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
for(uint16_t i=0; i<strip.numPixels(); i++) {
strip.setPixelColor(i, c);
strip.show();
delay(wait);
}
}
NEOPIXEL II

21. MQTT
MQTT BROKER
CLIENTE CLIENTE
CLIENTE
CLIENTE CLIENTE
CLIENTE
publish
publish
publish
subscribe
subscribe
“topic” -> “message”

22. MQTT UI

23. RED LOCAL ENTRE LOS ROBOTS
WIFI
Nombre de la red WiFi: Pi3-AP
Contraseña: raspberry
IP del broker MQTT: 172.24.1.1
Alternativamente puede considerar algún
servicio público de MQTT como por ejemplo
el servidor de pruebas de HiveMQ:
broker.hivemq.com

24. CLIENTE MQTT PARA CHROME

25. CLIENTE MQTT PARA ANDROID

26. CLIENTE MQTT PARA IOS

27. TOPICS Y REGLAS
r1/ldr 2.1
r2/ldr 1.4
r42/ldr 1.0
r13/ip Hello from …
r1/cmd/led1 on
r42/cmd/led2 off
r42/cmd/led1 on
r1/cmd/motL 800
r1/cmd/motR 800
r13/cmd/rgb 016:200:000
r42/cmd/rgbhex #0FAA00
De cada robot al MQTT:
Del MQTT a los robots:
Posibles suscripciones:
r1/+
+/ldr
r42/#
r13/cmd/+
+/ip

28. remote_001
#include <ESP8266WiFi.h>
#include <PubSubClient.h>
const char* ssid = "Pi3-AP";
const char* password = "raspberry";
const char* mqtt_server = "172.24.1.1";
char msg[50];
long ldr;
WiFiClient espClient;
PubSubClient client(espClient);
long lastMsg = 0;
void setup() {
Serial.begin(9600);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500); Serial.print(".");
}
Serial.println("WiFi connected. IP address: ");
Serial.println(WiFi.localIP());
client.setServer(mqtt_server, 1883);
}
void reconnect() {
while (!client.connected()) {
Serial.print("Attempting MQTT connection...");
if (client.connect("ESP8266Client")) {
Serial.println("connected");
client.publish("r1/ip", "Hello world from R1");
} else {
Serial.println(" try again in 5 seconds");
delay(5000);
}
}
}
void loop() {
if (!client.connected()) { reconnect(); }
client.loop();
long now = millis();
if (now - lastMsg > 500) {
lastMsg = now;
ldr = analogRead(A0);
snprintf (msg, 75, "%ld", ldr);
client.publish("r1/ldr", msg);
}
}
COMO PUBLICAR EN MQTT

29. #include <ESP8266WiFi.h>
#include <PubSubClient.h>
const char* ssid = "Pi3-AP";
const char* password = "raspberry";
const char* mqtt_server = "172.24.1.1";
long lastMsg = 0;
char msg[50];
long ldr;
WiFiClient espClient;
PubSubClient client(espClient);
void setup() {
pinMode(D0, OUTPUT);
pinMode(D1, OUTPUT);
setup_wifi();
client.setServer(mqtt_server, 1883);
client.setCallback(callback);
Serial.begin(9600);
}
void setup_wifi() {
delay(20);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500); Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected. IP address: ");
Serial.println(WiFi.localIP());
}
void callback(char* topic, byte* payload, unsigned int length) {
String topic_str(topic);
String cmd;
String param;
for (int i = 0; i < length; i++) {
param += (char)payload[i];
}
Serial.print("Message arrived: ");
Serial.print(topic); Serial.print(" ");
Serial.println(param);
// "r1/cmd/abc" -> abc
cmd = topic_str.substring( topic_str.lastIndexOf('/')+1 );
if (cmd == "led1") {
if (param=="on") digitalWrite(D0, LOW);
else digitalWrite(D0, HIGH);
} else if (cmd == "led2") {
if (param=="on") digitalWrite(D1, HIGH);
else digitalWrite(D1, LOW);
}
}
void reconnect() {
while (!client.connected()) {
Serial.print("Attempting MQTT connection...");
if (client.connect("ESP8266Client")) {
Serial.println("connected");
client.publish("r1/ip", "Hello world from R1");
client.subscribe("r1/cmd/+");
} else {
Serial.print("failed, rc=");
Serial.print(client.state());
Serial.println(" try again in 5 seconds");
delay(5000);
}
}
}
la función void loop() es igual que en el ejemplo anterior
PUBLISH Y SUBSCRIBE CON MQTT

30. HTTPS://PROCESSING.ORG
PROCESSING

31. void setup() {
size(400,400);
}
void draw() {
ellipse(mouseX, mouseY, 60, 60);
}

32. MQTT CON PROCESSING
import mqtt.*;
MQTTClient client;
int ldrvalue;
void setup() {
client = new MQTTClient(this);
client.connect("mqtt://172.24.1.1", "proc1");
client.subscribe("r1/ldr");
size(500,500);
}
void draw() {
clear();
ellipse(250, 250, ldrvalue/2, ldrvalue/2);
}
void messageReceived(String topic, byte[] payload) {
String spayload = new String(payload);
ldrvalue = int(spayload);
println("new message: " + topic + " - " + spayload);
}
mqtt_rec

33. PUBLICAR EN MQTT
import mqtt.*;
MQTTClient client;
void setup() {
client = new MQTTClient(this);
client.connect("mqtt://172.24.1.1", "pc42");
}
void draw() {}
void keyPressed() {
switch(key) {
case 'a':
client.publish("/r42/led1", "on");
break;
case 'z':
client.publish("/r42/led1", "off");
break;
}
}
mqtt_001

34. !!! VM-NC
cuando esta conectado
al ordenador y a la batería
VM+
-
motor A
motor B
CONEXIONES DE MOTORES DC

35. CONTROL DE MOTORES DC
pinMode(D1, OUTPUT);
pinMode(D2, OUTPUT);
pinMode(D3, OUTPUT);
pinMode(D4, OUTPUT);
digitalWrite(D3, HIGH); // Dirección Motor A
digitalWrite(D4, HIGH); // Dirección Motor B
analogWrite(D1, 800); // Velocidad Motor A
analogWrite(D2, 800); // Velocidad Motor A
En el setup
Control

36. CONTROL DE ENCHUFES 433MHZ
MQTT Y RC

37. CÓDIGOS
• Instalar la librería rc-switch de https://github.com/sui77/rc-switch/
• Cargar File -> Examples -> rc-switch -> ReceiveDemo_Advanced

38. #include <ESP8266WiFi.h>
#include <PubSubClient.h>
#include <RCSwitch.h>
const char* ssid = "Pi3-AP";
const char* password = "raspberry";
const char* mqtt_server = "172.24.1.1";
long lastMsg = 0;
char msg[50];
long ldr;
WiFiClient espClient;
PubSubClient client(espClient);
RCSwitch mySwitch = RCSwitch();
void setup() {
pinMode(D0, OUTPUT);
setup_wifi();
client.setServer(mqtt_server, 1883);
client.setCallback(callback);
mySwitch.enableTransmit(16);
Serial.begin(9600);
}
void setup_wifi() {
delay(20);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500); Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected. IP address: ");
Serial.println(WiFi.localIP());
}
void callback(char* topic, byte* payload, unsigned int length) {
String topic_str(topic);
String cmd;
String param;
for (int i = 0; i < length; i++) {
param += (char)payload[i];
}
Serial.print("Message arrived: ");
Serial.print(topic); Serial.print(" ");
Serial.println(param);
// "r1/cmd/abc" -> abc
cmd = topic_str.substring( topic_str.lastIndexOf('/')+1 );
if (cmd == "plug1") {
if (param=="on") mySwitch.send("010001000000000000010100");
else mySwitch.send("010001000000000000000000");
} else if (cmd == "plug2") {
if (param=="on") mySwitch.send("010001000100000000010100");
else mySwitch.send("010001000100000000000000");
}
}
void reconnect() {
while (!client.connected()) {
Serial.print("Attempting MQTT connection...");
if (client.connect("ESP8266Client")) {
Serial.println("connected");
client.subscribe("svet/office/+");
} else {
Serial.print("failed, rc=");
Serial.print(client.state());
Serial.println(" try again in 5 seconds");
delay(5000);
}
}
}
la función void loop() es igual que en los ejemplos anteriores
CONTROL CON MQTT