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#include <SPI.h>
#include <EthernetENC.h>
#include <PubSubClient.h>
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int motorSpeedPin = 6;
int motorUpPin = 2;
int motorDownPin = 3;
int motorLeftPin = 4;
int motorRightPin = 5;
int posTilt = A0;
int posPan = A1;
int motorSpeedStat = 0;
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int speedStatus = 0;
int motorSpeed = 100;
int gotoTilt = 70;
int val;
int valOld;
char buf[12];
char buf2[12];
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// Update these with values suitable for your network.
byte mac[] = { 0xDE, 0xED, 0xBA, 0xFE, 0xFE, 0xED };
IPAddress ip(10, 13, 37, 165);
byte server[] = {10, 13, 37, 101};
void callback(char* topic, byte* payload, unsigned int length) {
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Serial.print("Message arrived [");
Serial.print(topic);
Serial.print("] ");
for (int i = 0; i < length; i++) {
Serial.print((char)payload[i]);
}
Serial.println("");
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}
EthernetClient ethClient;
PubSubClient client(server, 1883, callback, ethClient);
void setup()
{
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pinMode(motorSpeedPin, OUTPUT);
pinMode(motorUpPin, OUTPUT);
pinMode(motorDownPin, OUTPUT);
pinMode(motorLeftPin, OUTPUT);
pinMode(motorRightPin, OUTPUT);
pinMode(posTilt, INPUT);
pinMode(posPan, INPUT);
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Serial.begin(115200);
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Ethernet.begin(mac, ip);
client.setBufferSize(255);
}
void reconnect() {
// Loop until we're reconnected
while (!client.connected()) {
Serial.print("Attempting MQTT connection...");
// Attempt to connect
if (client.connect("connectionName", "[[USER]]", "[[PASS]]")) {
Serial.println("connected");
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client.publish("hamradio/rotator/status","READY");
client.subscribe("hamradio/rotator/#");
client.publish("hamradio/rotator/motor/speed", "100");
client.publish("hamradio/rotator/pos/pan", "180");
client.publish("hamradio/rotator/pos/tilt", "60");
client.publish("hamradio/rotator/goto/pan", "180");
client.publish("hamradio/rotator/goto/tilt", "60");
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} else {
Serial.print("failed, rc=");
Serial.print(client.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
}
}
}
void loop()
{
if (!client.connected()) {
reconnect();
}
client.loop();
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val = analogRead(posTilt);
//Serial.println(val);
val = map(val, 0, 902, 0, 90);
if (((val - valOld) > 1) || ((valOld - val) > 1)) {
if(speedStatus == 0) {
motorSpeed = map(abs((val - gotoTilt)), 5, 20, 30, 100);
if (motorSpeed < 30) { motorSpeed = 30; }
if (motorSpeed > 100) { motorSpeed = 100; }
client.publish("hamradio/rotator/motor/speed", itoa(motorSpeed, buf2, 10));
}
valOld = val;
client.publish("hamradio/rotator/pos/tilt", itoa(val, buf, 10));
delay(15);
Serial.println(analogRead(posTilt));
}
delay(15);
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}
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