Hi all!
I already made a really cool project, but I am trying to add the Arduino Cloud to it. It is an Arduino e-scooter though, so I can't use the usual way to connect to the Arduino Cloud. How do I call ArduinoCloud.begin(ArduinoIoTPreferredConnection); but without the thing in "()"? I tried just doing ArduinoCloud.begin();, and it compiles, but when it gets to the ArduinoCloud.update(); in the loop, it panics.
I have to do it a different way than normal, because as it is a scooter, it cannot connect to a single network and stay on that network. So I just want to handle the WiFi connection process, and have Arduino Cloud connect all by itself, without the Arduino Cloud handling the WiFi too.
Any ideas on how to make this happen?
Here is my code so far:
#include "DFRobot_GDL.h"
#include <XPT2046_Touchscreen.h>
#include <SPI.h>
#include "DFRobot_GNSS.h"
#include "DFRobot_BMI160.h"
#include "DFRobot_AHT20.h"
#include "DFRobot_GR10_30.h"
#include <Adafruit_NeoPixel.h>
#include <EEPROM.h>
#include "thingProperties.h"
#include "WiFi.h"
#include <WiFiMulti.h>
//Testing
bool testing = false;
//WiFi
int wifitimerlength = 15000;//time in milliseconds before connection fails
int wifitimer = 0;
int wifismarttimer = 20;//time in seconds to wait for smartconfig
int wifistimer = 0;
//Motor Driver
#define brakepin 16 //D11
#define cruisepin 4 //D12 // actually enable pin, so able to push scooter manually when on
#define speedpin 13 //D7
#define rpmpin A4
// PWM properties for motor driver
const int freq = 5000;
const int speedChannel = 0;
const int resolution = 8;
//Display
#define TFT_DC 25 //D2
#define TFT_CS 14 //D6
#define TFT_RST 26 //D3
#define TFT_BL 12 //D13
#define TOUCH_CS 4 //D12
//Throttle
#define throttlepin A0 //throttle pin
int throttleoffvalue = 0;
int throttleonvalue = 4095;
int throttleval = 0;
//Touch coordinates for calibration
#define touchxmin 290
#define touchxmax 3750
#define touchymin 300
#define touchymax 3700
#define backcolor COLOR_RGB565_WHITE
#define erasecolor backcolor//COLOR_RGB565_LGRAY
#define backgroundcolor COLOR_RGB565_CYAN
//gnss / display
long readgnssinc = 1000;//time between GNSS readings
unsigned long lastreadgnss = 0;
long readdisplayinc = 1000;//time between display updates
unsigned long lastdisplay = 0;
sTim_t utc;
sTim_t date;
sLonLat_t latitude;
sLonLat_t longitude;
double altitude;
uint8_t satelites;
double knots;
double course;
//AHT20
float temperature = 0;
float humidity = 0;
//WS2812
#define LEDPIN 5
#define NUMPIXELS 19
float lastcoursereading = 0;
float coursechangetime = 1000;
float lastcoursereadtime = 0;
float courseturnsignalinc = 50; //degrees of turning for turning signal to turn on
float lastspeedreading = 0;
float speedchangetime = 1000;
float lastspeedreadtime = 0;
float speedbrakeinc = -0.5;//decrease in speed before brake light turns on
int leftturn1 = 0;
int leftturn2 = 1;
int leftturn3 = 2;
int rightturn3 = 2;
int rightturn2 = 3;
int rightturn1 = 4;
int brake1 = 16;
int brake2 = 17;
int brake3 = 18;
int brake4 = 19;
unsigned long startmillis = 0;
int animationcount = 1;
//Password
bool locked = false;//true
uint16_t gestures;
int passwordlength = 3;
#define EEPROM_SIZE passwordlength
int password[] = {GESTURE_UP,GESTURE_DOWN,GESTURE_LEFT};//Adjustable gesture password; can adjust password length (right now it is set to 3 in the "passwordlength" integer)
int passc = 0;//pass count
//battery
float batteryvolts = 0;
#define batterypin A2
int batteryreadings = 10;//number of readings to average, more for a smoother more reliable response
long readbatteryint = 20;//time in milliseconds between battery readings
unsigned long lastbatreading = 0;
long R1 = 15000;//15k ohms
long R2 = 1000;//1.1k ohms
int curbatread = 0;
int batsum = 0;
#define batteryamps 5
#define batteryvoltage 36 //voltage and amp hours of battery, or uncomment "batterywattage" below instead
//#define batterywattage 180
#define motorwattage 350
#define maxcruisespeed 15 //mph //20
bool lastebrakeon = false;
unsigned long lastebrakechange = 0;
bool ebrakeon = false;
bool lockbtnon = false;
bool lastcruiseon = false;
unsigned long lastcruisechange = 0;
bool cruiseon = false;
float cruisesetspeed = 0;
int previousotherx1 = 0;
int previousothery1 = 0;
int previousotherx2 = 0;
int previousothery2 = 0;
bool stole = false;
float speedlimit = 0.00;
XPT2046_Touchscreen ts(TOUCH_CS);
DFRobot_ILI9341_240x320_HW_SPI screen(/*dc=*/TFT_DC,/*cs=*/TFT_CS,/*rst=*/TFT_RST);
DFRobot_GNSS_I2C gnss(&Wire,GNSS_DEVICE_ADDR);
DFRobot_BMI160 bmi160;
const int8_t i2c_addr = 0x69;
DFRobot_AHT20 aht20;
DFRobot_GR10_30 gr10_30(/*addr = */GR10_30_DEVICE_ADDR, /*pWire = */&Wire);
Adafruit_NeoPixel pixels(NUMPIXELS, LEDPIN, NEO_GRB + NEO_KHZ800);
WiFiMulti wifiMulti;
//BMI160
struct dat{
float x = 0;
float y = 0;
float z = 0;
};
dat accel;
struct data{
float x = 0;
float y = 0;
float z = 0;
};
data gyro;
float baseyangle = 0;
void setup() {
wifiMulti.addAP("Apple Network 85064d", "12344321");
wifiMulti.addAP("ssid_from_AP_2", "your_password_for_AP_2");
wifiMulti.addAP("ssid_from_AP_3", "your_password_for_AP_3");
Serial.println("Connecting Wifi...");
while (!(wifiMulti.run() == WL_CONNECTED)){
wifitimer++;
delay(1);
if (wifitimer > wifitimerlength){
goto ex;
}
}
ex:
if(wifiMulti.run() == WL_CONNECTED) {
Serial.println("");
Serial.println("WiFi connected");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
}
else {
WiFi.mode(WIFI_AP_STA);
WiFi.beginSmartConfig();
Serial.println("Waiting for SmartConfig.");
while (!WiFi.smartConfigDone()) {
delay(1000);
Serial.print(".");
wifistimer++;
if (wifistimer > wifismarttimer){
goto exi;
}
}
//Wait for WiFi to connect to AP
Serial.println("Waiting for WiFi");
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
wifitimer++;
if (wifitimer > wifismarttimer*2){
goto exi;
}
}
Serial.println("WiFi Connected.");
Serial.print("IP Address: ");
Serial.println(WiFi.localIP());
}
exi:
Serial.println("");
Serial.println("SmartConfig done.");
initProperties();
// Connect to Arduino IoT Cloud
ArduinoCloud.begin();//ArduinoIoTPreferredConnection);
digitalWrite(speedpin, LOW);
pinMode(rpmpin, INPUT);
Serial.begin(115200);
EEPROM.begin(EEPROM_SIZE);
for (int i=0;i<passwordlength;i++){//read password from EEPROM
password[i] = EEPROM.read(i);
}
pinMode(batterypin, INPUT);
pinMode(throttlepin, INPUT);
pinMode(brakepin, OUTPUT);
pinMode(cruisepin, OUTPUT);
pinMode(speedpin, OUTPUT);
digitalWrite(speedpin, LOW);
pinMode(rpmpin, INPUT);
attachInterrupt(rpmpin, interruptRoutine, FALLING);
ledcSetup(speedChannel, freq, resolution);
ledcAttachPin(speedpin, speedChannel);
if(!gnss.begin()){
Serial.println("NO GPS device !");
delay(1000);
}
gnss.enablePower();
gnss.setGnss(eGPS_BeiDou_GLONASS);
gnss.setRgbOn();
if (bmi160.softReset() != BMI160_OK){
Serial.println("bmi160 reset false");
//while(1);
}
if (bmi160.I2cInit(i2c_addr) != BMI160_OK){
Serial.println("bmi160 init false");
//while(1);
}
readAccelGyro();
baseyangle = gyro.y;
//baseyangle = 20;
uint8_t status;
if((status = aht20.begin()) != 0){
Serial.print("AHT20 sensor initialization failed. error status : ");
Serial.println(status);
delay(1000);
}
pixels.begin();
pixels.clear();
startGestureSensor();
ts.begin();
ts.setRotation(3);
screen.begin();
screen.setRotation(3);
startDisplay();
setDebugMessageLevel(2);
ArduinoCloud.printDebugInfo();
}
void loop() {
if(wifiMulti.run() != WL_CONNECTED) {
Serial.println("WiFi not connected!");
delay(1000);
}
ArduinoCloud.update();
if (locked){
lockedloop();
return;
}
if (ts.touched()){
TS_Point p = ts.getPoint();
handleTouch(abs(map(p.x,touchxmax,touchxmin,0,320)),abs(map(p.y,touchymax,touchymin,0,240)));
}
if ((millis() - lastreadgnss) > readgnssinc){
readGNSS();
lastreadgnss = millis();
}
readAccelGyro();
readTempHum();
readBattery();
readThrottle();
if (((millis() - lastdisplay) > readdisplayinc) && (satelites != 0)){
handleSlowDisplay();
lastdisplay = millis();
}
handleFastDisplay();
handleDisplayButtons();
float handleAngleLineValue = (baseyangle*100) - (gyro.y*100);
handleAngleLine(handleAngleLineValue);
handleGestures();
handleMotordriver();
handleLeds();
handleSpeedLimit();
if (locked){
if (knots > 2){
stole = true;
}
else {
stole = false;
}
}
}
void onLockChange() {
if (lock == true){
screen.fillRoundRect(15,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(20,70);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("Locked");
screen.fillRoundRect(225,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,70);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("E ON");
ebrakeon = true;
locked = true;
}
if (lock == false){
ebrakeon = false;
locked = false;
}
}
void onStolenChange() {
stole = stolen;
}
void onMaxspeedChange() {
speedlimit = maxspeed;
}
void handleSpeedLimit(){
if (knots > speedlimit){
throttleval = throttleval/2;
}
}
void handleTouch(int x,int y){
Serial.print("Touch X = " + String(x));
Serial.println(" | Touch Y = " + String(y));
if (x >= 215 && x <= 320){
if (y < 45){
changepassword();
}
else if (y >= 45 && y <= 104){
if ((millis() - lastebrakechange) > 1000){//wait 1 second between reading button as pressed
if (knots < 5){
ebrakeon = !ebrakeon;
lastebrakechange = millis();
}
}
}
else if (y >= 105 && y <= 160){
if ((millis() - lastcruisechange) > 1000){//wait 1 second between reading button as pressed
cruiseon = !cruiseon;
cruisesetspeed = knots;
lastcruisechange = millis();
}
}
}
else if (x >= 5 && x <= 105){
if (y < 45){
changepassword();
}
else if (y >= 45 && y <= 105){
if (!lockbtnon){
lockbtnon = true;
}
else {
screen.setTextSize(2);
screen.setCursor(15,115);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("Unlock with gestures!");//display unlock warning
delay(3000);
screen.fillRect(14, 114, 290, 20, erasecolor);//erase display unlock warning
}
}
}
}
void handleSlowDisplay(){
//satelites
screen.setTextSize(2);
screen.setCursor(287,15);
screen.fillRect(286, 13, 26, 18, erasecolor);//backcolor
if (satelites <= 5){
screen.setTextColor(COLOR_RGB565_RED);
}
else if (satelites > 5 && satelites <= 8){
screen.setTextColor(COLOR_RGB565_ORANGE);
}
else if (satelites > 8){
screen.setTextColor(COLOR_RGB565_GREEN);
}
screen.print(String(satelites));
//Serial.println(satelites);
//speed (knots)
screen.setTextSize(4);
if (knots >= 10){
screen.setCursor(100,62);//118,62
screen.fillRect(92, 58, 132, 37, erasecolor);//117, 57, 90, 30,
}
else {
screen.setCursor(110,62);//118,62
screen.fillRect(100, 58, 105, 37, erasecolor);//117, 57, 90, 30,
}
if (knots <= 1.00){
screen.setTextColor(COLOR_RGB565_BLUE);
}
else if (knots > 1.00 && knots <= 12.00){
screen.setTextColor(COLOR_RGB565_GREEN);
}
else if (knots > 12.00 && knots <= 19.00){
screen.setTextColor(COLOR_RGB565_ORANGE);
}
else {
screen.setTextColor(COLOR_RGB565_RED);
}
screen.print(knots);
//if (knots >= cruisesetspeed+4.00){//reset cruise if current speed goes above cruisesetspeed + 4
// cruiseon = false;
//}
//temperature
screen.setTextSize(2);
screen.setCursor(12,215);
screen.fillRect(11,214,55,17,erasecolor);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print(temperature,1);//temperature with only one decimal
screen.drawCircle(64,209,2,COLOR_RGB565_GREEN);//degrees symbol
//humidity
screen.setTextSize(2);
screen.setCursor(270,215);
screen.fillRect(269,214,40,17,erasecolor);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print(humidity,0);//humidity with no decimals
screen.print("%");//percentage symbol
//battery
screen.setTextSize(2);
screen.setCursor(140,215);
screen.fillRect(139,214,65,17,erasecolor);
float batpercent = map(batteryvolts*10,300,420,0,100); //map battery voltage to a percentage value of 0 - 100
if (batpercent > 80.0){
screen.setTextColor(COLOR_RGB565_GREEN);
}
else if (batpercent <= 80.0 && batpercent > 50.0){
screen.setTextColor(COLOR_RGB565_DGREEN);
}
else if (batpercent <= 50.0 && batpercent > 25.0){
screen.setTextColor(COLOR_RGB565_YELLOW);
}
else if (batpercent <= 25.0 && batpercent > 12.0){
screen.setTextColor(COLOR_RGB565_ORANGE);
}
else if (batpercent <= 12.0 && batpercent > 5.0){
screen.setTextColor(COLOR_RGB565_RED);
}
else {
screen.setTextColor(COLOR_RGB565_RED);
batterywarning();
}
screen.print(batpercent,0);//battery percentage with no decimals
screen.print("%");//percentage symbol
//dist to empty; for 36V 5AH (180W) that would be (at 20mph) 8 miles or 0.4 hours
float batwatts = 0;
#ifdef batterywattage
batwatts = batterywattage;
#else
batwatts = batteryvoltage * batteryamps;
#endif
float bathours = batwatts / motorwattage;
float batmiles = maxcruisespeed * bathours;
float batmilesleft = map(batteryvolts*10,300,420,0,batmiles*100);//map function cant map floating values
batmilesleft = batmilesleft / 100;
float bathoursleft = map(batteryvolts*10,300,420,0,bathours*100);//map function cant map floating values
bathoursleft = bathoursleft / 100;
float batminutesleft = map(bathoursleft*100,0,100,0,600);//map function cant map floating values
batminutesleft = batminutesleft / 10;
screen.setTextSize(3);
screen.setCursor(75,187);
screen.fillRect(74,186,198,24,erasecolor);
screen.setTextColor(COLOR_RGB565_BLUE);
screen.print(abs(batmilesleft),1);//miles with no decimals
screen.print("m|");//miles symbol
screen.print(abs(batminutesleft),1);//hours with two decimals
screen.print("m");
//Angle
screen.setTextSize(2);
screen.setCursor(140,95);
screen.fillRect(139,94,65,17,erasecolor);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print(gyro.y*100,1);//temperature with only one decimal
}
void handleFastDisplay(){
//Angle
screen.setTextSize(2);
screen.setCursor(140,95);
screen.fillRect(139,94,75,17,erasecolor);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print((baseyangle*100)-(gyro.y*100),1);//angle with only one decimal
}
void handleDisplayButtons(){
//e-brake button
if (ebrakeon != lastebrakeon){
if (!ebrakeon){
screen.fillRoundRect(220,45,90,60,12,erasecolor);//erase
screen.drawRoundRect(225,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,70);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("E OFF");
}
else {
screen.fillRoundRect(225,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,70);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("E ON");
}
lastebrakeon = ebrakeon;
}
if (!lockbtnon){
screen.fillRoundRect(12,45,90,60,12,erasecolor);//erase
screen.drawRoundRect(15,50,80,50,12,backgroundcolor);
screen.setTextSize(1);
screen.setCursor(25,70);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("Unlocked");
}
else if (lockbtnon || locked){
screen.fillRoundRect(15,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(20,70);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("Locked");
ebrakeon = true;
locked = true;
}
if (cruiseon != lastcruiseon){
if (!cruiseon){
screen.fillRoundRect(220,105,90,60,12,erasecolor);//erase
screen.drawRoundRect(225,110,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,130);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("C OFF");
}
else {
screen.fillRoundRect(225,110,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,130);
screen.setTextColor(COLOR_RGB565_ORANGE);
screen.print("C ON");
}
lastcruiseon = cruiseon;
}
}
void handleAngleLine(float angle1){
int x=160,y=140; //center point of the two lines
screen.drawLine(x, y, previousotherx1, previousothery1, erasecolor);//line going right
screen.drawLine(x+1, y+1, previousotherx1+1, previousothery1+1, erasecolor);//double thick line
screen.drawLine(x, y, previousotherx2, previousothery2, erasecolor);//line going left
screen.drawLine(x+1, y+1, previousotherx2+1, previousothery2+1, erasecolor);//double thick line
#define DEG2RAD 0.0174532925
float screenangle1 = 135; //value for right line to make it level
float screenangle2 = 315; //value for left line to make it level; appears to be one line instead of two separate ones
float angle2 = angle1;
int w=100,h=100; //length of each line; one going right and one going left
#define linecolor COLOR_RGB565_NAVY
float cosa1 = cos((screenangle1+angle1) * DEG2RAD), sina1 = sin((screenangle1+angle1) * DEG2RAD);
int otherx1 = x - ((w * cosa1 / 2) - (h * sina1 / 2));
int othery1 = y - ((h * cosa1 / 2) + (w * sina1 / 2));
screen.drawLine(x, y, otherx1, othery1, linecolor);//line going right
screen.drawLine(x+1, y+1, otherx1+1, othery1+1, linecolor);//double thick line
float cosa2 = cos((screenangle2+angle2) * DEG2RAD), sina2 = sin((screenangle2+angle2) * DEG2RAD);
int otherx2 = x - ((w * cosa2 / 2) - (h * sina2 / 2));
int othery2 = y - ((h * cosa2 / 2) + (w * sina2 / 2));
screen.drawLine(x, y, otherx2, othery2, linecolor);//line going left
screen.drawLine(x+1, y+1, otherx2+1, othery2+1, linecolor);//double thick line
previousotherx1 = otherx1;
previousothery1 = othery1;
previousotherx2 = otherx2;
previousothery2 = othery2;
}
void batterywarning(){
}
void changepassword(){
screen.fillScreen(backcolor);
screen.fillScreen(COLOR_RGB565_DGRAY);
screen.fillRoundRect(0, 0, 320, 240, 15, backgroundcolor);
screen.fillRoundRect(5, 5, 310, 230, 15, backcolor);
screen.setTextColor(backgroundcolor);
screen.setTextSize(3);
screen.setCursor(30, 11);
screen.print("Change PASS");
screen.drawFastHLine(10, 35, 300, COLOR_RGB565_GREEN);
screen.drawFastHLine(10, 36, 300, COLOR_RGB565_GREEN);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.setTextSize(1);
screen.setCursor(40, 100);
screen.print("Do three gestures to set new password...");
password[0] = 0;
password[1] = 0;
password[2] = 0;
int gesturepasscount = 0;
redo:
if(gr10_30.getDataReady()){
gestures = gr10_30.getGesturesState();
if(gestures&GESTURE_UP){
Serial.println("Up");
password[gesturepasscount] = GESTURE_UP;
}
if(gestures&GESTURE_DOWN){
Serial.println("Down");
password[gesturepasscount] = GESTURE_DOWN;
}
if(gestures&GESTURE_LEFT){
Serial.println("Left");
password[gesturepasscount] = GESTURE_LEFT;
}
if(gestures&GESTURE_RIGHT){
Serial.println("Right");
password[gesturepasscount] = GESTURE_RIGHT;
}
if(gestures&GESTURE_FORWARD){
password[gesturepasscount] = GESTURE_FORWARD;
}
if(gestures&GESTURE_BACKWARD){
password[gesturepasscount] = GESTURE_BACKWARD;
}
if(gestures&GESTURE_CLOCKWISE){
password[gesturepasscount] = GESTURE_CLOCKWISE;
}
if(gestures&GESTURE_COUNTERCLOCKWISE){
password[gesturepasscount] = GESTURE_COUNTERCLOCKWISE;
}
if(gestures&GESTURE_WAVE){
password[gesturepasscount] = GESTURE_WAVE;
}
if(gestures&GESTURE_HOVER){
password[gesturepasscount] = GESTURE_HOVER;
}
if(gestures&GESTURE_CLOCKWISE_C){
password[gesturepasscount] = GESTURE_CLOCKWISE_C;
}
if(gestures&GESTURE_COUNTERCLOCKWISE_C){
password[gesturepasscount] = GESTURE_COUNTERCLOCKWISE_C;
}
EEPROM.write(gesturepasscount,password[gesturepasscount]);
EEPROM.commit();
gesturepasscount++;
Serial.println("gesturepasscount: " + String(gesturepasscount));
}
if (gesturepasscount != passwordlength){
goto redo;
}
Serial.println("Finished!");
gesturepasscount = 0;
startDisplay();
}
void readThrottle(){
throttleval = map(analogRead(throttlepin),throttleoffvalue,throttleonvalue,4095,0);
Serial.println("Throttle: " + String(throttleval));
}
void readBattery(){
if ((millis() - lastbatreading) > readbatteryint){
if (curbatread < batteryreadings){
batsum = batsum + analogRead(batterypin);
curbatread++;
}
else{
float batteryread = batsum/batteryreadings;
float batpinvolt = (batteryread*3.3)/4095;//3.3V and 4095 is the max resolution of ESP32
if (testing){
batpinvolt = 2.2;
}
batteryvolts = batpinvolt*16;//(1000/(15000+1000)); //(R2/(R1+R2));//VOUT = VIN*R2/R1+R2 ; classic equation for voltage dividers
curbatread = 0;
}
lastbatreading = millis();
}
}
void handleGestures(){
if(gr10_30.getDataReady()){
gestures = gr10_30.getGesturesState();
if(gestures&GESTURE_UP){
Serial.println("Up");
cruiseon = true;
}
if(gestures&GESTURE_DOWN){
Serial.println("Down");
cruiseon = false;
}
if(gestures&GESTURE_LEFT){
Serial.println("Left");
ebrakeon = true;
}
if(gestures&GESTURE_RIGHT){
Serial.println("Right");
ebrakeon = false;
}
if(gestures&GESTURE_FORWARD){
Serial.println("Forward");
}
if(gestures&GESTURE_BACKWARD){
Serial.println("Backward");
}
if(gestures&GESTURE_CLOCKWISE){
Serial.println("Clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE){
Serial.println("Contrarotate");
}
if(gestures&GESTURE_WAVE){
Serial.println("Wave");
}
if(gestures&GESTURE_HOVER){
Serial.println("Hover");
}
if(gestures&GESTURE_CLOCKWISE_C){
Serial.println("Continuous clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE_C){
Serial.println("Continuous counterclockwise");
screen.fillRoundRect(15,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(20,70);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("Locked");
screen.fillRoundRect(225,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,70);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("E ON");
ebrakeon = true;
locked = true;
}
}
}
void lockedloop(){
if(gr10_30.getDataReady()){
gestures = gr10_30.getGesturesState();
Serial.print("Gesture: ");
Serial.println(gestures);
if (gestures&password[passc]){
Serial.println("Correct!");
Serial.println(password[passc]);
passc++;
Serial.println("PASSC: " + String(passc));
}
else {
Serial.println("Wrong");
passc=0;
}
}
if (passc >= passwordlength){
Serial.println("Unlocked!");
passc=0;
locked = false;
lock = false;
}
}
void readGNSS(){
utc = gnss.getUTC();
date = gnss.getDate();
latitude = gnss.getLat();
longitude = gnss.getLon();
altitude = gnss.getAlt();
satelites = gnss.getNumSatUsed();
knots = gnss.getSog();
course = gnss.getCog();
}
void readAccelGyro(){
int i = 0;
int rslt;
int16_t accelGyro[6]={0};
//get both accel and gyro data from bmi160
//parameter accelGyro is the pointer to store the data
rslt = bmi160.getAccelGyroData(accelGyro);
if(rslt == 0){
for(i=0;i<6;i++){
if (i<3){
//the first three are gyro data
//Serial.print(accelGyro[i]*3.14/180.0);Serial.print("\t");
if (i==0){accel.x = accelGyro[i]*3.14/180.0;}
else if (i==1){accel.y = accelGyro[i]*3.14/180.0;}
else if (i==2){accel.z = accelGyro[i]*3.14/180.0;}
}else{
//the following three data are accel data
//Serial.print(accelGyro[i]/16384.0);Serial.print("\t");
if (i==3){gyro.x = accelGyro[i]/16384.0;}
else if (i==4){gyro.y = accelGyro[i]/16384.0;}
else if (i==5){gyro.z = accelGyro[i]/16384.0;}
}
}
//Serial.println();
}else{
Serial.println("err");
}
}
void readTempHum(){
if(aht20.startMeasurementReady(/* crcEn = */true)){
temperature = aht20.getTemperature_F();
humidity = aht20.getHumidity_RH();
}
}
void handleMotordriver(){
digitalWrite(cruisepin,cruiseon);
digitalWrite(brakepin,ebrakeon);
ledcWrite(speedChannel, map(throttleval,400,4095,0,255));//pwm signal for speed
}
void handleLeds(){
if ((millis() - lastcoursereadtime) > coursechangetime){//handle turning signal
float coursechange = 0;
coursechange = course - lastcoursereading;
if (abs(coursechange) > courseturnsignalinc){
if (coursechange < 0){
leftblinker();
}
else {
rightblinker();
}
}
lastcoursereading = course;
lastcoursereadtime = millis();
}
if ((millis() - lastspeedreadtime) > speedchangetime){//handle brake light
float speeddiferrence = 0;
speeddiferrence = knots - lastspeedreading;
if (speeddiferrence < speedbrakeinc){
brakelight(true);
}
else {
brakelight(false);
}
lastspeedreading = knots;
lastspeedreadtime = millis();
}
}
void leftblinker(){
if (animationcount == 1){
if ((millis() - startmillis) < 300){
pixels.setPixelColor(leftturn3, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
else if (animationcount == 2){
if ((millis() - startmillis) < 300){
pixels.setPixelColor(leftturn3, pixels.Color(0, 0, 0));
pixels.setPixelColor(leftturn2, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
if (animationcount == 3){
if ((millis() - startmillis) < 2000){
pixels.setPixelColor(leftturn2, pixels.Color(0, 0, 0));
pixels.setPixelColor(leftturn1, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
if (animationcount == 4){
if ((millis() - startmillis) < 800){
pixels.setPixelColor(leftturn1, pixels.Color(0, 0, 0));
pixels.show();
}
else {
animationcount = 1;
startmillis = millis();
}
}
}
void rightblinker(){
if (animationcount == 1){
if ((millis() - startmillis) < 300){
pixels.setPixelColor(rightturn3, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
else if (animationcount == 2){
if ((millis() - startmillis) < 300){
pixels.setPixelColor(rightturn3, pixels.Color(0, 0, 0));
pixels.setPixelColor(rightturn2, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
if (animationcount == 3){
if ((millis() - startmillis) < 2000){
pixels.setPixelColor(rightturn2, pixels.Color(0, 0, 0));
pixels.setPixelColor(rightturn1, pixels.Color(255, 255, 0));
pixels.show();
}
else {
animationcount++;
startmillis = millis();
}
}
if (animationcount == 4){
if ((millis() - startmillis) < 800){
pixels.setPixelColor(rightturn1, pixels.Color(0, 0, 0));
pixels.show();
}
else {
animationcount = 1;
startmillis = millis();
}
}
}
void brakelight(bool brakelighton){
if (brakelighton){
for (int i=0;i<4;i++){
pixels.setPixelColor(i+16, pixels.Color(255, 0, 0));//brake light on
}
}
else {
for (int i=0;i<4;i++){
pixels.setPixelColor(i+16, pixels.Color(115, 0, 0));//dim brake light
}
}
}
void startDisplay(){
screen.fillScreen(backcolor);
screen.setTextWrap(false);
screen.fillScreen(COLOR_RGB565_DGRAY);
screen.fillRoundRect(0, 0, 320, 240, 15, backgroundcolor);
screen.fillRoundRect(5, 5, 310, 230, 15, backcolor);
//title
screen.setTextColor(backgroundcolor);
screen.setTextSize(3);
screen.setCursor(30, 11);
screen.print("DIY E-Scooter");
screen.drawFastHLine(10, 35, 300, COLOR_RGB565_GREEN);
screen.drawFastHLine(10, 36, 300, COLOR_RGB565_GREEN);
//speed label
screen.setTextColor(COLOR_RGB565_YELLOW);
screen.setTextSize(2);
screen.setCursor(125,40);
screen.print("Speed");
//dist and time to empty labels
screen.setTextColor(COLOR_RGB565_YELLOW);
screen.setTextSize(2);
screen.setCursor(91,170);
screen.print("Dist Time");
//boost button
screen.drawRoundRect(225,50,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,70);
screen.setTextColor(COLOR_RGB565_RED);
screen.print("E OFF");
//lock button
screen.drawRoundRect(15,50,80,50,12,backgroundcolor);
screen.setTextSize(1);
screen.setCursor(25,70);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("Unlocked");
//cruise button
screen.drawRoundRect(225,110,80,50,12,backgroundcolor);
screen.setTextSize(2);
screen.setCursor(235,130);
screen.setTextColor(COLOR_RGB565_GREEN);
screen.print("C OFF");
}
void startGestureSensor(){
if(gr10_30.begin() != 0){
Serial.println(" Sensor initialize failed!!");
delay(1000);
}
/** Set the gesture to be enabled
* GESTURE_UP
* GESTURE_DOWN
* GESTURE_LEFT
* GESTURE_RIGHT
* GESTURE_FORWARD
* GESTURE_BACKWARD
* GESTURE_CLOCKWISE
* GESTURE_COUNTERCLOCKWISE
* GESTURE_WAVE It is not suggested to enable rotation gesture (CW/CCW) and wave gesture at the same time.
* GESTURE_HOVER Disable other gestures when hover gesture enables.
* GESTURE_UNKNOWN
* GESTURE_CLOCKWISE_C
* GESTURE_COUNTERCLOCKWISE_C
*/
gr10_30.enGestures(GESTURE_UP|GESTURE_DOWN|GESTURE_LEFT|GESTURE_RIGHT|GESTURE_FORWARD|GESTURE_BACKWARD|GESTURE_CLOCKWISE|GESTURE_COUNTERCLOCKWISE|GESTURE_CLOCKWISE_C|GESTURE_COUNTERCLOCKWISE_C);
/**
* Set the detection window you want, only data collected in the range are valid
* The largest window is 31, the configured number represents distance from the center to the top, bottom, left and right
* For example, if the configured distance from top to bottom is 30, then the distance from center to top is 15, and distance from center to bottom is also 15
* udSize Range of distance from top to bottom 0-31
* lrSize Range of distance from left to right 0-31
*/
gr10_30.setUdlrWin(30, 30);//0-31,0-31
/**
* Set moving distance that can be recognized as a gesture
* Distance range 5-25, must be less than distances of the detection window
*/
gr10_30.setLeftRange(10);
gr10_30.setRightRange(10);
gr10_30.setUpRange(10);
gr10_30.setDownRange(10);
gr10_30.setForwardRange(10);
gr10_30.setBackwardRange(10);
/**
* Set distance of moving forward and backward that can be recognized as a gesture
* Distance range 1-15
*/
gr10_30.setForwardRange(10);
gr10_30.setBackwardRange(10);
/**
* Set rotation angle that can trigger the gesture
* count Default is 16 range 0-31
* count Rotation angle is 22.5 * count
* count = 16 22.5*count = 360 Rotate 360° to trigger the gesture
*/
gr10_30.setCwsAngle(/*count*/16);
gr10_30.setCcwAngle(/*count*/16);
/**
* Set degrees of continuous rotation that can trigger the gesture
* count Default is 4 range 0-31
* count The degrees of continuous rotation is 22.5 * count
* For example: count = 4 22.5*count = 90
* Trigger the clockwise/counterclockwise rotation gesture first, if keep rotating, then the continuous rotation gesture will be triggered once every 90 degrees
*/
gr10_30.setCwsAngleCount(/*count*/8);
gr10_30.setCcwAngleCount(/*count*/8);
}
void interruptRoutine(){
Serial.println("Interrupt...");
}
And here is the error:
Guru Meditation Error: Core 1 panic'ed (LoadProhibited). Exception was unhandled.
12:23:20.834 ->
12:23:20.834 -> Core 1 register dump:
12:23:20.834 -> PC : 0x400dd7d6 PS : 0x00060d30 A0 : 0x800d974c A1 : 0x3ffb2790
12:23:20.834 -> A2 : 0x00000000 A3 : 0x3ffb89ec A4 : 0x000000ff A5 : 0x0000ff00
12:23:20.834 -> A6 : 0x0000000c A7 : 0x40404040 A8 : 0x800dd7d6 A9 : 0x3ffb2770
12:23:20.866 -> A10 : 0x00002dcd A11 : 0x3fffa9dc A12 : 0x00000014 A13 : 0x0000ff00
12:23:20.866 -> A14 : 0x00ff0000 A15 : 0xff000000 SAR : 0x0000000a EXCCAUSE: 0x0000001c
12:23:20.866 -> EXCVADDR: 0x00000010 LBEG : 0x400850cd LEND : 0x400850d5 LCOUNT : 0x00000027
12:23:20.866 ->
12:23:20.866 ->
12:23:20.866 -> Backtrace:0x400dd7d3:0x3ffb27900x400d9749:0x3ffb27b0 0x400da6e2:0x3ffb27d0 0x400d4bd1:0x3ffb27f0 0x400e60b5:0x3ffb2820
12:23:20.898 ->
12:23:20.898 ->
12:23:20.898 ->
12:23:20.898 ->
12:23:20.898 -> ELF file SHA256: 0000000000000000
12:23:20.898 ->
12:23:20.898 -> Rebooting...
12:23:20.898 -> ets Jul 29 2019 12:21:46
12:23:20.898 -> rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
12:23:20.898 -> configsip: 0, SPIWP:0xee
12:23:20.898 -> clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
12:23:20.898 -> mode:DIO, clock div:1
12:23:20.931 -> load:0x3fff0030,len:1184
12:23:20.931 -> load:0x40078000,len:13160
12:23:20.931 -> load:0x40080400,len:3036
12:23:20.931 -> entry 0x400805e4
Thanks in advance!