madhephaestus / Esp32SimplePacketComs

SimplePacketComs for the Esp32

Esp32SimplePacketComs

A framework for controlling one ESP from another using SimplePacketComs over UDP.

Library depenancies

These are the libraries availible through the Arduino library manager that are depenancies for this library.

SimplePacketComs
Esp32WifiManager

Connect to Wifi Network

To connect to a network named "mine" with a password "pass" do the following:

Type:

mine

and wait for this to print:

ssid: mineWifiManager.getState()=HaveSSIDSerial
New password: 

Type:

pass

AP mode

When no network is present, the WiFiManager will fail over to AP mode where it will host its own AP. The AP ssid:pass is set via the serial port. To indicate AP SSID setting into the serial window then hit enter. Here is what setting the procedure looks like for an AP named "mine" with password "pass"

Type:

AP:mine

and wait for this to print:

AP Mode ssid: mineWifiManager.getState()=HaveSSIDSerial
New password: 

Type:

pass

And in the terminal:

Send to /dev/ttyUSB0: "pass"
WifiManager.getState()=reconnect



AP starting mine
SYSTEM_EVENT_STA_STOP
SYSTEM_EVENT_STA_STOP
ESP32 WiFi ready 
SYSTEM_EVENT_STA_STOP
SYSTEM_EVENT_AP_START
SYSTEM_EVENT_AP_START
Mac Address: 24:0A:C4:1D:47:84
Writing new AP ssid mine
Starting AP With pass pass

Known Commands

All UDP devices

Get Name

	ID	bytes
downstream Bytes	4	60
Contents downstream	1776	String of Name or *
upstream Bytes	4	60
Contents upstream	1776	String of Name

This checks the device to see if the name of the device matched a given name. If the name matches a packet is returned with the device name in its contents. If the name does not match, no packet is returned.

If the name requests ends with a * charrecter then it wil be treated as a wildcard. Matches up to the * will be returned. Name requests with just * will always return the name of the device.

Game Controller

State exchange

	ID	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte	byte
downstream Bytes	4	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1
Contents downstream	1970	Controller ID	JoyXLeft	JoyYLeft	JoyXRight	JoyYRight	TriggerLeft	TriggerRight	PadRight/PadLeft	PadDown/PadUp	---	---	ButtonX	ButtonY	ButtonA	ButtonB	ButtonMinus/getButtonPlus	ButtonHome	---	ButtonZLeft	ButtonZRight
upstream Bytes	4	60
Contents upstream	1970	Byte data to be printed by the game controller server

This command exchanges data with a game controller. WHen accessed remotely the ID is seperated out from the data. Data for a given axis starts at index 0 with JoyXLeft and ending with index 18 for ButtonZRight.

Warehouse Robot

Get Status

	ID	byte
downstream Bytes	4	0
Contents downstream	2012	---
upstream Bytes	4	1
Contents upstream	2012	status value

Request the status of the robot. The byte value represents the robot state.

State description	value
Ready for new task	0
Heading to pickup	1
Picking up	2
Heading to Dropoff	3
Dropping off	4
Heading to safe zone	5
Fault: failed pickup	6
Fault: failed dropoff	7
Fault: excessive load	8
Fault: obstructed path	9
Fault: E Stop pressed	10

Clear Faults

	ID	byte
downstream Bytes	4	0
Contents downstream	1871	---
upstream Bytes	4	0
Contents upstream	1871	---

Clear all faults on the robot. No data is transmitted, but the state of the robot should be effected.

Pick Order

	ID	float	float	float	float	float	float
downstream Bytes	4	4	4	4	4	4	4
Contents downstream	1936	pickup area	pickup x	pickup z	drop off area	drop off x	drop off z
upstream Bytes	4	0
Contents upstream	1936	---

An order is placed with the robot. The first 3 values are the pickup location, followed by the x and Z values in MM of the shelf where the pallet is located. The second 3 values are the drop off location, followed by the X and Z values in MM of the shelf where the pallet is to be deposited.

Get Location

	ID	float	float	float	float	float	float	float	float
downstream Bytes	4	0
Contents downstream	1994	---
upstream Bytes	4	4	4	4	4	4	4	4	4
Contents upstream	1994	X Location	Y Location	Z Location	azimuth	elevation	tilt	bounding cylinder radius	bounding cylinder height

Request for the position and orentation of the robot. Location is in MM from the loading point in location 0 to the center bottom of the bounding cylinder of the robot. The size of the robot is reported in MM measured in positive values from center bottom of the bounding cylinder that envelops the robot. The center is defined as the turning center of the robot. The radius is the distance to the furthest point on the robot from the turning center. Maximum radius is 100mm. Direction of travil is +X in the robots coordinate frame.

Direct Drive

	ID	float	float	float	float	float	float	float	float
downstream Bytes	4	4	4	4	4	4	4	4	4
Contents downstream	1786	delta X Location	delta Y Location	delta Z Location	delta azimuth	delta elevation	delta tilt	# Miliseconds this update should take	Session ID
upstream Bytes	4	4
Contents upstream	1786	value from 0-1 to indicate progress on current session

This is a command to drive a robot directly. The values represent a relative motion from current location. +X is forward for the robot.Angle values are in degrees and translation values are in Milimeters. Azimuth values range from -180 to 180 with 0 along the robots X dimention. Elevation values are rotation values from -90 to 90 about the Y dimention with 0 being along the x dimenttion. Tilt values are rotations from -180 to 180 about the X dimention with 0 being aligned with the X-Y plane.

The session ID is a random integer from 0 - 100000 indicating the current drive command. It will change when the target is updateted. It is used to differentiate between new commands.

The command should return the current progress on the current command ID.