balancing-robot/NodeMCU/Remote.ino/Remote.ino.ino

/*---------------------------------------------------------------------------------------------

  Open Sound Control (OSC) library for the ESP8266/ESP32

  Example for receiving open sound control (OSC) bundles on the ESP8266/ESP32
  Send integers '0' or '1' to the address "/led" to turn on/off the built-in LED of the esp8266.

  This example code is in the public domain.

  Inspired from https://trippylighting.com/teensy-arduino-ect/touchosc-and-arduino-oscuino/

--------------------------------------------------------------------------------------------- */
#ifdef ESP8266
#include <ESP8266WiFi.h>
#else
#include <WiFi.h>
#endif
#include <WiFiUdp.h>
#include <OSCMessage.h>
#include <OSCBundle.h>
#include <OSCData.h>

char ssid[] = "FaRgO2G4";          // your network SSID (name)
char pass[] = "Johansson85";       // your network password

// A UDP instance to let us send and receive packets over UDP
WiFiUDP Udp;
const IPAddress outIp(192,168,1,72);        // remote IP (not needed for receive)
const unsigned int outPort = 9999;          // remote port (not needed for receive)
const unsigned int localPort = 8888;        // local port to listen for UDP packets (here's where we send the packets)


OSCErrorCode error;
unsigned int ledState = LOW;              // LOW means led is *on*

#ifndef BUILTIN_LED
#ifdef LED_BUILTIN
#define BUILTIN_LED LED_BUILTIN
#else
#define BUILTIN_LED 13
#endif
#endif

void setup() {
  pinMode(BUILTIN_LED, OUTPUT);
  digitalWrite(BUILTIN_LED, ledState);    // turn *on* led

  Serial.begin(115200);

  // Connect to WiFi network
  Serial.println();
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, pass);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");

  Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

  Serial.println("Starting UDP");
  Udp.begin(localPort);
  Serial.print("Local port: ");
#ifdef ESP32
  Serial.println(localPort);
#else
  Serial.println(Udp.localPort());
#endif

}


void OSCMsgReceive(){
  OSCMessage msgIN;
  int size;
  if((size = Udp.parsePacket())>0){
    while(size--)
      msgIN.fill(Udp.read());
    if(!msgIN.hasError()){
      msgIN.route("/Robot/Enable",toggleEnabled);
      msgIN.route("/Fader/Throttle",funcThrottle);
      msgIN.route("/Fader/Steering",funcSteering);
      msgIN.route("/Gain/Kp",funcKp);
      //msgIN.route("/Gain/Ki",funcKi);
      //msgIN.route("/Gain/Kd",funcKd);
    }
  }
}

void toggleEnabled(OSCMessage &msg, int addrOffset){
  ledState = (boolean) msg.getFloat(0);
  OSCMessage msgOUT("/Robot/Enable");

  digitalWrite(BUILTIN_LED, !ledState);

  msgOUT.add(ledState);
  if (ledState) {
    Serial.println("Robot enabled");
  }
  else {
    Serial.println("Robot disabled");
  }

  //send osc message back to controll object in TouchOSC
  //Local feedback is turned off in the TouchOSC interface.
  //The button is turned on in TouchOSC interface whe the conrol receives this message.
  Udp.beginPacket(Udp.remoteIP(), outPort);
  msgOUT.send(Udp); // send the bytes
  Udp.endPacket(); // mark the end of the OSC Packet
  msgOUT.empty(); // free space occupied by message
}

void funcThrottle(OSCMessage &msg, int addrOffset ){

  int value = msg.getFloat(0);
  OSCMessage msgOUT("/Fader/Throttle");

  Serial.print("Throttle = : ");
  Serial.println(value);

  msgOUT.add(value);

  Udp.beginPacket(Udp.remoteIP(), outPort);
  msgOUT.send(Udp); // send the bytes
  Udp.endPacket(); // mark the end of the OSC Packet
  msgOUT.empty(); // free space occupied by message
}

void funcSteering(OSCMessage &msg, int addrOffset ){

  int value = msg.getFloat(0);
  OSCMessage msgOUT("/Fader/Steering");

  Serial.print("Steering = : ");
  Serial.println(value);

  msgOUT.add(value);

  Udp.beginPacket(Udp.remoteIP(), outPort);
  msgOUT.send(Udp); // send the bytes
  Udp.endPacket(); // mark the end of the OSC Packet
  msgOUT.empty(); // free space occupied by message
}


void funcKp(OSCMessage &msg, int addrOffset ){

  int value = msg.getFloat(0);
  OSCMessage msgOUT("/Gain/Kp");

  Serial.print("Kp = : ");
  Serial.println(value);

  msgOUT.add(value);

  Udp.beginPacket(Udp.remoteIP(), outPort);
  msgOUT.send(Udp); // send the bytes
  Udp.endPacket(); // mark the end of the OSC Packet
  msgOUT.empty(); // free space occupied by message

  // Redo this for label
  OSCMessage msgLABEL("/Gain/KpOut");
  msgLABEL.add(value);

  Udp.beginPacket(Udp.remoteIP(), outPort);
  msgLABEL.send(Udp); // send the bytes
  Udp.endPacket(); // mark the end of the OSC Packet
  msgLABEL.empty(); // free space occupied by message
}


void loop() {
  OSCMsgReceive();
}