#include #include #include #include #include "credentials.h" const char* ssid = WIFI_SSID; const char* password = WIFI_PASSWORD; // Servo on GPIO4 (A2/D2 on XIAO ESP32-S3) #define SERVO_PIN 4 // Servo positions and speed #define RESTING_POSITION 120 // Resting position (degrees) #define ACTIVATION_POSITION 0 // Activation position (degrees) #define SERVO_SPEED_MS 800 // Time to move from 0 to 120 degrees (ms) #define SERVO_MS_PER_DEGREE (SERVO_SPEED_MS / 120.0) // ~6.67ms per degree Servo myServo; WebServer server(80); // Current angle int currentAngle = RESTING_POSITION; // Sequence handling bool sequenceRunning = false; String sequenceData = ""; int sequenceIndex = 0; unsigned long lastSequenceTime = 0; // HTML page const char* htmlPage = R"rawliteral( Servo Control

🎛️ Servo Control

Set Angle (0-180)

0°

Angle Sequence

Each line: angle (0-180), delay in milliseconds before next move

Ready

)rawliteral"; // Sequence parsing struct SequenceStep { int angle; unsigned long delayMs; }; SequenceStep steps[100]; int stepCount = 0; void parseSequence(String data) { stepCount = 0; int start = 0; while (start < data.length() && stepCount < 100) { int lineEnd = data.indexOf('\n', start); if (lineEnd == -1) lineEnd = data.length(); String line = data.substring(start, lineEnd); line.trim(); if (line.length() > 0) { int comma = line.indexOf(','); if (comma > 0) { steps[stepCount].angle = line.substring(0, comma).toInt(); steps[stepCount].delayMs = line.substring(comma + 1).toInt(); steps[stepCount].angle = constrain(steps[stepCount].angle, 0, 180); stepCount++; } } start = lineEnd + 1; } } void handleRoot() { server.send(200, "text/html", htmlPage); } void handleAngle() { if (server.hasArg("value")) { int angle = server.arg("value").toInt(); angle = constrain(angle, 0, 180); myServo.write(angle); currentAngle = angle; Serial.printf("Angle set to: %d\n", angle); server.send(200, "text/plain", "Angle set to " + String(angle) + "°"); } else { server.send(400, "text/plain", "Missing angle value"); } } void handleSequence() { if (server.hasArg("data")) { sequenceData = server.arg("data"); parseSequence(sequenceData); if (stepCount > 0) { sequenceIndex = 0; sequenceRunning = true; lastSequenceTime = millis(); // Execute first step immediately myServo.write(steps[0].angle); currentAngle = steps[0].angle; Serial.printf("Sequence started with %d steps\n", stepCount); server.send(200, "text/plain", "Sequence started with " + String(stepCount) + " steps"); } else { server.send(400, "text/plain", "Invalid sequence format"); } } else { server.send(400, "text/plain", "Missing sequence data"); } } void handleStop() { sequenceRunning = false; sequenceIndex = 0; server.send(200, "text/plain", "Sequence stopped"); Serial.println("Sequence stopped"); } void handleStatus() { String json = "{\"angle\":" + String(currentAngle) + ",\"running\":" + (sequenceRunning ? "true" : "false") + ",\"step\":" + String(sequenceIndex + 1) + "}"; server.send(200, "application/json", json); } void handleNotFound() { server.send(404, "text/plain", "Not found"); } void setup() { Serial.begin(115200); delay(1000); // Initialize servo ESP32PWM::allocateTimer(0); ESP32PWM::allocateTimer(1); ESP32PWM::allocateTimer(2); ESP32PWM::allocateTimer(3); myServo.setPeriodHertz(50); myServo.attach(SERVO_PIN, 500, 2400); myServo.write(RESTING_POSITION); currentAngle = RESTING_POSITION; Serial.println("Servo initialized at resting position (120 degrees)"); // Connect to WiFi Serial.printf("Connecting to %s\n", ssid); WiFi.begin(ssid, password); int attempts = 0; while (WiFi.status() != WL_CONNECTED && attempts < 40) { // 20 second timeout delay(500); Serial.print("."); attempts++; } if (WiFi.status() != WL_CONNECTED) { Serial.println("\n\n❌ WiFi connection FAILED!"); Serial.println("Please check:"); Serial.println(" 1. SSID and password in include/credentials.h"); Serial.println(" 2. WiFi network is 2.4GHz (ESP32 doesn't support 5GHz)"); Serial.println(" 3. WiFi network is in range"); Serial.printf(" Attempted SSID: %s\n", ssid); // Continue anyway - servo will still work, just no web interface } else { Serial.println("\n✅ WiFi connected!"); Serial.print("IP Address: "); Serial.println(WiFi.localIP()); } // Setup web server routes server.on("/", handleRoot); server.on("/angle", HTTP_GET, handleAngle); server.on("/sequence", HTTP_POST, handleSequence); server.on("/stop", HTTP_GET, handleStop); server.on("/status", HTTP_GET, handleStatus); server.begin(); Serial.println("Web server started"); } void loop() { server.handleClient(); // Handle sequence execution if (sequenceRunning && stepCount > 0) { unsigned long now = millis(); if (now - lastSequenceTime >= steps[sequenceIndex].delayMs) { sequenceIndex++; if (sequenceIndex >= stepCount) { // Sequence complete sequenceRunning = false; sequenceIndex = 0; Serial.println("Sequence complete"); } else { // Execute next step myServo.write(steps[sequenceIndex].angle); currentAngle = steps[sequenceIndex].angle; lastSequenceTime = now; Serial.printf("Step %d: angle=%d, delay=%lu\n", sequenceIndex + 1, steps[sequenceIndex].angle, steps[sequenceIndex].delayMs); } } } delay(1); }