board.ino

#include <SPI.h>
#include <WiFi101.h>
#include <MKRMotorCarrier.h>

#include "arduino_secrets.h"

#define INTERRUPT_PIN 6

#define MOTOR_ROATATION 25

char ssid[] = SECRET_SSID;        // your network SSID (name)
char pass[] = SECRET_PASS;    // your network password (use for WPA, or use as key for WEP)
int keyIndex = 0;                 // your network key Index number (needed only for WEP)

int status = WL_IDLE_STATUS;
WiFiServer server(80);

void setup() {
  Serial.begin(115200);      // initialize serial communication
 // pinMode(9, OUTPUT);      // set the LED pin mode
    while(!Serial);

    if(controller.begin()){
        Serial.print("Mkr1000 motor shield connected");
    }else{
        Serial.print("Mkr1000 motor schield not connected");
    }

    Serial.println("Reboot");
    controller.reboot();
    delay(500);

  // check for the presence of the shield
  if (WiFi.status() == WL_NO_SHIELD) {
    Serial.println("WiFi shield not present");
    while (true);       // don't continue
  }

  // attempt to connect to WiFi network:
  while ( status != WL_CONNECTED) {
    Serial.print("Attempting to connect to Network named: ");
    Serial.println(ssid);                   // print the network name (SSID);

    // Connect to WPA/WPA2 network. Change this line if using open or WEP network rape time btw: 
    status = WiFi.begin(ssid, pass);
    // wait 10 seconds for connection:
    delay(10000);
  }
  server.begin();                           // start the web server on port 80
  printWiFiStatus();                        // you're connected now, so print out the status    

  M1.setDuty(0);
  M2.setDuty(0);
}


void loop() {
  WiFiClient client = server.available();   // listen for incoming clients
  int dutyR=0;
  int dutyL=0;

  if (client) {                             // if you get a client,
    Serial.println("new client");           // print a message out the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        if (c == '\n') {                    // if the byte is a newline character

          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println();

            // the content of the HTTP response follows the header:+
            client.print("<a href=\"/UP\"><button>U</button></a>");
            client.print("<a href=\"/Forward\"><button>N</button></a><br>");
            client.print("<a href=\"/Left\"><button>O</button></a>");
            client.print("<a href=\"/Backward\"><button>S</button></a>");
            client.print("<a href=\"/Right\"><button>E</button></a><br>");
            client.print("<a href=\"/Down\"><button>D</button></a>");
            client.print("<a href=\"/Stop\"><button>Stop</button></a>");

            // The HTTP response ends with another blank line:
            client.println();
            // break out of the while loop:
            break;
          }
          else {      // if you got a newline, then clear currentLine:
            currentLine = "";
          }
        }
        else if (c != '\r') {    // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }

        // Check gets
        if(currentLine.endsWith("GET /UP")){
            for(int i = 0; i <180; i+=5)
            {
                servo1.setAngle(i);
                Serial.print("Servo position:");
                Serial.print(i);   
            }
        }else if(currentLine.endsWith("GET /Down")){
            for(int i = 180; i>0; i-=5){
                servo1.setAngle(i);
                Serial.print("Servo position:");
                Serial.print(i);
            }
        }else if(currentLine.endsWith("GET /Forward")){
            for(int i = 0; i <= MOTOR_ROATATION; i++){
                dutyR += i;
                dutyL += i;
                M1.setDuty(dutyL);
                M2.setDuty(dutyR);
            }
        }else if(currentLine.endsWith("GET /Backward")){
            for(int i = MOTOR_ROATATION; i >= 0; i--){
                dutyL -= i;
                dutyR -= i;
                M1.setDuty(dutyL);
                M2.setDuty(dutyR);
            }
        }else if(currentLine.endsWith("GET /Right")){
            for(int i = 0; i <= (MOTOR_ROATATION + 20); i++){
                dutyR -= i;
                M2.setDuty(dutyR);
            }
        }else if(currentLine.endsWith("GET /Left")){
            for(int i = 0; i <= (MOTOR_ROATATION + 20); i++){
                dutyL -= i;
                M1.setDuty(dutyL);
            }
        }else if(currentLine.endsWith("GET /Stop"))
        {
            dutyL = 0;
            dutyR = 0;
            M1.setDuty(dutyL);
            M2.setDuty(dutyR);
        }
      }
    }
    // close the connection:
    client.stop();
    Serial.println("client disonnected");
    controller.ping();
    delay(50);
  }
}

void printWiFiStatus() {
  // print the SSID of the network you're attached to:
  Serial.print("SSID: ");
  Serial.println(WiFi.SSID());

  // print your WiFi shield's IP address:
  IPAddress ip = WiFi.localIP();
  Serial.print("IP Address: ");
  Serial.println(ip);

  // print the received signal strength:
  long rssi = WiFi.RSSI();
  Serial.print("signal strength (RSSI):");
  Serial.print(rssi);
  Serial.println(" dBm");
  // print where to go in a browser:
  Serial.print("To see this page in action, open a browser to http://");
  Serial.println(ip);
}