diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino index 55d084f..a920575 100644 --- a/ESP8266/ESP8266.ino +++ b/ESP8266/ESP8266.ino @@ -7,7 +7,7 @@ // ================================================================ // OTA CONFIG // ================================================================ -#define FW_VERSION 4 +#define FW_VERSION 6 #define GITEA_HOST "https://git.nacho.myds.me" #define GITEA_OWNER "Natxo" #define GITEA_REPO "Arduino-Car" @@ -99,39 +99,58 @@ static void checkOTA() { WiFi.mode(WIFI_OFF); // apaga radio para ahorrar energía } +bool espReady = false; // true cuando el ESP32-CAM ha enviado '!' + +void waitForReady() { + // Espera la señal '!' del ESP32-CAM (máx 90s por si hace OTA) + unsigned long timeout = millis() + 90000UL; + while (millis() < timeout) { + if (Serial.available()) { + char c = Serial.read(); + if (c == '!') { espReady = true; return; } + } + delay(10); + } + // Timeout: arranca igual para no quedarse bloqueado indefinidamente + espReady = true; +} + void setup() { - // 1. Pines de motor y parada inmediata — evita que las ruedas giren al arrancar - pinMode(ENA, OUTPUT); - pinMode(ENB, OUTPUT); - pinMode(IN1, OUTPUT); - pinMode(IN2, OUTPUT); - pinMode(IN3, OUTPUT); - pinMode(IN4, OUTPUT); + // 1. Pines y parada inmediata + pinMode(ENA, OUTPUT); pinMode(ENB, OUTPUT); + pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); + pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); stopMotors(); - // 2. Serial antes del OTA — así el ESP32-CAM puede enviar el pitido a tiempo + // 2. Serial temprano (el ESP32 puede mandar el pitido de OTA) Serial.begin(9600); - // 3. OTA (WiFi on → check → WiFi off). El ESP32-CAM tarda >20s en enviar - // comandos de motor, así que no hay riesgo de movimiento involuntario. + // 3. OTA via WiFi checkOTA(); + // 4. Resto de periféricos analogWriteRange(255); analogWriteFreq(1000); - servoX.attach(SERVO_X_PIN); servoY.attach(SERVO_Y_PIN); - pinMode(buzzerPin, OUTPUT); - servoX.write(posX); servoY.write(posY); + + // 5. Esperar señal '!' del ESP32-CAM antes de procesar comandos + waitForReady(); } void loop() { if (Serial.available()) { char c = Serial.read(); + // Señal de listo del ESP32-CAM (también en loop por si reinicia) + if (c == '!') { espReady = true; return; } + + // Ignorar todo hasta recibir '!' — evita movimientos al arrancar + if (!espReady) return; + if (c == 'F') forward(); else if (c == 'B') backward(); else if (c == 'L') left(); diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino index b559891..6d910ea 100644 --- a/Esp32Cam/Esp32Cam.ino +++ b/Esp32Cam/Esp32Cam.ino @@ -10,7 +10,7 @@ // ================================================================ // OTA CONFIG // ================================================================ -#define FW_VERSION 5 +#define FW_VERSION 6 #define GITEA_HOST "https://git.nacho.myds.me" #define GITEA_OWNER "Natxo" #define GITEA_REPO "Arduino-Car" @@ -146,6 +146,10 @@ void setup() { // ── Servidor cámara ─────────────────────────────────────────────── startCameraServer(); + + // Señal al ESP8266: estoy listo, puede empezar a procesar comandos + delay(200); + Serial.print("!"); } void loop() { diff --git a/Esp32Cam/app_httpd.cpp b/Esp32Cam/app_httpd.cpp index 195164f..e1d543d 100644 --- a/Esp32Cam/app_httpd.cpp +++ b/Esp32Cam/app_httpd.cpp @@ -52,7 +52,7 @@ httpd_handle_t camera_httpd = NULL; // Si no llega ningún comando de movimiento en 400ms → para automáticamente static volatile bool motorMoving = false; static volatile int64_t lastMoveCmdUs = 0; -#define WATCHDOG_US 400000LL +#define WATCHDOG_US 800000LL // 800ms — se retroalimenta con heartbeat JS cada 150ms static void motorWatchdogTask(void *) { while (1) { diff --git a/Esp32Cam/camera_index.h b/Esp32Cam/camera_index.h index 7fdd9fc..470f7cf 100644 --- a/Esp32Cam/camera_index.h +++ b/Esp32Cam/camera_index.h @@ -1,295 +1,306 @@ // Auto-generado desde data/index.html -#define index_html_gz_len 4641 +#define index_html_gz_len 4817 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0xFF, 0x03, 0x1A, 0xD2, 0x7B, 0xF5, 0xDF, 0x3F, 0x00, 0x00 }; diff --git a/Esp32Cam/data/index.html b/Esp32Cam/data/index.html index 0e7a310..fdbddfb 100644 --- a/Esp32Cam/data/index.html +++ b/Esp32Cam/data/index.html @@ -272,10 +272,16 @@ spEl.addEventListener('input',applySpeed);applySpeed(); let pX=90,pY=90;const ST=10; +// Heartbeat: reenvía el comando de movimiento cada 150ms mientras está pulsado +// Mantiene vivo el watchdog del ESP32 (800ms) y garantiza que el motor siga +let carIval=null; +const carGo=(cmd)=>{send(cmd);if(carIval)clearInterval(carIval);carIval=setInterval(()=>send(cmd),150);}; +const carStop=()=>{if(carIval){clearInterval(carIval);carIval=null;}send('S');}; + [['b-F','F'],['b-B','B'],['b-L','L'],['b-R','R']].forEach(([id,cmd])=>{ const el=document.getElementById(id); - const dn=()=>{el.classList.add('on');send(cmd);}; - const up=()=>{el.classList.remove('on');send('S');}; + const dn=()=>{el.classList.add('on');carGo(cmd);}; + const up=()=>{el.classList.remove('on');carStop();}; el.addEventListener('mousedown',dn);el.addEventListener('mouseup',up);el.addEventListener('mouseleave',up); el.addEventListener('touchstart',e=>{e.preventDefault();dn();},{passive:false}); el.addEventListener('touchend',e=>{e.preventDefault();up();},{passive:false}); @@ -303,10 +309,10 @@ document.getElementById('b-led').addEventListener('click',()=>send('K')); const held=new Set(); document.addEventListener('keydown',e=>{ - if(e.repeat||held.has(e.key))return;held.add(e.key); + if(held.has(e.key))return;held.add(e.key); switch(e.key){ - case'w':case'W':send('F');break;case's':case'S':send('B');break; - case'a':case'A':send('L');break;case'd':case'D':send('R');break; + case'w':case'W':carGo('F');break;case's':case'S':carGo('B');break; + case'a':case'A':carGo('L');break;case'd':case'D':carGo('R');break; case'ArrowUp':pY=Math.max(0,pY-ST);send('Y'+pY);break; case'ArrowDown':pY=Math.min(180,pY+ST);send('Y'+pY);break; case'ArrowLeft':pX=Math.min(180,pX+ST);send('X'+pX);break; @@ -319,7 +325,7 @@ document.addEventListener('keydown',e=>{ }); document.addEventListener('keyup',e=>{ held.delete(e.key); - if('wWsSaAdD'.includes(e.key)&&e.key.trim())send('S'); + if('wWsSaAdD'.includes(e.key)&&e.key.trim())carStop(); if('eE'.includes(e.key))eH(); }); diff --git a/Esp32Cam/data/index.html.gz b/Esp32Cam/data/index.html.gz index 5460d8a..76dbdb5 100644 Binary files a/Esp32Cam/data/index.html.gz and b/Esp32Cam/data/index.html.gz differ diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin index c7e2c80..dc8d1f3 100644 Binary files a/firmware/esp32cam/firmware.bin and b/firmware/esp32cam/firmware.bin differ diff --git a/firmware/esp32cam/version.txt b/firmware/esp32cam/version.txt index 7813681..62f9457 100644 --- a/firmware/esp32cam/version.txt +++ b/firmware/esp32cam/version.txt @@ -1 +1 @@ -5 \ No newline at end of file +6 \ No newline at end of file diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin index 7dd061d..5b02e34 100644 Binary files a/firmware/esp8266/firmware.bin and b/firmware/esp8266/firmware.bin differ diff --git a/firmware/esp8266/version.txt b/firmware/esp8266/version.txt index bf0d87a..62f9457 100644 --- a/firmware/esp8266/version.txt +++ b/firmware/esp8266/version.txt @@ -1 +1 @@ -4 \ No newline at end of file +6 \ No newline at end of file