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By Fasi Ada
#76418
Code: Select all-- ****************initalize the pins to there states of listen or switching******
-- int the pins
gpio.mode(1, gpio.OUTPUT) --motor A power ON
gpio.mode(2, gpio.OUTPUT) -- motor B power ON
gpio.mode(3, gpio.OUTPUT) -- polarity for motor A
gpio.mode(4, gpio.OUTPUT) -- polarity for motor B
-- comment out as nessary below for fewer servos we are testing alot to see if we crash
gpio.mode(5, gpio.OUTPUT)
gpio.mode(6, gpio.OUTPUT)
gpio.mode(7, gpio.OUTPUT)
gpio.mode(8, gpio.OUTPUT)
--****************list of prams for calling wifi module and connect to a router***************
wifi.setmode(wifi.STATION)
wifi.setphymode(wifi.PHYMODE_G)
station_cfg={}
station_cfg.ssid="sex" --dont pass on a blank password like pss="" cause lua is !@#$
station_cfg.save=true
wifi.sta.config(station_cfg)

cfg={}
cfg.ip="192.168.42.165"
cfg.netmask="255.255.255.0"
cfg.gateway="192.168.42.1"

wifi.sta.setip(cfg)
wifi.sta.connect()
--**************************globalVARS****************************
port = 9876
cmd = ""
currentstep=0
wantedstep=0
pola=1
polb=1
s5=1500 -- micro seconds for each servo to be at center...standard stuff. nums are same as PINS
s6=1500
s7=1500
s8=1500
s0=1500
prefix=""
--*********************functions and events below*****************
--A timer event for servos and stepper
tmr.alarm(1, 2000, tmr.ALARM_AUTO, function()  -- this is infact a call to a C module that has a callback.... SET TIMER EVENT
-- any C module call will be excuted after lua code, after we leave this code it will be exicuted in a event/task que same as the timer. no there is no way to know when it will process or fail. 
-- print(s7) --debug
-- print(s8) --debug
gpio.serout(6,gpio.HIGH,{s6,100},1,function()
   print("servo call 1") gpio.serout(7,gpio.HIGH,{s7,100},1,function()
   print("servo call 2") gpio.serout(8,gpio.HIGH,{s8,100},1,function()
   print("servo call 3") end) end)
end)
--****check if stepper needed to move
   if(currentstep~=wantedstep) then -- was not done so eval the direction and then the steps
   print(currentstep.." "..wantedstep)
         if(currentstep>wantedstep) then
            if((pola==1) and (polb==1)) then  --WAS A=high B=high  polarity pins OK???? we want to change the polarity
               gpio.write(3,gpio.LOW)
               gpio.write(4,gpio.HIGH)
               pola=0
               polb=1
            
            elseif(pola<polb) then  --WAS A=low B=high
               gpio.write(3,gpio.LOW)
               gpio.write(4,gpio.LOW)
               pola=0
               polb=0
            
            elseif((pola==0) and (polb==0)) then  --WAS A=low B=low
               gpio.write(3,gpio.HIGH)
               gpio.write(4,gpio.LOW)
               pola=1
               polb=0
            
            elseif(pola>polb) then  --         --WAS  A=high B=low                 -- do the fourth step and incrament the counter  fourth step
               gpio.write(3,gpio.HIGH)
               gpio.write(4,gpio.HIGH)
               pola=1
               polb=1
               currentstep=currentstep-1 -- other direction
               end
         end
         if(currentstep<wantedstep) then -- clockwise?
            if((pola==1) and (polb==1)) then  --WAS A=high B=high  polarity pins OK???? we are want to change the polarity
               gpio.write(3,gpio.HIGH)
               gpio.write(4,gpio.LOW)
               pola=1
               polb=0
               
            elseif(pola>polb) then  --WAS A=low B=high
               gpio.write(3,gpio.LOW)
               gpio.write(4,gpio.LOW)
               pola=0
               polb=0
            
            elseif((pola==0) and (polb==0)) then  --WAS A=low B=low
               gpio.write(3,gpio.LOW)
               gpio.write(4,gpio.HIGH)
               pola=0
               polb=1
            
            elseif(pola<polb) then      --WAS  A=high B=low                 -- do the fourth step and incrament the counter  fourth step
               gpio.write(3,gpio.HIGH)
               gpio.write(4,gpio.HIGH)
               pola=1
               polb=1
               currentstep=currentstep+1 -- other direction
               end
         end
   else 
   --tmr.stop(1) -- nothing needed to be done so we turn off the timer uncomment timer start below if you want to stop telling the servos what to do as they ONLY need one pulse to move to the commanded position
   print("the last ELSE for the move stepper check") --debuging
   end -- the if AND the else share the same end for no $#@ reason

end)   -- timver event end
--************************************
--**********************global functions*****************************************
function stringStarts(a,b)
    return string.sub(a,1,string.len(b))==b -- if string wanted witch is b in this case return true if( string to check ,index1,index2(b's length)==b)
end

function stringEnds(a,b)
   return b=='' or string.sub(a,-string.len(b))==b
end

function meta(a,b)
   return b=='' or string.sub(a,-string.len(b))==b
end
--***proccesss comand with the above 3 functions and the below one
function exeCmd(st) -- example: "servo 1500"
   
   prefix = string.sub(st,1,1) -- only do this once! we are wasting a varible but not rerunning code so..meh
   if(prefix == "8") then s8=tonumber(string.sub(st,8,-1)) end
   if(prefix == "7") then s7=tonumber(string.sub(st,8,-1)) end
   if(prefix == "6") then s6=tonumber(string.sub(st,8,-1)) end
   if(prefix == "5") then s5=tonumber(string.sub(st,8,-1)) end
   if(prefix == "0") then s0=tonumber(string.sub(st,8,-1)) end
   if(prefix == "9") then s9=tonumber(string.sub(st,8,-1)) end
   if(prefix =="a") then  wantedstep = tonumber(string.sub(st,8,-1))  end
   if(prefix =="b") then end
   if(prefix =="c") then end
end
--*******call back for a packet???
function receiveData(conn, data) -- not nessary to add local here in prams it's local only for prams automatic
    cmd = cmd .. data -- connotate string  this+that

    local a, b = string.find(cmd, "\n", 1, true)   
    while a do
        exeCmd( string.sub(cmd, 1, a-1) )
        cmd = string.sub(cmd, a+1, string.len(cmd))
        a, b = string.find(cmd, "\n", 1, true)
    end
   --tmr.start(1)
end
-- set up tcp, change later to upd some how
srv=net.createServer(net.TCP, 28800)
srv:listen(port,function(conn)
    print("RoboRemo connected")
    conn:send("dbg connected ok\n")
     
    conn:on("receive",receiveData) 
   
    conn:on("disconnection",function(c)
        print("RoboRemo disconnected")
    end)
   
end)