Added python debugger and added hw1 enviroment

debugMqtt/hw1/main.py

@@ -0,0 +1,26 @@
+import paho.mqtt.client as mqtt
+
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code "+str(rc))
+
+    # Subscribing in on_connect() means that if we lose the connection and
+    # reconnect then subscriptions will be renewed.
+    client.subscribe("Rover/Info")
+    client.subscribe("Rover/Warn")
+    client.subscribe("Rover/Error")
+    client.subscribe("Rover/Info")
+
+
+def on_message(client, userdata, msg):
+    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
+
+
+if __name__ == '__main__':
+    client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_message = on_message
+
+    client.connect("dz-pi.hw1.fb4.fh", 1883, 60)
+
+    client.loop_forever()

debugMqtt/hw1/main_debug.py

@@ -0,0 +1,23 @@
+import paho.mqtt.client as mqtt
+
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code "+str(rc))
+
+    # Subscribing in on_connect() means that if we lose the connection and
+    # reconnect then subscriptions will be renewed.
+    client.subscribe("Rover/Debug")
+
+
+def on_message(client, userdata, msg):
+    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
+
+
+if __name__ == '__main__':
+    client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_message = on_message
+
+    client.connect("dz-pi.hw1.fb4.fh", 1883, 60)
+
+    client.loop_forever()

debugMqtt/main.py

@@ -0,0 +1,26 @@
+import paho.mqtt.client as mqtt
+
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code "+str(rc))
+
+    # Subscribing in on_connect() means that if we lose the connection and
+    # reconnect then subscriptions will be renewed.
+    client.subscribe("Rover/Info")
+    client.subscribe("Rover/Warn")
+    client.subscribe("Rover/Error")
+    client.subscribe("Rover/Info")
+
+
+def on_message(client, userdata, msg):
+    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
+
+
+if __name__ == '__main__':
+    client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_message = on_message
+
+    client.connect("192.168.1.2", 1883, 60)
+
+    client.loop_forever()

debugMqtt/main_debug.py

@@ -0,0 +1,23 @@
+import paho.mqtt.client as mqtt
+
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code "+str(rc))
+
+    # Subscribing in on_connect() means that if we lose the connection and
+    # reconnect then subscriptions will be renewed.
+    client.subscribe("Rover/Debug")
+
+
+def on_message(client, userdata, msg):
+    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
+
+
+if __name__ == '__main__':
+    client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_message = on_message
+
+    client.connect("192.168.1.2", 1883, 60)
+
+    client.loop_forever()

src/config.h

@@ -65,7 +65,7 @@
 // PS3 Controller
 // ESP32 MAC BL 24:62:AB:F2:4B:3A
 
-#define RHEDE
+#define HW1
 
 //Network config RHEDE
 #ifdef RHEDE
@@ -77,11 +77,26 @@
 #define MQTT_SERVER 0x0701A8C0      //192.168.1.7
 #define MQTT_PORT 1883
 #define MQTT_BUFFER_SITE 128
+#define MQTT_AUTH
 #define MQTT_USER "kleiax"
 #define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
 #define NTP_SERVER 0x0100a8c0       //192.168.0.1
 #endif //RHEDE
 
+
+//Network config HW1
+#ifdef HW1
+#define WLAN_SSID "hw1_gast"
+#define WLAN_PASSWORD "KeineAhnung"
+#define WLAN_IP 0x3400a8c0          //192.168.0.67
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
+#define MQTT_SERVER "dz-pi.hw1.fb4.fh"
+#define MQTT_PORT 1883
+#define MQTT_BUFFER_SITE 128
+#define NTP_SERVER "2.de.pool.ntp.org"
+#endif //HW1 
+
 //Network config FRENZY
 #ifdef FRENZY
 #define WLAN_SSID "GNX7EDD84-2"

src/main.cpp

@@ -38,7 +38,7 @@ ConsolControl consolControl;
 IPAddress local_IP(WLAN_IP);
 IPAddress gateway(WLAN_GATEWAY);
 IPAddress subnet(WLAN_SUBNETMASK);
-IPAddress mqtt_server(MQTT_SERVER);
+// IPAddress mqtt_server(MQTT_SERVER);
 
 WiFiClient wifi_client;
 PubSubClient mqtt_client(wifi_client);
@@ -71,7 +71,8 @@ void setup() {
     Serial.println("IP address: ");
     Serial.println(WiFi.localIP());
 
-    mqtt_client.setServer(mqtt_server, MQTT_PORT);
+    // mqtt_client.setServer(mqtt_server, MQTT_PORT);
+    mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
     reconnectMqtt();
 
     configTime(3600, 3600, "192.168.1.2");
@@ -144,7 +145,12 @@ void reconnectMqtt() {
         String clientId = "ESP32Rover-";
         clientId += String(random(0xffff), HEX);
         // Attempt to connect
+        #ifdef MQTT_AUTH
         if (mqtt_client.connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
+        #endif //MQTT_AUTH
+        #ifndef MQTT_AUTH
+        if (mqtt_client.connect(clientId.c_str())) {
+        #endif //MQTT_AUTH
             Serial.println("connected");
             // Once connected, publish an announcement...
             mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");

src/moveControl.cpp

@@ -10,7 +10,7 @@ MoveControl::MoveControl() {
                                 PID_LEFT_P, PID_LEFT_I, PID_LEFT_D,
                                 DIRECT);
     this->right_pid = new PID(  &this->wheelspeed_right,
-                                &this->left_pid_out,
+                                &this->right_pid_out,
                                 &this->wheelspeed_right_target,
                                 PID_RIGHT_P, PID_RIGHT_I, PID_RIGHT_D,
                                 DIRECT);