Control MeArm Robot With MKR1000 And Your Smartphone

This project allows you to control a MeArm Robot with your smartphone, as if you had many potentiometers in your hands.

Mar 19, 2018

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3 respects

remote control

Components and supplies

Arduino UNO

meArm

Arduino MKR1000

Standard LCD - 16x2 White on Blue

Project description

Code

Master Code (MKR1000)

arduino

Webserver Code for the MKR1000

1/*
2  WiFi Web Server Contrôle de robot meArm, affichage LCD et led
3
4   created 18 Mars 2018
5  par Fabrice bonne
6  
7 */
8
9#include <SPI.h>
10#include   <WiFi101.h>
11#include <Wire.h>
12// size of buffer used to capture HTTP requests
13#define   REQ_BUF_SZ   90
14// size of buffer that stores the incoming string
15#define   TXT_BUF_SZ   50
16
17char ssid[] = "****";        // your network SSID (name)
18char   HTTP_req[REQ_BUF_SZ] = {0}; // buffered HTTP request stored as null terminated string
19char   req_index = 0;              // index into HTTP_req buffer
20char txt_buf[TXT_BUF_SZ]   = {0};  // buffer to save text to
21
22int led =  LED_BUILTIN;
23int status =   WL_IDLE_STATUS;
24WiFiServer server(80);
25
26void setup() {
27  //Initialize   serial and wait for port to open:
28  Wire.begin(); // Rejoindre le bus I2C (Pas   besoin d adresse pour le maitre)
29  Serial.begin(9600);
30  while (!Serial) {
31     ; // wait for serial port to connect. Needed for native USB port only
32  }
33
34   Serial.println("Access Point Web Server");
35
36  pinMode(led, OUTPUT);      //   set the LED pin mode
37  digitalWrite(led, LOW);
38  // print the network name   (SSID);
39  Serial.print("Creating access point named: ");
40  Serial.println(ssid);
41
42   // Create open network. Change this line if you want to create an WEP network:
43   status = WiFi.beginAP(ssid);
44  if (status != WL_AP_LISTENING) {
45    Serial.println("Creating   access point failed");
46    // don't continue
47    while (true);
48  }
49
50   // wait 10 seconds for connection:
51  delay(10000);
52
53  // start the web   server on port 80
54  server.begin();
55
56  // you're connected now, so print   out the status
57  printWiFiStatus();
58}
59
60
61void loop() {
62  // compare   the previous status to the current status
63  if (status != WiFi.status()) {
64     // it has changed update the variable
65    status = WiFi.status();
66
67     if (status == WL_AP_CONNECTED) {
68      byte remoteMac[6];
69
70      //   a device has connected to the AP
71      Serial.print("Device connected to AP,   MAC address: ");
72      WiFi.APClientMacAddress(remoteMac);
73      Serial.print(remoteMac[5],   HEX);
74      Serial.print(":");
75      Serial.print(remoteMac[4], HEX);
76       Serial.print(":");
77      Serial.print(remoteMac[3], HEX);
78      Serial.print(":");
79       Serial.print(remoteMac[2], HEX);
80      Serial.print(":");
81      Serial.print(remoteMac[1],   HEX);
82      Serial.print(":");
83      Serial.println(remoteMac[0], HEX);
84       digitalWrite(led, HIGH);
85    } else {
86      // a device has disconnected   from the AP, and we are back in listening mode
87      Serial.println("Device   disconnected from AP");
88      digitalWrite(led, LOW);
89    }
90  }
91  
92   WiFiClient client = server.available();   // listen for incoming clients
93
94   if (client) {                             // if you get a client,
95    Serial.println("new   client");           // print a message out the serial port
96      boolean currentLineIsBlank   = true;
97        while (client.connected()) {
98            if (client.available())   {   // client data available to read
99                char c = client.read();   // read 1 byte (character) from client
100                // limit the size of the   stored received HTTP request
101                // buffer first part of HTTP request   in HTTP_req array (string)
102                // leave last element in array as   0 to null terminate string (REQ_BUF_SZ - 1)
103                if (req_index < (REQ_BUF_SZ   - 1)) {
104                    HTTP_req[req_index] = c;          // save HTTP request   character
105                    req_index++;
106                }
107                //   last line of client request is blank and ends with \
108
109                // respond   to client only after last line received
110                if (c == '\
111' && currentLineIsBlank)   {
112                    // send a standard http response header
113                    client.println("HTTP/1.1   200 OK");
114                    // remainder of header follows below, depending   on if
115                    // web page or XML page is requested
116                    //   Ajax request - send XML file
117                    if (StrContains(HTTP_req, "ajax_inputs"))   {
118                        // send rest of HTTP header
119                        client.println("Content-Type:   text/xml");
120                        client.println("Connection: keep-alive");
121                         client.println();
122
123                        // print   the received text to the Serial Monitor window
124                        // if   received with the incoming HTTP GET string
125                        if (GetText(txt_buf,   TXT_BUF_SZ)) {
126                          Serial.println("\
\
127Received Text:");
128                           Serial.println(txt_buf);
129                          Wire.beginTransmission(4);
130                           Wire.write(txt_buf);
131                          Wire.endTransmission();
132                         }
133                    }
134                    else {   // web page request
135                        // send rest of HTTP header
136                         client.println("Content-Type: text/html");
137                        client.println("Connection:   keep-alive");
138                        client.println();
139                        //   send web page
140                        client.println("<!DOCTYPE html>");
141                         client.println("<head>");
142                        client.println("<title>Control   meArm</title>");
143                        client.println("<meta name='viewport'   content='width=device-width, initial-scale=1.0'>");
144                        client.println("<script   type='text/javascript'>");
145                        
146                        //--fonctions   javascript
147                        //fonction texte
148                        client.println("function   SendText(){");
149                        client.println("nocache = \\"&nocache=\\"   + Math.random() * 1000000;");
150                        client.println("var request   = new XMLHttpRequest();");
151                        client.println("strText   = \\"&txt=\\" + document.getElementById('txt_form').form_text.value + \\"&end=end\\";");
152                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
153                        client.println("request.send(null);");
154                         client.println("}");
155
156                        //fonction   verticale
157                        client.println("function Verticale(){");
158                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
159                        client.println("var request = new XMLHttpRequest();");
160                         client.println("strText = \\"&txt=\\" + \\"Vertical=\\"   + document.getElementById('pos_v').posiv_range.value + \\"&end=end\\";");
161                         client.println("positiv = document.getElementById('pos_v').posiv_range.value;");
162                         client.println("document.getElementById('reportv').value=positiv;");
163                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
164                        client.println("request.send(null);");
165                         client.println("}");
166                       
167                        //fonction   horizontale
168                        client.println("function Horizontale(){");
169                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
170                        client.println("var request = new XMLHttpRequest();");
171                         client.println("strText = \\"&txt=\\" + \\"Horizontal=\\"   + document.getElementById('pos_h').posih_range.value + \\"&end=end\\";");
172                         client.println("positih = document.getElementById('pos_h').posih_range.value;");
173                         client.println("document.getElementById('reporth').value=positih;");
174                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
175                        client.println("request.send(null);");
176                         client.println("}");
177                        
178                        //fonction   angulaire
179                        client.println("function Angulaire(){");
180                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
181                        client.println("var request = new XMLHttpRequest();");
182                         client.println("strText = \\"&txt=\\" + \\"Angle=\\"   + document.getElementById('pos_a').posia_range.value + \\"&end=end\\";");
183                         client.println("positia = document.getElementById('pos_a').posia_range.value;");
184                         client.println("document.getElementById('reporta').value=positia;");
185                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
186                        client.println("request.send(null);");
187                         client.println("}");
188                        
189                        //fonction   pince
190                        client.println("function Pince(){");
191                        client.println("nocache   = \\"&nocache=\\" + Math.random() * 1000000;");
192                        client.println("var   request = new XMLHttpRequest();");
193                        client.println("strText   = \\"&txt=\\" + \\"Ouverture=\\" + document.getElementById('pos_p').posip_range.value   + \\"&end=end\\";");
194                        client.println("positip = document.getElementById('pos_p').posip_range.value;");
195                         client.println("document.getElementById('reportp').value=positip;");
196                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
197                        client.println("request.send(null);");
198                         client.println("}");
199                        client.println("</script>");
200                         client.println("</head>");
201                        client.println("<div>");
202
203                         //--Input texte et Input Range
204                        //Envoi   de texte
205                        client.println("<form id='txt_form' name='frmText'>");
206                         client.println("<center><textarea name='form_text' rows='2'   cols='16'></textarea></center>");
207                        client.println("</form>");
208                         client.println("<center><input type=submit value='Send   Text' onclick=SendText() /></center></div>");
209                        client.println("<div>");
210                         client.println("<center>Bouger le robot</center><BR><BR>");
211                         
212                        //Verticalement
213                        client.println("<form   id='pos_v' name='posText'>");
214                        client.println("<center>Verticalement</center><BR>");
215                         client.println("<center>Bas<input type=range name='posiv_range'   min='20' max='90' value='45' step='1' onchange=Verticale() />Haut</center>");
216                         client.println("</form>");
217                        client.println("<center><input   type=text id='reportv' size='3'/></center><BR>");
218                        
219                         //Horizontalement
220                        client.println("<form   id='pos_h' name='posText'>");
221                        client.println("<center>Horizontalement</center><BR>");
222                         client.println("<center>Proche<input type=range name='posih_range'   min='0' max='80' value='45' step='1' onchange=Horizontale() />Loin</center>");
223                         client.println("</form>");
224                        client.println("<center><input   type=text id='reporth' size='3'/></center><BR>");
225                        
226                         //Angulaire
227                        client.println("<form   id='pos_a' name='posText'>");
228                        client.println("<center>Tourner   le robot</center><BR>");
229                        client.println("<center>Gauche<input   type=range name='posia_range' min='0' max='180' value='90' step='1' onchange=Angulaire()   />Droite</center>");
230                        client.println("</form>");
231                         client.println("<center><input type=text id='reporta' size='3'/></center><BR>");
232                         
233                        //Pince
234                        client.println("<form   id='pos_p' name='posText'>");
235                        client.println("<center>Pince</center><BR>");
236                         client.println("<center>Ouvert<input type=range name='posip_range'   min='0' max='90' value='45' step='1' onchange=Pince() />Fermee</center>");
237                         client.println("</form>");
238                        client.println("<center><input   type=text id='reportp' size='3'/></center><BR>");
239                        
240                         client.println("</div>");
241                        client.println("</body>");
242                         client.println("</html>");
243                       }
244                     // reset buffer index and all buffer elements to 0
245                    req_index   = 0;
246                    StrClear(HTTP_req, REQ_BUF_SZ);
247                    break;
248                 }
249                // every line of text received from the client   ends with \
\
250
251                if (c == '\
252') {
253                    //   last character on line of received text
254                    // starting new line   with next character read
255                    currentLineIsBlank = true;
256                }   
257                else if (c != '\
') {
258                    // a text character   was received from client
259                    currentLineIsBlank = false;
260                 }
261            } // end if (client.available())
262        } //   end while (client.connected())
263        delay(1);      // give the web browser   time to receive the data
264        client.stop(); // close the connection
265    }   // end if (client)
266}
267
268// extract text from the incoming HTTP GET data string
269//   returns true only if text was received
270// the string must start with "&txt="   and end with "&end"
271// if the string is too long for the HTTP_req buffer and
272//   "&end" is cut off, then the function returns false
273boolean GetText(char *txt,   int len)
274{
275  boolean got_text = false;    // text received flag
276  char   *str_begin;             // pointer to start of text
277  char *str_end;               //   pointer to end of text
278  int str_len = 0;
279  int txt_index = 0;
280  
281  //   get pointer to the beginning of the text
282  str_begin = strstr(HTTP_req, "&txt=");
283   if (str_begin != NULL) {
284    str_begin = strstr(str_begin, "=");  // skip   to the =
285    str_begin += 1;                      // skip over the =
286    str_end   = strstr(str_begin, "&end");
287    if (str_end != NULL) {
288      str_end[0]   = 0;  // terminate the string
289      str_len = strlen(str_begin);
290
291      //   copy the string to the txt buffer and replace %20 with space ' '
292      for (int   i = 0; i < str_len; i++) {
293        if (str_begin[i] != '%') {
294          if   (str_begin[i] == 0) {
295            // end of string
296            break;
297           }
298          else {
299            txt[txt_index++] = str_begin[i];
300             if (txt_index >= (len - 1)) {
301              // keep the output string   within bounds
302              break;
303            }
304          }
305        }
306         else {
307          // replace %20 with a space
308          if ((str_begin[i   + 1] == '2') && (str_begin[i + 2] == '0')) {
309            txt[txt_index++] = '   ';
310            i += 2;
311            if (txt_index >= (len - 1)) {
312              //   keep the output string within bounds
313              break;
314            }
315           }
316        }
317      }
318      // terminate the string
319      txt[txt_index]   = 0;
320      got_text = true;
321    }
322  }
323
324  return got_text;
325}
326
327//   sets every element of str to 0 (clears array)
328void StrClear(char *str, char length)
329{
330     for (int i = 0; i < length; i++) {
331        str[i] = 0;
332    }
333}
334
335//   searches for the string sfind in the string str
336// returns 1 if string found
337//   returns 0 if string not found
338char StrContains(char *str, char *sfind)
339{
340     char found = 0;
341    char index = 0;
342    char len;
343
344    len = strlen(str);
345     
346    if (strlen(sfind) > len) {
347        return 0;
348    }
349    while   (index < len) {
350        if (str[index] == sfind[found]) {
351            found++;
352             if (strlen(sfind) == found) {
353                return 1;
354            }
355         }
356        else {
357            found = 0;
358        }
359        index++;
360     }
361
362    return 0;
363}
364
365
366
367void printWiFiStatus() {
368  //   print the SSID of the network you're attached to:
369  Serial.print("SSID: ");
370   Serial.println(WiFi.SSID());
371
372  // print your WiFi shield's IP address:
373   IPAddress ip = WiFi.localIP();
374  Serial.print("IP Address: ");
375  Serial.println(ip);
376
377   // print the received signal strength:
378  long rssi = WiFi.RSSI();
379  Serial.print("signal   strength (RSSI):");
380  Serial.print(rssi);
381  Serial.println(" dBm");
382   // print where to go in a browser:
383  Serial.print("To see this page in action,   open a browser to http://");
384  Serial.println(ip);
385
386}

/*
  WiFi Web Server Contrôle de robot meArm, affichage LCD et led

   created 18 Mars 2018
  par Fabrice bonne
  
 */

#include <SPI.h>
#include   <WiFi101.h>
#include <Wire.h>
// size of buffer used to capture HTTP requests
#define   REQ_BUF_SZ   90
// size of buffer that stores the incoming string
#define   TXT_BUF_SZ   50

char ssid[] = "****";        // your network SSID (name)
char   HTTP_req[REQ_BUF_SZ] = {0}; // buffered HTTP request stored as null terminated string
char   req_index = 0;              // index into HTTP_req buffer
char txt_buf[TXT_BUF_SZ]   = {0};  // buffer to save text to

int led =  LED_BUILTIN;
int status =   WL_IDLE_STATUS;
WiFiServer server(80);

void setup() {
  //Initialize   serial and wait for port to open:
  Wire.begin(); // Rejoindre le bus I2C (Pas   besoin d adresse pour le maitre)
  Serial.begin(9600);
  while (!Serial) {
     ; // wait for serial port to connect. Needed for native USB port only
  }

   Serial.println("Access Point Web Server");

  pinMode(led, OUTPUT);      //   set the LED pin mode
  digitalWrite(led, LOW);
  // print the network name   (SSID);
  Serial.print("Creating access point named: ");
  Serial.println(ssid);

   // Create open network. Change this line if you want to create an WEP network:
   status = WiFi.beginAP(ssid);
  if (status != WL_AP_LISTENING) {
    Serial.println("Creating   access point failed");
    // don't continue
    while (true);
  }

   // wait 10 seconds for connection:
  delay(10000);

  // start the web   server on port 80
  server.begin();

  // you're connected now, so print   out the status
  printWiFiStatus();
}


void loop() {
  // compare   the previous status to the current status
  if (status != WiFi.status()) {
     // it has changed update the variable
    status = WiFi.status();

     if (status == WL_AP_CONNECTED) {
      byte remoteMac[6];

      //   a device has connected to the AP
      Serial.print("Device connected to AP,   MAC address: ");
      WiFi.APClientMacAddress(remoteMac);
      Serial.print(remoteMac[5],   HEX);
      Serial.print(":");
      Serial.print(remoteMac[4], HEX);
       Serial.print(":");
      Serial.print(remoteMac[3], HEX);
      Serial.print(":");
       Serial.print(remoteMac[2], HEX);
      Serial.print(":");
      Serial.print(remoteMac[1],   HEX);
      Serial.print(":");
      Serial.println(remoteMac[0], HEX);
       digitalWrite(led, HIGH);
    } else {
      // a device has disconnected   from the AP, and we are back in listening mode
      Serial.println("Device   disconnected from AP");
      digitalWrite(led, LOW);
    }
  }
  
   WiFiClient client = server.available();   // listen for incoming clients

   if (client) {                             // if you get a client,
    Serial.println("new   client");           // print a message out the serial port
      boolean currentLineIsBlank   = true;
        while (client.connected()) {
            if (client.available())   {   // client data available to read
                char c = client.read();   // read 1 byte (character) from client
                // limit the size of the   stored received HTTP request
                // buffer first part of HTTP request   in HTTP_req array (string)
                // leave last element in array as   0 to null terminate string (REQ_BUF_SZ - 1)
                if (req_index < (REQ_BUF_SZ   - 1)) {
                    HTTP_req[req_index] = c;          // save HTTP request   character
                    req_index++;
                }
                //   last line of client request is blank and ends with \

                // respond   to client only after last line received
                if (c == '\
' && currentLineIsBlank)   {
                    // send a standard http response header
                    client.println("HTTP/1.1   200 OK");
                    // remainder of header follows below, depending   on if
                    // web page or XML page is requested
                    //   Ajax request - send XML file
                    if (StrContains(HTTP_req, "ajax_inputs"))   {
                        // send rest of HTTP header
                        client.println("Content-Type:   text/xml");
                        client.println("Connection: keep-alive");
                         client.println();

                        // print   the received text to the Serial Monitor window
                        // if   received with the incoming HTTP GET string
                        if (GetText(txt_buf,   TXT_BUF_SZ)) {
                          Serial.println("\
\
Received Text:");
                           Serial.println(txt_buf);
                          Wire.beginTransmission(4);
                           Wire.write(txt_buf);
                          Wire.endTransmission();
                         }
                    }
                    else {   // web page request
                        // send rest of HTTP header
                         client.println("Content-Type: text/html");
                        client.println("Connection:   keep-alive");
                        client.println();
                        //   send web page
                        client.println("<!DOCTYPE html>");
                         client.println("<head>");
                        client.println("<title>Control   meArm</title>");
                        client.println("<meta name='viewport'   content='width=device-width, initial-scale=1.0'>");
                        client.println("<script   type='text/javascript'>");
                        
                        //--fonctions   javascript
                        //fonction texte
                        client.println("function   SendText(){");
                        client.println("nocache = \\"&nocache=\\"   + Math.random() * 1000000;");
                        client.println("var request   = new XMLHttpRequest();");
                        client.println("strText   = \\"&txt=\\" + document.getElementById('txt_form').form_text.value + \\"&end=end\\";");
                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
                        client.println("request.send(null);");
                         client.println("}");

                        //fonction   verticale
                        client.println("function Verticale(){");
                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                         client.println("strText = \\"&txt=\\" + \\"Vertical=\\"   + document.getElementById('pos_v').posiv_range.value + \\"&end=end\\";");
                         client.println("positiv = document.getElementById('pos_v').posiv_range.value;");
                         client.println("document.getElementById('reportv').value=positiv;");
                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
                        client.println("request.send(null);");
                         client.println("}");
                       
                        //fonction   horizontale
                        client.println("function Horizontale(){");
                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                         client.println("strText = \\"&txt=\\" + \\"Horizontal=\\"   + document.getElementById('pos_h').posih_range.value + \\"&end=end\\";");
                         client.println("positih = document.getElementById('pos_h').posih_range.value;");
                         client.println("document.getElementById('reporth').value=positih;");
                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
                        client.println("request.send(null);");
                         client.println("}");
                        
                        //fonction   angulaire
                        client.println("function Angulaire(){");
                         client.println("nocache = \\"&nocache=\\" + Math.random()   * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                         client.println("strText = \\"&txt=\\" + \\"Angle=\\"   + document.getElementById('pos_a').posia_range.value + \\"&end=end\\";");
                         client.println("positia = document.getElementById('pos_a').posia_range.value;");
                         client.println("document.getElementById('reporta').value=positia;");
                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
                        client.println("request.send(null);");
                         client.println("}");
                        
                        //fonction   pince
                        client.println("function Pince(){");
                        client.println("nocache   = \\"&nocache=\\" + Math.random() * 1000000;");
                        client.println("var   request = new XMLHttpRequest();");
                        client.println("strText   = \\"&txt=\\" + \\"Ouverture=\\" + document.getElementById('pos_p').posip_range.value   + \\"&end=end\\";");
                        client.println("positip = document.getElementById('pos_p').posip_range.value;");
                         client.println("document.getElementById('reportp').value=positip;");
                         client.println("request.open(\\"GET\\", \\"ajax_inputs\\"   + strText + nocache, true);");
                        client.println("request.send(null);");
                         client.println("}");
                        client.println("</script>");
                         client.println("</head>");
                        client.println("<div>");

                         //--Input texte et Input Range
                        //Envoi   de texte
                        client.println("<form id='txt_form' name='frmText'>");
                         client.println("<center><textarea name='form_text' rows='2'   cols='16'></textarea></center>");
                        client.println("</form>");
                         client.println("<center><input type=submit value='Send   Text' onclick=SendText() /></center></div>");
                        client.println("<div>");
                         client.println("<center>Bouger le robot</center><BR><BR>");
                         
                        //Verticalement
                        client.println("<form   id='pos_v' name='posText'>");
                        client.println("<center>Verticalement</center><BR>");
                         client.println("<center>Bas<input type=range name='posiv_range'   min='20' max='90' value='45' step='1' onchange=Verticale() />Haut</center>");
                         client.println("</form>");
                        client.println("<center><input   type=text id='reportv' size='3'/></center><BR>");
                        
                         //Horizontalement
                        client.println("<form   id='pos_h' name='posText'>");
                        client.println("<center>Horizontalement</center><BR>");
                         client.println("<center>Proche<input type=range name='posih_range'   min='0' max='80' value='45' step='1' onchange=Horizontale() />Loin</center>");
                         client.println("</form>");
                        client.println("<center><input   type=text id='reporth' size='3'/></center><BR>");
                        
                         //Angulaire
                        client.println("<form   id='pos_a' name='posText'>");
                        client.println("<center>Tourner   le robot</center><BR>");
                        client.println("<center>Gauche<input   type=range name='posia_range' min='0' max='180' value='90' step='1' onchange=Angulaire()   />Droite</center>");
                        client.println("</form>");
                         client.println("<center><input type=text id='reporta' size='3'/></center><BR>");
                         
                        //Pince
                        client.println("<form   id='pos_p' name='posText'>");
                        client.println("<center>Pince</center><BR>");
                         client.println("<center>Ouvert<input type=range name='posip_range'   min='0' max='90' value='45' step='1' onchange=Pince() />Fermee</center>");
                         client.println("</form>");
                        client.println("<center><input   type=text id='reportp' size='3'/></center><BR>");
                        
                         client.println("</div>");
                        client.println("</body>");
                         client.println("</html>");
                       }
                     // reset buffer index and all buffer elements to 0
                    req_index   = 0;
                    StrClear(HTTP_req, REQ_BUF_SZ);
                    break;
                 }
                // every line of text received from the client   ends with \
\

                if (c == '\
') {
                    //   last character on line of received text
                    // starting new line   with next character read
                    currentLineIsBlank = true;
                }   
                else if (c != '\
') {
                    // a text character   was received from client
                    currentLineIsBlank = false;
                 }
            } // end if (client.available())
        } //   end while (client.connected())
        delay(1);      // give the web browser   time to receive the data
        client.stop(); // close the connection
    }   // end if (client)
}

// extract text from the incoming HTTP GET data string
//   returns true only if text was received
// the string must start with "&txt="   and end with "&end"
// if the string is too long for the HTTP_req buffer and
//   "&end" is cut off, then the function returns false
boolean GetText(char *txt,   int len)
{
  boolean got_text = false;    // text received flag
  char   *str_begin;             // pointer to start of text
  char *str_end;               //   pointer to end of text
  int str_len = 0;
  int txt_index = 0;
  
  //   get pointer to the beginning of the text
  str_begin = strstr(HTTP_req, "&txt=");
   if (str_begin != NULL) {
    str_begin = strstr(str_begin, "=");  // skip   to the =
    str_begin += 1;                      // skip over the =
    str_end   = strstr(str_begin, "&end");
    if (str_end != NULL) {
      str_end[0]   = 0;  // terminate the string
      str_len = strlen(str_begin);

      //   copy the string to the txt buffer and replace %20 with space ' '
      for (int   i = 0; i < str_len; i++) {
        if (str_begin[i] != '%') {
          if   (str_begin[i] == 0) {
            // end of string
            break;
           }
          else {
            txt[txt_index++] = str_begin[i];
             if (txt_index >= (len - 1)) {
              // keep the output string   within bounds
              break;
            }
          }
        }
         else {
          // replace %20 with a space
          if ((str_begin[i   + 1] == '2') && (str_begin[i + 2] == '0')) {
            txt[txt_index++] = '   ';
            i += 2;
            if (txt_index >= (len - 1)) {
              //   keep the output string within bounds
              break;
            }
           }
        }
      }
      // terminate the string
      txt[txt_index]   = 0;
      got_text = true;
    }
  }

  return got_text;
}

//   sets every element of str to 0 (clears array)
void StrClear(char *str, char length)
{
     for (int i = 0; i < length; i++) {
        str[i] = 0;
    }
}

//   searches for the string sfind in the string str
// returns 1 if string found
//   returns 0 if string not found
char StrContains(char *str, char *sfind)
{
     char found = 0;
    char index = 0;
    char len;

    len = strlen(str);
     
    if (strlen(sfind) > len) {
        return 0;
    }
    while   (index < len) {
        if (str[index] == sfind[found]) {
            found++;
             if (strlen(sfind) == found) {
                return 1;
            }
         }
        else {
            found = 0;
        }
        index++;
     }

    return 0;
}



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

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

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

}

Master Code (MKR1000)

arduino

Webserver Code for the MKR1000

1/*
2  WiFi Web Server Contrôle de robot meArm, affichage LCD et led
3
4  created 18 Mars 2018
5  par Fabrice bonne
6  
7 */
8
9#include <SPI.h>
10#include  <WiFi101.h>
11#include <Wire.h>
12// size of buffer used to capture HTTP requests
13#define  REQ_BUF_SZ   90
14// size of buffer that stores the incoming string
15#define  TXT_BUF_SZ   50
16
17char ssid[] = "****";        // your network SSID (name)
18char  HTTP_req[REQ_BUF_SZ] = {0}; // buffered HTTP request stored as null terminated string
19char  req_index = 0;              // index into HTTP_req buffer
20char txt_buf[TXT_BUF_SZ]  = {0};  // buffer to save text to
21
22int led =  LED_BUILTIN;
23int status =  WL_IDLE_STATUS;
24WiFiServer server(80);
25
26void setup() {
27  //Initialize  serial and wait for port to open:
28  Wire.begin(); // Rejoindre le bus I2C (Pas  besoin d adresse pour le maitre)
29  Serial.begin(9600);
30  while (!Serial) {
31    ; // wait for serial port to connect. Needed for native USB port only
32  }
33
34  Serial.println("Access Point Web Server");
35
36  pinMode(led, OUTPUT);      //  set the LED pin mode
37  digitalWrite(led, LOW);
38  // print the network name  (SSID);
39  Serial.print("Creating access point named: ");
40  Serial.println(ssid);
41
42  // Create open network. Change this line if you want to create an WEP network:
43  status = WiFi.beginAP(ssid);
44  if (status != WL_AP_LISTENING) {
45    Serial.println("Creating  access point failed");
46    // don't continue
47    while (true);
48  }
49
50  // wait 10 seconds for connection:
51  delay(10000);
52
53  // start the web  server on port 80
54  server.begin();
55
56  // you're connected now, so print  out the status
57  printWiFiStatus();
58}
59
60
61void loop() {
62  // compare  the previous status to the current status
63  if (status != WiFi.status()) {
64    // it has changed update the variable
65    status = WiFi.status();
66
67    if (status == WL_AP_CONNECTED) {
68      byte remoteMac[6];
69
70      //  a device has connected to the AP
71      Serial.print("Device connected to AP,  MAC address: ");
72      WiFi.APClientMacAddress(remoteMac);
73      Serial.print(remoteMac[5],  HEX);
74      Serial.print(":");
75      Serial.print(remoteMac[4], HEX);
76      Serial.print(":");
77      Serial.print(remoteMac[3], HEX);
78      Serial.print(":");
79      Serial.print(remoteMac[2], HEX);
80      Serial.print(":");
81      Serial.print(remoteMac[1],  HEX);
82      Serial.print(":");
83      Serial.println(remoteMac[0], HEX);
84      digitalWrite(led, HIGH);
85    } else {
86      // a device has disconnected  from the AP, and we are back in listening mode
87      Serial.println("Device  disconnected from AP");
88      digitalWrite(led, LOW);
89    }
90  }
91  
92  WiFiClient client = server.available();   // listen for incoming clients
93
94  if (client) {                             // if you get a client,
95    Serial.println("new  client");           // print a message out the serial port
96      boolean currentLineIsBlank  = true;
97        while (client.connected()) {
98            if (client.available())  {   // client data available to read
99                char c = client.read();  // read 1 byte (character) from client
100                // limit the size of the  stored received HTTP request
101                // buffer first part of HTTP request  in HTTP_req array (string)
102                // leave last element in array as  0 to null terminate string (REQ_BUF_SZ - 1)
103                if (req_index < (REQ_BUF_SZ  - 1)) {
104                    HTTP_req[req_index] = c;          // save HTTP request  character
105                    req_index++;
106                }
107                //  last line of client request is blank and ends with \
108
109                // respond  to client only after last line received
110                if (c == '\n' && currentLineIsBlank)  {
111                    // send a standard http response header
112                    client.println("HTTP/1.1  200 OK");
113                    // remainder of header follows below, depending  on if
114                    // web page or XML page is requested
115                    //  Ajax request - send XML file
116                    if (StrContains(HTTP_req, "ajax_inputs"))  {
117                        // send rest of HTTP header
118                        client.println("Content-Type:  text/xml");
119                        client.println("Connection: keep-alive");
120                        client.println();
121
122                        // print  the received text to the Serial Monitor window
123                        // if  received with the incoming HTTP GET string
124                        if (GetText(txt_buf,  TXT_BUF_SZ)) {
125                          Serial.println("\
\
126Received Text:");
127                          Serial.println(txt_buf);
128                          Wire.beginTransmission(4);
129                          Wire.write(txt_buf);
130                          Wire.endTransmission();
131                        }
132                    }
133                    else {  // web page request
134                        // send rest of HTTP header
135                        client.println("Content-Type: text/html");
136                        client.println("Connection:  keep-alive");
137                        client.println();
138                        //  send web page
139                        client.println("<!DOCTYPE html>");
140                        client.println("<head>");
141                        client.println("<title>Control  meArm</title>");
142                        client.println("<meta name='viewport'  content='width=device-width, initial-scale=1.0'>");
143                        client.println("<script  type='text/javascript'>");
144                        
145                        //--fonctions  javascript
146                        //fonction texte
147                        client.println("function  SendText(){");
148                        client.println("nocache = \\"&nocache=\\"  + Math.random() * 1000000;");
149                        client.println("var request  = new XMLHttpRequest();");
150                        client.println("strText  = \\"&txt=\\" + document.getElementById('txt_form').form_text.value + \\"&end=end\\";");
151                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
152                        client.println("request.send(null);");
153                        client.println("}");
154
155                        //fonction  verticale
156                        client.println("function Verticale(){");
157                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
158                        client.println("var request = new XMLHttpRequest();");
159                        client.println("strText = \\"&txt=\\" + \\"Vertical=\\"  + document.getElementById('pos_v').posiv_range.value + \\"&end=end\\";");
160                        client.println("positiv = document.getElementById('pos_v').posiv_range.value;");
161                        client.println("document.getElementById('reportv').value=positiv;");
162                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
163                        client.println("request.send(null);");
164                        client.println("}");
165                       
166                        //fonction  horizontale
167                        client.println("function Horizontale(){");
168                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
169                        client.println("var request = new XMLHttpRequest();");
170                        client.println("strText = \\"&txt=\\" + \\"Horizontal=\\"  + document.getElementById('pos_h').posih_range.value + \\"&end=end\\";");
171                        client.println("positih = document.getElementById('pos_h').posih_range.value;");
172                        client.println("document.getElementById('reporth').value=positih;");
173                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
174                        client.println("request.send(null);");
175                        client.println("}");
176                        
177                        //fonction  angulaire
178                        client.println("function Angulaire(){");
179                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
180                        client.println("var request = new XMLHttpRequest();");
181                        client.println("strText = \\"&txt=\\" + \\"Angle=\\"  + document.getElementById('pos_a').posia_range.value + \\"&end=end\\";");
182                        client.println("positia = document.getElementById('pos_a').posia_range.value;");
183                        client.println("document.getElementById('reporta').value=positia;");
184                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
185                        client.println("request.send(null);");
186                        client.println("}");
187                        
188                        //fonction  pince
189                        client.println("function Pince(){");
190                        client.println("nocache  = \\"&nocache=\\" + Math.random() * 1000000;");
191                        client.println("var  request = new XMLHttpRequest();");
192                        client.println("strText  = \\"&txt=\\" + \\"Ouverture=\\" + document.getElementById('pos_p').posip_range.value  + \\"&end=end\\";");
193                        client.println("positip = document.getElementById('pos_p').posip_range.value;");
194                        client.println("document.getElementById('reportp').value=positip;");
195                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
196                        client.println("request.send(null);");
197                        client.println("}");
198                        client.println("</script>");
199                        client.println("</head>");
200                        client.println("<div>");
201
202                        //--Input texte et Input Range
203                        //Envoi  de texte
204                        client.println("<form id='txt_form' name='frmText'>");
205                        client.println("<center><textarea name='form_text' rows='2'  cols='16'></textarea></center>");
206                        client.println("</form>");
207                        client.println("<center><input type=submit value='Send  Text' onclick=SendText() /></center></div>");
208                        client.println("<div>");
209                        client.println("<center>Bouger le robot</center><BR><BR>");
210                        
211                        //Verticalement
212                        client.println("<form  id='pos_v' name='posText'>");
213                        client.println("<center>Verticalement</center><BR>");
214                        client.println("<center>Bas<input type=range name='posiv_range'  min='20' max='90' value='45' step='1' onchange=Verticale() />Haut</center>");
215                        client.println("</form>");
216                        client.println("<center><input  type=text id='reportv' size='3'/></center><BR>");
217                        
218                        //Horizontalement
219                        client.println("<form  id='pos_h' name='posText'>");
220                        client.println("<center>Horizontalement</center><BR>");
221                        client.println("<center>Proche<input type=range name='posih_range'  min='0' max='80' value='45' step='1' onchange=Horizontale() />Loin</center>");
222                        client.println("</form>");
223                        client.println("<center><input  type=text id='reporth' size='3'/></center><BR>");
224                        
225                        //Angulaire
226                        client.println("<form  id='pos_a' name='posText'>");
227                        client.println("<center>Tourner  le robot</center><BR>");
228                        client.println("<center>Gauche<input  type=range name='posia_range' min='0' max='180' value='90' step='1' onchange=Angulaire()  />Droite</center>");
229                        client.println("</form>");
230                        client.println("<center><input type=text id='reporta' size='3'/></center><BR>");
231                        
232                        //Pince
233                        client.println("<form  id='pos_p' name='posText'>");
234                        client.println("<center>Pince</center><BR>");
235                        client.println("<center>Ouvert<input type=range name='posip_range'  min='0' max='90' value='45' step='1' onchange=Pince() />Fermee</center>");
236                        client.println("</form>");
237                        client.println("<center><input  type=text id='reportp' size='3'/></center><BR>");
238                        
239                        client.println("</div>");
240                        client.println("</body>");
241                        client.println("</html>");
242                       }
243                    // reset buffer index and all buffer elements to 0
244                    req_index  = 0;
245                    StrClear(HTTP_req, REQ_BUF_SZ);
246                    break;
247                }
248                // every line of text received from the client  ends with \
\
249
250                if (c == '\n') {
251                    //  last character on line of received text
252                    // starting new line  with next character read
253                    currentLineIsBlank = true;
254                }  
255                else if (c != '\r') {
256                    // a text character  was received from client
257                    currentLineIsBlank = false;
258                }
259            } // end if (client.available())
260        } //  end while (client.connected())
261        delay(1);      // give the web browser  time to receive the data
262        client.stop(); // close the connection
263    }  // end if (client)
264}
265
266// extract text from the incoming HTTP GET data string
267//  returns true only if text was received
268// the string must start with "&txt="  and end with "&end"
269// if the string is too long for the HTTP_req buffer and
270//  "&end" is cut off, then the function returns false
271boolean GetText(char *txt,  int len)
272{
273  boolean got_text = false;    // text received flag
274  char  *str_begin;             // pointer to start of text
275  char *str_end;               //  pointer to end of text
276  int str_len = 0;
277  int txt_index = 0;
278  
279  //  get pointer to the beginning of the text
280  str_begin = strstr(HTTP_req, "&txt=");
281  if (str_begin != NULL) {
282    str_begin = strstr(str_begin, "=");  // skip  to the =
283    str_begin += 1;                      // skip over the =
284    str_end  = strstr(str_begin, "&end");
285    if (str_end != NULL) {
286      str_end[0]  = 0;  // terminate the string
287      str_len = strlen(str_begin);
288
289      //  copy the string to the txt buffer and replace %20 with space ' '
290      for (int  i = 0; i < str_len; i++) {
291        if (str_begin[i] != '%') {
292          if  (str_begin[i] == 0) {
293            // end of string
294            break;
295          }
296          else {
297            txt[txt_index++] = str_begin[i];
298            if (txt_index >= (len - 1)) {
299              // keep the output string  within bounds
300              break;
301            }
302          }
303        }
304        else {
305          // replace %20 with a space
306          if ((str_begin[i  + 1] == '2') && (str_begin[i + 2] == '0')) {
307            txt[txt_index++] = '  ';
308            i += 2;
309            if (txt_index >= (len - 1)) {
310              //  keep the output string within bounds
311              break;
312            }
313          }
314        }
315      }
316      // terminate the string
317      txt[txt_index]  = 0;
318      got_text = true;
319    }
320  }
321
322  return got_text;
323}
324
325//  sets every element of str to 0 (clears array)
326void StrClear(char *str, char length)
327{
328    for (int i = 0; i < length; i++) {
329        str[i] = 0;
330    }
331}
332
333//  searches for the string sfind in the string str
334// returns 1 if string found
335//  returns 0 if string not found
336char StrContains(char *str, char *sfind)
337{
338    char found = 0;
339    char index = 0;
340    char len;
341
342    len = strlen(str);
343    
344    if (strlen(sfind) > len) {
345        return 0;
346    }
347    while  (index < len) {
348        if (str[index] == sfind[found]) {
349            found++;
350            if (strlen(sfind) == found) {
351                return 1;
352            }
353        }
354        else {
355            found = 0;
356        }
357        index++;
358    }
359
360    return 0;
361}
362
363
364
365void printWiFiStatus() {
366  //  print the SSID of the network you're attached to:
367  Serial.print("SSID: ");
368  Serial.println(WiFi.SSID());
369
370  // print your WiFi shield's IP address:
371  IPAddress ip = WiFi.localIP();
372  Serial.print("IP Address: ");
373  Serial.println(ip);
374
375  // print the received signal strength:
376  long rssi = WiFi.RSSI();
377  Serial.print("signal  strength (RSSI):");
378  Serial.print(rssi);
379  Serial.println(" dBm");
380  // print where to go in a browser:
381  Serial.print("To see this page in action,  open a browser to http://");
382  Serial.println(ip);
383
384}

/*
  WiFi Web Server Contrôle de robot meArm, affichage LCD et led

  created 18 Mars 2018
  par Fabrice bonne
  
 */

#include <SPI.h>
#include  <WiFi101.h>
#include <Wire.h>
// size of buffer used to capture HTTP requests
#define  REQ_BUF_SZ   90
// size of buffer that stores the incoming string
#define  TXT_BUF_SZ   50

char ssid[] = "****";        // your network SSID (name)
char  HTTP_req[REQ_BUF_SZ] = {0}; // buffered HTTP request stored as null terminated string
char  req_index = 0;              // index into HTTP_req buffer
char txt_buf[TXT_BUF_SZ]  = {0};  // buffer to save text to

int led =  LED_BUILTIN;
int status =  WL_IDLE_STATUS;
WiFiServer server(80);

void setup() {
  //Initialize  serial and wait for port to open:
  Wire.begin(); // Rejoindre le bus I2C (Pas  besoin d adresse pour le maitre)
  Serial.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }

  Serial.println("Access Point Web Server");

  pinMode(led, OUTPUT);      //  set the LED pin mode
  digitalWrite(led, LOW);
  // print the network name  (SSID);
  Serial.print("Creating access point named: ");
  Serial.println(ssid);

  // Create open network. Change this line if you want to create an WEP network:
  status = WiFi.beginAP(ssid);
  if (status != WL_AP_LISTENING) {
    Serial.println("Creating  access point failed");
    // don't continue
    while (true);
  }

  // wait 10 seconds for connection:
  delay(10000);

  // start the web  server on port 80
  server.begin();

  // you're connected now, so print  out the status
  printWiFiStatus();
}


void loop() {
  // compare  the previous status to the current status
  if (status != WiFi.status()) {
    // it has changed update the variable
    status = WiFi.status();

    if (status == WL_AP_CONNECTED) {
      byte remoteMac[6];

      //  a device has connected to the AP
      Serial.print("Device connected to AP,  MAC address: ");
      WiFi.APClientMacAddress(remoteMac);
      Serial.print(remoteMac[5],  HEX);
      Serial.print(":");
      Serial.print(remoteMac[4], HEX);
      Serial.print(":");
      Serial.print(remoteMac[3], HEX);
      Serial.print(":");
      Serial.print(remoteMac[2], HEX);
      Serial.print(":");
      Serial.print(remoteMac[1],  HEX);
      Serial.print(":");
      Serial.println(remoteMac[0], HEX);
      digitalWrite(led, HIGH);
    } else {
      // a device has disconnected  from the AP, and we are back in listening mode
      Serial.println("Device  disconnected from AP");
      digitalWrite(led, LOW);
    }
  }
  
  WiFiClient client = server.available();   // listen for incoming clients

  if (client) {                             // if you get a client,
    Serial.println("new  client");           // print a message out the serial port
      boolean currentLineIsBlank  = true;
        while (client.connected()) {
            if (client.available())  {   // client data available to read
                char c = client.read();  // read 1 byte (character) from client
                // limit the size of the  stored received HTTP request
                // buffer first part of HTTP request  in HTTP_req array (string)
                // leave last element in array as  0 to null terminate string (REQ_BUF_SZ - 1)
                if (req_index < (REQ_BUF_SZ  - 1)) {
                    HTTP_req[req_index] = c;          // save HTTP request  character
                    req_index++;
                }
                //  last line of client request is blank and ends with \

                // respond  to client only after last line received
                if (c == '\n' && currentLineIsBlank)  {
                    // send a standard http response header
                    client.println("HTTP/1.1  200 OK");
                    // remainder of header follows below, depending  on if
                    // web page or XML page is requested
                    //  Ajax request - send XML file
                    if (StrContains(HTTP_req, "ajax_inputs"))  {
                        // send rest of HTTP header
                        client.println("Content-Type:  text/xml");
                        client.println("Connection: keep-alive");
                        client.println();

                        // print  the received text to the Serial Monitor window
                        // if  received with the incoming HTTP GET string
                        if (GetText(txt_buf,  TXT_BUF_SZ)) {
                          Serial.println("\
\
Received Text:");
                          Serial.println(txt_buf);
                          Wire.beginTransmission(4);
                          Wire.write(txt_buf);
                          Wire.endTransmission();
                        }
                    }
                    else {  // web page request
                        // send rest of HTTP header
                        client.println("Content-Type: text/html");
                        client.println("Connection:  keep-alive");
                        client.println();
                        //  send web page
                        client.println("<!DOCTYPE html>");
                        client.println("<head>");
                        client.println("<title>Control  meArm</title>");
                        client.println("<meta name='viewport'  content='width=device-width, initial-scale=1.0'>");
                        client.println("<script  type='text/javascript'>");
                        
                        //--fonctions  javascript
                        //fonction texte
                        client.println("function  SendText(){");
                        client.println("nocache = \\"&nocache=\\"  + Math.random() * 1000000;");
                        client.println("var request  = new XMLHttpRequest();");
                        client.println("strText  = \\"&txt=\\" + document.getElementById('txt_form').form_text.value + \\"&end=end\\";");
                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
                        client.println("request.send(null);");
                        client.println("}");

                        //fonction  verticale
                        client.println("function Verticale(){");
                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                        client.println("strText = \\"&txt=\\" + \\"Vertical=\\"  + document.getElementById('pos_v').posiv_range.value + \\"&end=end\\";");
                        client.println("positiv = document.getElementById('pos_v').posiv_range.value;");
                        client.println("document.getElementById('reportv').value=positiv;");
                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
                        client.println("request.send(null);");
                        client.println("}");
                       
                        //fonction  horizontale
                        client.println("function Horizontale(){");
                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                        client.println("strText = \\"&txt=\\" + \\"Horizontal=\\"  + document.getElementById('pos_h').posih_range.value + \\"&end=end\\";");
                        client.println("positih = document.getElementById('pos_h').posih_range.value;");
                        client.println("document.getElementById('reporth').value=positih;");
                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
                        client.println("request.send(null);");
                        client.println("}");
                        
                        //fonction  angulaire
                        client.println("function Angulaire(){");
                        client.println("nocache = \\"&nocache=\\" + Math.random()  * 1000000;");
                        client.println("var request = new XMLHttpRequest();");
                        client.println("strText = \\"&txt=\\" + \\"Angle=\\"  + document.getElementById('pos_a').posia_range.value + \\"&end=end\\";");
                        client.println("positia = document.getElementById('pos_a').posia_range.value;");
                        client.println("document.getElementById('reporta').value=positia;");
                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
                        client.println("request.send(null);");
                        client.println("}");
                        
                        //fonction  pince
                        client.println("function Pince(){");
                        client.println("nocache  = \\"&nocache=\\" + Math.random() * 1000000;");
                        client.println("var  request = new XMLHttpRequest();");
                        client.println("strText  = \\"&txt=\\" + \\"Ouverture=\\" + document.getElementById('pos_p').posip_range.value  + \\"&end=end\\";");
                        client.println("positip = document.getElementById('pos_p').posip_range.value;");
                        client.println("document.getElementById('reportp').value=positip;");
                        client.println("request.open(\\"GET\\", \\"ajax_inputs\\"  + strText + nocache, true);");
                        client.println("request.send(null);");
                        client.println("}");
                        client.println("</script>");
                        client.println("</head>");
                        client.println("<div>");

                        //--Input texte et Input Range
                        //Envoi  de texte
                        client.println("<form id='txt_form' name='frmText'>");
                        client.println("<center><textarea name='form_text' rows='2'  cols='16'></textarea></center>");
                        client.println("</form>");
                        client.println("<center><input type=submit value='Send  Text' onclick=SendText() /></center></div>");
                        client.println("<div>");
                        client.println("<center>Bouger le robot</center><BR><BR>");
                        
                        //Verticalement
                        client.println("<form  id='pos_v' name='posText'>");
                        client.println("<center>Verticalement</center><BR>");
                        client.println("<center>Bas<input type=range name='posiv_range'  min='20' max='90' value='45' step='1' onchange=Verticale() />Haut</center>");
                        client.println("</form>");
                        client.println("<center><input  type=text id='reportv' size='3'/></center><BR>");
                        
                        //Horizontalement
                        client.println("<form  id='pos_h' name='posText'>");
                        client.println("<center>Horizontalement</center><BR>");
                        client.println("<center>Proche<input type=range name='posih_range'  min='0' max='80' value='45' step='1' onchange=Horizontale() />Loin</center>");
                        client.println("</form>");
                        client.println("<center><input  type=text id='reporth' size='3'/></center><BR>");
                        
                        //Angulaire
                        client.println("<form  id='pos_a' name='posText'>");
                        client.println("<center>Tourner  le robot</center><BR>");
                        client.println("<center>Gauche<input  type=range name='posia_range' min='0' max='180' value='90' step='1' onchange=Angulaire()  />Droite</center>");
                        client.println("</form>");
                        client.println("<center><input type=text id='reporta' size='3'/></center><BR>");
                        
                        //Pince
                        client.println("<form  id='pos_p' name='posText'>");
                        client.println("<center>Pince</center><BR>");
                        client.println("<center>Ouvert<input type=range name='posip_range'  min='0' max='90' value='45' step='1' onchange=Pince() />Fermee</center>");
                        client.println("</form>");
                        client.println("<center><input  type=text id='reportp' size='3'/></center><BR>");
                        
                        client.println("</div>");
                        client.println("</body>");
                        client.println("</html>");
                       }
                    // reset buffer index and all buffer elements to 0
                    req_index  = 0;
                    StrClear(HTTP_req, REQ_BUF_SZ);
                    break;
                }
                // every line of text received from the client  ends with \
\

                if (c == '\n') {
                    //  last character on line of received text
                    // starting new line  with next character read
                    currentLineIsBlank = true;
                }  
                else if (c != '\r') {
                    // a text character  was received from client
                    currentLineIsBlank = false;
                }
            } // end if (client.available())
        } //  end while (client.connected())
        delay(1);      // give the web browser  time to receive the data
        client.stop(); // close the connection
    }  // end if (client)
}

// extract text from the incoming HTTP GET data string
//  returns true only if text was received
// the string must start with "&txt="  and end with "&end"
// if the string is too long for the HTTP_req buffer and
//  "&end" is cut off, then the function returns false
boolean GetText(char *txt,  int len)
{
  boolean got_text = false;    // text received flag
  char  *str_begin;             // pointer to start of text
  char *str_end;               //  pointer to end of text
  int str_len = 0;
  int txt_index = 0;
  
  //  get pointer to the beginning of the text
  str_begin = strstr(HTTP_req, "&txt=");
  if (str_begin != NULL) {
    str_begin = strstr(str_begin, "=");  // skip  to the =
    str_begin += 1;                      // skip over the =
    str_end  = strstr(str_begin, "&end");
    if (str_end != NULL) {
      str_end[0]  = 0;  // terminate the string
      str_len = strlen(str_begin);

      //  copy the string to the txt buffer and replace %20 with space ' '
      for (int  i = 0; i < str_len; i++) {
        if (str_begin[i] != '%') {
          if  (str_begin[i] == 0) {
            // end of string
            break;
          }
          else {
            txt[txt_index++] = str_begin[i];
            if (txt_index >= (len - 1)) {
              // keep the output string  within bounds
              break;
            }
          }
        }
        else {
          // replace %20 with a space
          if ((str_begin[i  + 1] == '2') && (str_begin[i + 2] == '0')) {
            txt[txt_index++] = '  ';
            i += 2;
            if (txt_index >= (len - 1)) {
              //  keep the output string within bounds
              break;
            }
          }
        }
      }
      // terminate the string
      txt[txt_index]  = 0;
      got_text = true;
    }
  }

  return got_text;
}

//  sets every element of str to 0 (clears array)
void StrClear(char *str, char length)
{
    for (int i = 0; i < length; i++) {
        str[i] = 0;
    }
}

//  searches for the string sfind in the string str
// returns 1 if string found
//  returns 0 if string not found
char StrContains(char *str, char *sfind)
{
    char found = 0;
    char index = 0;
    char len;

    len = strlen(str);
    
    if (strlen(sfind) > len) {
        return 0;
    }
    while  (index < len) {
        if (str[index] == sfind[found]) {
            found++;
            if (strlen(sfind) == found) {
                return 1;
            }
        }
        else {
            found = 0;
        }
        index++;
    }

    return 0;
}



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

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

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

}

Slave Code (Arduino UNO)

arduino

The code for the slave card, Arduino UNO. It is used to read the I2C transmission, and convert the orders into movements and LCD display

1/*
2  WiFi Web Server Contrôle de moteur, affichage LCD et led (Slave)
3
4  created 18 Mars 2018
5  par Fabrice bonne
6  
7 */
8
9#include <Servo.h>
10#include  <LiquidCrystal.h>
11#include <Wire.h> // Librairie pour la communication I2C
12
13
14LiquidCrystal  lcd(7,6,5,4,3,2);          //lcd en bornes 2 à 7
15Servo MVertical;
16Servo MHorizontal;
17Servo  MAngle;
18Servo MPince;
19
20void setup() {
21Wire.begin(4); // Rejoindre le  bus à l'adresse #4
22Wire.onReceive(receiveEvent); // Preparer une fonction spécifique  a la reception de donnee
23Serial.begin(9600);
24lcd.begin(16, 2);                 //démarrage  du module LCD
25lcd.clear();
26lcd.setCursor(0,0);
27
28MVertical.attach(10);
29MHorizontal.attach(8);
30MAngle.attach(9);
31MPince.attach(11);
32
33MVertical.write(45);
34MHorizontal.write(45);
35MAngle.write(90);
36MPince.write(45);
37
38lcd.clear();
39lcd.setCursor(0,0);
40lcd.print("EN  ATTENTE");
41lcd.setCursor(0,1);
42lcd.print("D'ENVOI");
43}
44
45void loop()
46{
47  delay(500);
48}
49
50// Fonction qui s execute si quelque chose est present  sur l interface
51void receiveEvent(int howMany)
52{
53String data = "";
54String  aff1 = "";
55String aff2 = "";
56String recherche = "";
57int dl;
58bool  Mot = false;
59
60while (Wire.available()) {     //lecture des ordres envoyés
61    data += (char)Wire.read();
62}
63    Serial.println(data);
64    recherche  = "Vertical=";  //Recherche des ordres moteurs
65    if (data.indexOf(recherche)!=-1){
66      aff1 = "Vertical=";
67      aff2 = data.substring(9,12);
68      Serial.print("Nouvelle  valeur V=");
69      Serial.println(aff2);
70      MVertical.write(aff2.toInt());
71      Mot = true ;
72    }
73    recherche = "Horizontal=";
74    if (data.indexOf(recherche)!=-1){
75      aff1 = "Horizontal=";
76      aff2 = data.substring(11,14);
77      Serial.print("Nouvelle  valeur H=");
78      Serial.println(aff2);
79      MHorizontal.write(aff2.toInt());
80      Mot = true ;
81    }
82    recherche = "Angle=";
83    if (data.indexOf(recherche)!=-1){
84      aff1 = "Angle=";
85      aff2 = data.substring(6,9);
86      Serial.print("Nouvelle  valeur A=");
87      Serial.println(aff2);
88      MAngle.write(aff2.toInt());
89      Mot = true ;
90    }
91    recherche = "Ouverture=";
92    if (data.indexOf(recherche)!=-1){
93      aff1 = "Ouverture=";
94      aff2 = data.substring(10,13);
95      Serial.print("Nouvelle  valeur O=");
96      Serial.println(aff2);
97      MPince.write(aff2.toInt());
98      Mot = true ;
99    }
100    if (Mot == false) {  //Si c'est un texte, découpage  et affichage
101    dl = data.length();
102    Serial.print("longueur :");
103    Serial.println(dl);
104    if (dl > 16) {
105      aff1 = data.substring(0,  16);
106      aff2 = data.substring(16, dl);
107      Serial.print("découpage :");
108      Serial.println(aff1);
109      Serial.println(aff2);
110     }
111    else  {
112      aff1 = data;
113      Serial.println("découpage non requis");
114      }
115    }
116    Serial.println();
117    lcd.clear();       //Affichage des infos moteur  et texte en Relay
118    lcd.setCursor(0,0);
119    lcd.print(aff1);
120    lcd.setCursor(0,1);
121    lcd.print(aff2);
122}
123

/*
  WiFi Web Server Contrôle de moteur, affichage LCD et led (Slave)

  created 18 Mars 2018
  par Fabrice bonne
  
 */

#include <Servo.h>
#include  <LiquidCrystal.h>
#include <Wire.h> // Librairie pour la communication I2C


LiquidCrystal  lcd(7,6,5,4,3,2);          //lcd en bornes 2 à 7
Servo MVertical;
Servo MHorizontal;
Servo  MAngle;
Servo MPince;

void setup() {
Wire.begin(4); // Rejoindre le  bus à l'adresse #4
Wire.onReceive(receiveEvent); // Preparer une fonction spécifique  a la reception de donnee
Serial.begin(9600);
lcd.begin(16, 2);                 //démarrage  du module LCD
lcd.clear();
lcd.setCursor(0,0);

MVertical.attach(10);
MHorizontal.attach(8);
MAngle.attach(9);
MPince.attach(11);

MVertical.write(45);
MHorizontal.write(45);
MAngle.write(90);
MPince.write(45);

lcd.clear();
lcd.setCursor(0,0);
lcd.print("EN  ATTENTE");
lcd.setCursor(0,1);
lcd.print("D'ENVOI");
}

void loop()
{
  delay(500);
}

// Fonction qui s execute si quelque chose est present  sur l interface
void receiveEvent(int howMany)
{
String data = "";
String  aff1 = "";
String aff2 = "";
String recherche = "";
int dl;
bool  Mot = false;

while (Wire.available()) {     //lecture des ordres envoyés
    data += (char)Wire.read();
}
    Serial.println(data);
    recherche  = "Vertical=";  //Recherche des ordres moteurs
    if (data.indexOf(recherche)!=-1){
      aff1 = "Vertical=";
      aff2 = data.substring(9,12);
      Serial.print("Nouvelle  valeur V=");
      Serial.println(aff2);
      MVertical.write(aff2.toInt());
      Mot = true ;
    }
    recherche = "Horizontal=";
    if (data.indexOf(recherche)!=-1){
      aff1 = "Horizontal=";
      aff2 = data.substring(11,14);
      Serial.print("Nouvelle  valeur H=");
      Serial.println(aff2);
      MHorizontal.write(aff2.toInt());
      Mot = true ;
    }
    recherche = "Angle=";
    if (data.indexOf(recherche)!=-1){
      aff1 = "Angle=";
      aff2 = data.substring(6,9);
      Serial.print("Nouvelle  valeur A=");
      Serial.println(aff2);
      MAngle.write(aff2.toInt());
      Mot = true ;
    }
    recherche = "Ouverture=";
    if (data.indexOf(recherche)!=-1){
      aff1 = "Ouverture=";
      aff2 = data.substring(10,13);
      Serial.print("Nouvelle  valeur O=");
      Serial.println(aff2);
      MPince.write(aff2.toInt());
      Mot = true ;
    }
    if (Mot == false) {  //Si c'est un texte, découpage  et affichage
    dl = data.length();
    Serial.print("longueur :");
    Serial.println(dl);
    if (dl > 16) {
      aff1 = data.substring(0,  16);
      aff2 = data.substring(16, dl);
      Serial.print("découpage :");
      Serial.println(aff1);
      Serial.println(aff2);
     }
    else  {
      aff1 = data;
      Serial.println("découpage non requis");
      }
    }
    Serial.println();
    lcd.clear();       //Affichage des infos moteur  et texte en Relay
    lcd.setCursor(0,0);
    lcd.print(aff1);
    lcd.setCursor(0,1);
    lcd.print(aff2);
}

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