From c7c3ebe1c22663c6738db02a589d23d21b346821 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Sun, 12 May 2024 18:42:40 +0200
Subject: [PATCH] wifi and websocket connection added

---
 .../Movement-sensor-code.ino                  | 48 ++++++++++++++-----
 .../Movement-sensor-code/SensorManager.cpp    | 12 ++---
 .../arduino/Movement-sensor-code/headerFIle.h |  6 ++-
 3 files changed, 44 insertions(+), 22 deletions(-)

diff --git a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
index 04cccb2..339353c 100644
--- a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
+++ b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
@@ -2,23 +2,16 @@
 
 SensorManager sensorManager;
 ESP8266WiFiMulti wifi;
+WebSocketsClient webSocket;
+#define USE_SERIAL Serial
 
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
-    delay(5000);
-
-  //Wifi
-  WiFi.mode(WIFI_STA);
-  wifi.addAP(ssid, pass);
-  while (WiFi.status() != WL_CONNECTED) {
-    Serial.println("connecting to wifi");
-    delay(1000);
-  }
-  Serial.println(WiFi.localIP());
-
-  Wire.setClockStretchLimit(150000L);  // Default stretch limit 150mS
+  delay(5000);
+  connectWiFi();
   sensorManager.sensorSetup();
+  websocketSetup();
 }
 
 void loop() {
@@ -39,6 +32,35 @@ void loop() {
   Serial.print(pitch);
   Serial.print(" ");
   Serial.print(yaw);
+  sendData(String(roll));
+  sendData(String(pitch));
+  sendData(String(yaw));
 
   Serial.println();
-}
\ No newline at end of file
+  webSocket.loop();
+}
+
+
+void connectWiFi(){
+
+  WiFi.mode(WIFI_STA);
+  wifi.addAP(ssid, pass);
+  WiFi.begin();
+  while (WiFi.status() != WL_CONNECTED) {
+    Serial.println("connecting to wifi");
+    delay(1000);
+  }
+  Serial.println(WiFi.localIP());
+
+}
+
+void websocketSetup(){
+	//ws server address, port and URL
+	webSocket.begin("192.168.178.118", 8001, "");
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
+}
+
+void sendData(String textString){
+  webSocket.sendTXT(textString);
+}
diff --git a/code/arduino/Movement-sensor-code/SensorManager.cpp b/code/arduino/Movement-sensor-code/SensorManager.cpp
index a43c923..4ca3d62 100644
--- a/code/arduino/Movement-sensor-code/SensorManager.cpp
+++ b/code/arduino/Movement-sensor-code/SensorManager.cpp
@@ -4,21 +4,19 @@
 SensorManager::SensorManager() {}
 
 void SensorManager::sensorSetup() {
-  Serial.println();
-  Serial.println("BNO080 Read Example");
-
-  delay(1000);  // Wait for BNO to boot
-
+  Wire.setClockStretchLimit(150000L);  // Default stretch limit 150mS
   Wire.begin();
-
+  //wait for the sensor to start before continue
   if (myIMU.begin() == false) {
     delay(1000);
     Serial.println(".");
   }
+  //start sensorfunction and start autocalibration
+  //once calibration is enabled it attempts to every 5 min
 
   Wire.setClock(400000);  //Increase I2C data rate to 400kHz
   myIMU.calibrateAll();   //Turn on cal for Accel, Gyro, and Mag
-  myIMU.enableGyroIntegratedRotationVector(100);
+  myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
   myIMU.enableMagnetometer(100);     //Send data update every 100ms
   myIMU.saveCalibration();           //Saves the current dynamic calibration data (DCD) to memory
   myIMU.requestCalibrationStatus();  //Sends command to get the latest calibration status
diff --git a/code/arduino/Movement-sensor-code/headerFIle.h b/code/arduino/Movement-sensor-code/headerFIle.h
index a03e393..cd3f6ae 100644
--- a/code/arduino/Movement-sensor-code/headerFIle.h
+++ b/code/arduino/Movement-sensor-code/headerFIle.h
@@ -1,3 +1,5 @@
+#include <WebSocketsClient.h>
+
 #include <ArduinoWiFiServer.h>
 #include <ESP8266WiFi.h>
 #include <ESP8266WiFiGeneric.h>
@@ -11,8 +13,8 @@
 #include <WiFiServerSecure.h>
 #include <WiFiUdp.h>
 
-#define ssid "LAPTOP3028043"
-#define pass "619#5gJ5"
+#define ssid "ObsidianAmstelveen"
+#define pass "drijversstraatmaastricht"
 
 //custom classes
 #include "SensorManager.h"
\ No newline at end of file