fix: Update MQTT configuration and enhance command execution for pointer control

Author: umerghafoor

Firmware/include/constants.h

@@ -21,13 +21,14 @@
 #define LED_PIN 2
 
 // MQTT Broker details
-#define MQTT_SERVER "192.168.240.180" // Replace with your broker's IP
+#define MQTT_SERVER "192.168.18.29" // Replace with your broker's IP
 #define MQTT_PORT 1883
 #define SUBSCRIBE_TOPIC "robot/control"
+#define SUBSCRIBE_TOPIC_Pointer "robot/pointer"
 #define PUBLISH_TOPIC "robot/status"
 
 // WiFi credentials
-#define SSID "Umer"
-#define PASSWORD "umerghafoor1"
+#define SSID "812 "
+#define PASSWORD "bawagsial69"
 
 #endif

Firmware/include/controller.h

@@ -17,7 +17,8 @@ enum Direction {
 
 
 void setup_actuaters();
-void executeCommand(String command, int speed, int angle, int stearAngle, bool continuous);
+void executeCommandControls(String command, int speed, int stearAngle, bool continuous);
+void excuteCommandPointer(int angle);
 void controlRobot();
 void moveForward(int speed);
 void moveBackward(int speed);

Firmware/src/controller.cpp

@@ -36,7 +36,7 @@ void setup_actuaters() {
 
 }
 
-void executeCommand(String command, int speed, int angle, int stearAngle, bool continuous) {
+void executeCommandControls(String command, int speed, int stearAngle, bool continuous) {
     // Execute commands based on JSON input
     if (command == "FORWARD") {
         moveForward(speed);
@@ -85,15 +85,17 @@ void executeCommand(String command, int speed, int angle, int stearAngle, bool c
         currentDirection = BACKWARD_RIGHT;
         currentSpeed = speed;
         currentAngle = stearAngle;
-    } else if (command == "SERVO") {
-        myServo.write(angle);
-        Serial.println("Servo moved to: " + String(angle));
     } else {
         Serial.println("Unknown command: " + command);
     }
-    delay(500);
+    // delay(500);
 }
 
+void excuteCommandPointer(int angle) 
+{
+    myServo.write(angle);
+    Serial.println("Servo moved to: " + String(angle));
+}
 
 void controlRobot() {
   if (isMoving) {

Firmware/src/mqtt_broker.cpp

@@ -30,6 +30,7 @@ void reconnect() {
     if (client.connect("ESP32_Robot")) {
       Serial.println("Connected to MQTT Broker!");
       client.subscribe(SUBSCRIBE_TOPIC);
+      client.subscribe(SUBSCRIBE_TOPIC_Pointer);
     } else {
       Serial.print("Failed, rc=");
       Serial.print(client.state());
@@ -52,14 +53,18 @@ void callback(char* topic, byte* payload, unsigned int length) {
         Serial.println(error.f_str());
         return;
     }
+    if (strcmp(topic, SUBSCRIBE_TOPIC) == 0){
+      String command = doc["command"] | "";
+      int speed = doc["speed"] | 255;
+      int stearAngle = doc["stearAngle"] | 0;
+      bool continuous = doc["continuous"] | false;
 
-    String command = doc["command"] | "";
-    int speed = doc["speed"] | 255;
-    int angle = doc["angle"] | 90;
-    int stearAngle = doc["stearAngle"] | 0;
-    bool continuous = doc["continuous"] | false;
-
-    executeCommand(command, speed, angle,stearAngle, continuous);
+      executeCommandControls(command, speed,stearAngle, continuous);
+    }
+    else if (strcmp(topic, SUBSCRIBE_TOPIC_Pointer) == 0){
+      int angle = doc["angle"] | 90;
+      excuteCommandPointer(angle);
+    }
 }
 
 void send_message(String message) {