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附录:资料

这是老版本的源代码仅用于学习研究使用,一旦烧录了新的代码,源代码将销售不可替换。

 //
//  ----          ----
// | 16 |        | 14 |
//  ---- -------- ----
//      | 05  12 |
//      |        |
//      | 04  13 |
//  ---- -------- ----
// | 02 |        | 15 |
//  ----          ----

//
// Last update: 22 Sep 2017
//

#include <Servo.h>
#include <EEPROM.h>
#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>

// Firmware version
String FW_Version = "Q1 mini - Quadruped Robot v1.5 (Designed by Jason Workshop)";

// Servos matrix
const int ALLMATRIX = 9; // GPIO14 + GPIO12 + GPIO13 + GPIO15 + GPIO16 + GPIO5 + GPIO4 + GPIO2 + Run Time
const int ALLSERVOS = 8; // GPIO14 + GPIO12 + GPIO13 + GPIO15 + GPIO16 + GPIO5 + GPIO4 + GPIO2

// MG90S servo PWM pulse traveling
const int PWMRES_Min = 1; // PWM Resolution 1
const int PWMRES_Max = 180; // PWM Resolution 180
const int SERVOMIN = 400; // 400
const int SERVOMAX = 2400; // 2400

// Servo delay base time
const int BASEDELAYTIME = 10; // 10 ms

// AP password
const char WiFiAPPSK[] = "12345678";

// Motion data index
int Servo_PROGRAM;

// Servo ID
int GPIO_ID;
int GPIO14_PWM;
int GPIO12_PWM;
int GPIO13_PWM;
int GPIO15_PWM;
int GPIO16_PWM;
int GPIO5_PWM;
int GPIO4_PWM;
int GPIO2_PWM;

// Backup servo value
int Running_Servo_POS [ALLMATRIX];

ESP8266WebServer server(80);

Servo GPIO14SERVO;
Servo GPIO12SERVO;
Servo GPIO13SERVO;
Servo GPIO15SERVO;
Servo GPIO16SERVO;
Servo GPIO5SERVO;
Servo GPIO4SERVO;
Servo GPIO2SERVO;



// Action
// --------------------------------------------------------------------------------

// Servo zero position 歸零位置
// ----------------------------- G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
int Servo_Act_0 [ ] PROGMEM = {  135,  45, 135,  45,  45, 135,  45, 135,  500  };

// Start position 起始位置
// ----------------------------- G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
int Servo_Act_1 [ ] PROGMEM = {  135,  45, 135,  45,  45, 135,  45, 135,  500  };

// Standby 待機
int Servo_Prg_1_Step = 2;
int Servo_Prg_1 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   90,  90,  90,  90,  90,  90,  90,  90,  500  }, // servo center point
  {   70,  90,  90, 110, 110,  90,  90,  70,  500  }, // standby
};

// Forward 前行
int Servo_Prg_2_Step = 11;
int Servo_Prg_2 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   90,  90,  90, 110, 110,  90,  45,  90,  200  }, // leg1,4 up; leg4 fw
  {   70,  90,  90, 110, 110,  90,  45,  70,  200  }, // leg1,4 dn
  {   70,  90,  90,  90,  90,  90,  45,  70,  200  }, // leg2,3 up
  {   70,  45, 135,  90,  90,  90,  90,  70,  200  }, // leg1,4 bk; leg2 fw
  {   70,  45, 135, 110, 110,  90,  90,  70,  200  }, // leg2,3 dn
  {   90,  90, 135, 110, 110,  90,  90,  90,  200  }, // leg1,4 up; leg1 fw
  {   90,  90,  90, 110, 110, 135,  90,  90,  200  }, // leg2,3 bk
  {   70,  90,  90, 110, 110, 135,  90,  70,  200  }, // leg1,4 dn
  {   70,  90,  90, 110,  90, 135,  90,  70,  200  }, // leg3 up
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg3 fw dn
};

// Backward 退後
int Servo_Prg_3_Step = 11;
int Servo_Prg_3 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   90,  45,  90, 110, 110,  90,  90,  90,  200  }, // leg4,1 up; leg1 fw
  {   70,  45,  90, 110, 110,  90,  90,  70,  200  }, // leg4,1 dn
  {   70,  45,  90,  90,  90,  90,  90,  70,  200  }, // leg3,2 up
  {   70,  90,  90,  90,  90, 135,  45,  70,  200  }, // leg4,1 bk; leg3 fw
  {   70,  90,  90, 110, 110, 135,  45,  70,  200  }, // leg3,2 dn
  {   90,  90,  90, 110, 110, 135,  90,  90,  200  }, // leg4,1 up; leg4 fw
  {   90,  90, 135, 110, 110,  90,  90,  90,  200  }, // leg3,1 bk
  {   70,  90, 135, 110, 110,  90,  90,  70,  200  }, // leg4,1 dn
  {   70,  90, 135,  90, 110,  90,  90,  70,  200  }, // leg2 up
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg2 fw dn
};

// Left shift 左移
int Servo_Prg_4_Step = 11;
int Servo_Prg_4 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   70,  90,  45,  90,  90,  90,  90,  70,  200  }, // leg3,2 up; leg2 fw
  {   70,  90,  45, 110, 110,  90,  90,  70,  200  }, // leg3,2 dn
  {   90,  90,  45, 110, 110,  90,  90,  90,  200  }, // leg1,4 up
  {   90, 135,  90, 110, 110,  45,  90,  90,  200  }, // leg3,2 bk; leg1 fw
  {   70, 135,  90, 110, 110,  45,  90,  70,  200  }, // leg1,4 dn
  {   70, 135,  90,  90,  90,  90,  90,  70,  200  }, // leg3,2 up; leg3 fw
  {   70,  90,  90,  90,  90,  90, 135,  70,  200  }, // leg1,4 bk
  {   70,  90,  90, 110, 110,  90, 135,  70,  200  }, // leg3,2 dn
  {   70,  90,  90, 110, 110,  90, 135,  90,  200  }, // leg4 up
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg4 fw dn
};

// Right shift 右移
int Servo_Prg_5_Step = 11;
int Servo_Prg_5 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   70,  90,  90,  90,  90,  45,  90,  70,  200  }, // leg2,3 up; leg3 fw
  {   70,  90,  90, 110, 110,  45,  90,  70,  200  }, // leg2,3 dn
  {   90,  90,  90, 110, 110,  45,  90,  90,  200  }, // leg4,1 up
  {   90,  90,  45, 110, 110,  90, 135,  90,  200  }, // leg2,3 bk; leg4 fw
  {   70,  90,  45, 110, 110,  90, 135,  70,  200  }, // leg4,1 dn
  {   70,  90,  90,  90,  90,  90, 135,  70,  200  }, // leg2,3 up; leg2 fw
  {   70, 135,  90,  90,  90,  90,  90,  70,  200  }, // leg4,1 bk
  {   70, 135,  90, 110, 110,  90,  90,  70,  200  }, // leg2,3 dn
  {   90, 135,  90, 110, 110,  90,  90,  70,  200  }, // leg1 up
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg1 fw dn
};

// Turn left 左轉leg
int Servo_Prg_6_Step = 8;
int Servo_Prg_6 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   90,  90,  90, 110, 110,  90,  90,  90,  200  }, // leg1,4 up
  {   90, 135,  90, 110, 110,  90, 135,  90,  200  }, // leg1,4 turn
  {   70, 135,  90, 110, 110,  90, 135,  70,  200  }, // leg1,4 dn
  {   70, 135,  90,  90,  90,  90, 135,  70,  200  }, // leg2,3 up
  {   70, 135, 135,  90,  90, 135, 135,  70,  200  }, // leg2,3 turn
  {   70, 135, 135, 110, 110, 135, 135,  70,  200  }, // leg2,3 dn
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg1,2,3,4 turn
};

// Turn right 右轉
int Servo_Prg_7_Step = 8;
int Servo_Prg_7 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // standby
  {   70,  90,  90,  90,  90,  90,  90,  70,  200  }, // leg2,3 up
  {   70,  90,  45,  90,  90,  45,  90,  70,  200  }, // leg2,3 turn
  {   70,  90,  45, 110, 110,  45,  90,  70,  200  }, // leg2,3 dn
  {   90,  90,  45, 110, 110,  45,  90,  90,  200  }, // leg1,4 up
  {   90,  45,  45, 110, 110,  45,  45,  90,  200  }, // leg1,4 turn
  {   70,  45,  45, 110, 110,  45,  45,  70,  200  }, // leg1,4 dn
  {   70,  90,  90, 110, 110,  90,  90,  70,  200  }, // leg1,2,3,4 turn
};

// Lie 趴地
int Servo_Prg_8_Step = 1;
int Servo_Prg_8 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {  110,  90,  90,  70,  70,  90,  90, 110,  500  }, // leg1,4 up
};

// Say Hi 打招呼
int Servo_Prg_9_Step = 7;
int Servo_Prg_9 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90,  90,  90,  90,  90,  90,  400}, // leg2,3,4 dn
  {  170,  90,  90,  90,  90,  90,  90,  90,  400}, // leg1 up
  {  170, 130,  90,  90,  90,  90,  90,  90,  400}, // leg1 left
  {  170,  50,  90,  90,  90,  90,  90,  90,  400}, // leg1 right
  {  170, 130,  90,  90,  90,  90,  90,  90,  400}, // leg1 left
  {  170,  90,  90,  90,  90,  90,  90,  90,  400}, // leg1 right
  {   70,  90,  90,  90,  90,  90,  90,  90,  400}, // leg1 dn
};

// Fighting 戰鬥姿態
int Servo_Prg_10_Step = 11;
int Servo_Prg_10 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {  120,  90,  90, 110,  60,  90,  90,  70,  500  }, // leg1, 2 down
  {  120,  70,  70, 110,  60,  70,  70,  70,  500  }, // body turn left
  {  120, 110, 110, 110,  60, 110, 110,  70,  500  }, // body turn right
  {  120,  70,  70, 110,  60,  70,  70,  70,  500  }, // body turn left
  {  120, 110, 110, 110,  60, 110, 110,  70,  500  }, // body turn right
  {   70,  90,  90,  70, 110,  90,  90, 110,  500  }, // leg1, 2 up ; leg3, 4 down
  {   70,  70,  70,  70, 110,  70,  70, 110,  500  }, // body turn left
  {   70, 110, 110,  70, 110, 110, 110, 110,  500  }, // body turn right
  {   70,  70,  70,  70, 110,  70,  70, 110,  500  }, // body turn left
  {   70, 110, 110,  70, 110, 110, 110, 110,  500  }, // body turn right
  {   70,  90,  90,  70, 110,  90,  90, 110,  500  }  // leg1, 2 up ; leg3, 4 down
};

// Push up 掌上壓
int Servo_Prg_11_Step = 11;
int Servo_Prg_11 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  90,  90, 110, 110,  90,  90,  70,  500  }, // start
  {  100,  90,  90,  80,  80,  90,  90, 100,  600  }, // down
  {   70,  90,  90, 110, 110,  90,  90,  70,  700  }, // up
  {  100,  90,  90,  80,  80,  90,  90, 100,  800  }, // down
  {   70,  90,  90, 110, 110,  90,  90,  70,  900  }, // up
  {  100,  90,  90,  80,  80,  90,  90, 100, 1500  }, // down
  {   70,  90,  90, 110, 110,  90,  90,  70, 2000  }, // up
  {  135,  90,  90,  45,  45,  90,  90, 135,  200  }, // fast down
  {   70,  90,  90,  45,  60,  90,  90, 135,  800  }, // leg1 up
  {   70,  90,  90,  45, 110,  90,  90, 135,  800  }, // leg2 up
  {   70,  90,  90, 110, 110,  90,  90,  70,  800  }  // leg3, leg4 up
};

// Sleep 睡眠姿勢
int Servo_Prg_12_Step = 2;
int Servo_Prg_12 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   30,  90,  90, 150, 150,  90,  90,  30,  500  }, // leg1,4 dn
  {   30,  45, 135, 150, 150, 135,  45,  30,  500  }, // protect myself
};

// 舞步 1
int Servo_Prg_13_Step = 10;
int Servo_Prg_13 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   90,  90,  90,  90,  90,  90,  90,  90,  400  }, // leg1,2,3,4 up
  {   50,  90,  90,  90,  90,  90,  90,  90,  400  }, // leg1 dn
  {   90,  90,  90, 130,  90,  90,  90,  90,  400  }, // leg1 up; leg2 dn
  {   90,  90,  90,  90,  90,  90,  90,  50,  400  }, // leg2 up; leg4 dn
  {   90,  90,  90,  90, 130,  90,  90,  90,  400  }, // leg4 up; leg3 dn
  {   50,  90,  90,  90,  90,  90,  90,  90,  400  }, // leg3 up; leg1 dn
  {   90,  90,  90, 130,  90,  90,  90,  90,  400  }, // leg1 up; leg2 dn
  {   90,  90,  90,  90,  90,  90,  90,  50,  400  }, // leg2 up; leg4 dn
  {   90,  90,  90,  90, 130,  90,  90,  90,  400  }, // leg4 up; leg3 dn
  {   90,  90,  90,  90,  90,  90,  90,  90,  400  }, // leg3 up
};

// 舞步 2
int Servo_Prg_14_Step = 9;
int Servo_Prg_14 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  45, 135, 110, 110, 135,  45,  70,  400  }, // leg1,2,3,4 two sides
  {  115,  45, 135,  65, 110, 135,  45,  70,  400  }, // leg1,2 up
  {   70,  45, 135, 110,  65, 135,  45, 115,  400  }, // leg1,2 dn; leg3,4 up
  {  115,  45, 135,  65, 110, 135,  45,  70,  400  }, // leg3,4 dn; leg1,2 up
  {   70,  45, 135, 110,  65, 135,  45, 115,  400  }, // leg1,2 dn; leg3,4 up
  {  115,  45, 135,  65, 110, 135,  45,  70,  400  }, // leg3,4 dn; leg1,2 up
  {   70,  45, 135, 110,  65, 135,  45, 115,  400  }, // leg1,2 dn; leg3,4 up
  {  115,  45, 135,  65, 110, 135,  45,  70,  400  }, // leg3,4 dn; leg1,2 up
  {   75,  45, 135, 105, 110, 135,  45,  70,  400  }, // leg1,2 dn
};

// 舞步 3
int Servo_Prg_15_Step = 10;
int Servo_Prg_15 [][ALLMATRIX] PROGMEM = {
  // G14, G12, G13, G15, G16,  G5,  G4,  G2,  ms
  {   70,  45,  45, 110, 110, 135, 135,  70,  400  }, // leg1,2,3,4 bk
  {  110,  45,  45,  60,  70, 135, 135,  70,  400  }, // leg1,2,3 up
  {   70,  45,  45, 110, 110, 135, 135,  70,  400  }, // leg1,2,3 dn
  {  110,  45,  45, 110,  70, 135, 135, 120,  400  }, // leg1,3,4 up
  {   70,  45,  45, 110, 110, 135, 135,  70,  400  }, // leg1,3,4 dn
  {  110,  45,  45,  60,  70, 135, 135,  70,  400  }, // leg1,2,3 up
  {   70,  45,  45, 110, 110, 135, 135,  70,  400  }, // leg1,2,3 dn
  {  110,  45,  45, 110,  70, 135, 135, 120,  400  }, // leg1,3,4 up
  {   70,  45,  45, 110, 110, 135, 135,  70,  400  }, // leg1,3,4 dn
  {   70,  90,  90, 110, 110,  90,  90,  70,  400  }, // standby
};

// --------------------------------------------------------------------------------



// Servo
// --------------------------------------------------------------------------------

void Set_PWM_to_Servo(int iServo, int iValue)
{
  // 讀取 EEPROM 修正誤差
  int NewPWM = iValue + (int8_t)EEPROM.read(iServo);

  NewPWM = map(NewPWM, PWMRES_Min, PWMRES_Max, SERVOMIN, SERVOMAX);

  if (iServo >= 7) {
    GPIO2SERVO.write(NewPWM);
  } else if (iServo >= 6) {
    GPIO4SERVO.write(NewPWM);
  } else if (iServo >= 5) {
    GPIO5SERVO.write(NewPWM);
  } else if (iServo >= 4) {
    GPIO16SERVO.write(NewPWM);
  } else if (iServo >= 3) {
    GPIO15SERVO.write(NewPWM);
  } else if (iServo >= 2) {
    GPIO13SERVO.write(NewPWM);
  } else if (iServo >= 1) {
    GPIO12SERVO.write(NewPWM);
  } else if (iServo == 0) {
    GPIO14SERVO.write(NewPWM);
  }
}

void Servo_PROGRAM_Zero()
{
  // 清除備份目前馬達數值
  for (int Index = 0; Index < ALLMATRIX; Index++) {
    Running_Servo_POS[Index] = Servo_Act_0[Index];
  }

  // 重新載入馬達預設數值
  for (int iServo = 0; iServo < ALLSERVOS; iServo++) {
    Set_PWM_to_Servo(iServo, Running_Servo_POS[iServo]);
    delay(10);
  }
}

void Servo_PROGRAM_Center()
{
  // 清除備份目前馬達數值
  for (int Index = 0; Index < ALLMATRIX; Index++) {
    Running_Servo_POS[Index] = Servo_Act_1[Index];
  }

  // 重新載入馬達預設數值
  for (int iServo = 0; iServo < ALLSERVOS; iServo++) {
    Set_PWM_to_Servo(iServo, Running_Servo_POS[iServo]);
    delay(10);
  }
}

void Servo_PROGRAM_Run(int iMatrix[][ALLMATRIX], int iSteps)
{
  int INT_TEMP_A, INT_TEMP_B, INT_TEMP_C;

  for (int MainLoopIndex = 0; MainLoopIndex < iSteps; MainLoopIndex++) { // iSteps 步驟主迴圈

    int InterTotalTime = iMatrix[MainLoopIndex][ALLMATRIX - 1]; // InterTotalTime 此步驟總時間

    int InterDelayCounter = InterTotalTime / BASEDELAYTIME; // InterDelayCounter 此步驟基本延遲次數

    for (int InterStepLoop = 0; InterStepLoop < InterDelayCounter; InterStepLoop++) { // 內差次數迴圈

      for (int ServoIndex = 0; ServoIndex < ALLSERVOS; ServoIndex++) { // 馬達主迴圈

        INT_TEMP_A = Running_Servo_POS[ServoIndex]; // 馬達現在位置
        INT_TEMP_B = iMatrix[MainLoopIndex][ServoIndex]; // 馬達目標位置

        if (INT_TEMP_A == INT_TEMP_B) { // 馬達數值不變
          INT_TEMP_C = INT_TEMP_B;
        } else if (INT_TEMP_A > INT_TEMP_B) { // 馬達數值減少
          INT_TEMP_C =  map(BASEDELAYTIME * InterStepLoop, 0, InterTotalTime, 0, INT_TEMP_A - INT_TEMP_B); // PWM內差值 = map(執行次數時間累加, 開始時間, 結束時間, 內差起始值, 內差最大值)
          if (INT_TEMP_A - INT_TEMP_C >= INT_TEMP_B) {
            Set_PWM_to_Servo(ServoIndex, INT_TEMP_A - INT_TEMP_C);
          }
        } else if (INT_TEMP_A < INT_TEMP_B) { // 馬達數值增加
          INT_TEMP_C =  map(BASEDELAYTIME * InterStepLoop, 0, InterTotalTime, 0, INT_TEMP_B - INT_TEMP_A); // PWM內差值 = map(執行次數時間累加, 開始時間, 結束時間, 內差起始值, 內差最大值)
          if (INT_TEMP_A + INT_TEMP_C <= INT_TEMP_B) {
            Set_PWM_to_Servo(ServoIndex, INT_TEMP_A + INT_TEMP_C);
          }
        }

      }

      delay(BASEDELAYTIME);
    }

    // 備份目前馬達數值
    for (int Index = 0; Index < ALLMATRIX; Index++) {
      Running_Servo_POS[Index] = iMatrix[MainLoopIndex][Index];
    }
  }
}

void writeKeyValue(int8_t key, int8_t value)
{
  EEPROM.write(key, value);
  EEPROM.commit();
}

int8_t readKeyValue(int8_t key)
{
  Serial.println("read");
  Serial.println(key);

  int8_t value = EEPROM.read(key);
}

// --------------------------------------------------------------------------------



// Handle
// --------------------------------------------------------------------------------

void handleAction(WiFiClient client, String req, HTTPMethod method)
{
  server.send(200, "text/plain", "Hello!");
}

void handleSave()
{
  String key = server.arg("key");
  String value = server.arg("value");

  int8_t keyInt = key.toInt();
  int8_t valueInt = value.toInt();

  // Software PWM PIN detach
  GPIO14SERVO.detach();
  GPIO12SERVO.detach();
  GPIO13SERVO.detach();
  GPIO15SERVO.detach();
  GPIO16SERVO.detach();
  GPIO5SERVO.detach();
  GPIO4SERVO.detach();
  GPIO2SERVO.detach();
  delay(50);

  if (keyInt == 100) {
    writeKeyValue(0, 0);
    writeKeyValue(1, 0);
    writeKeyValue(2, 0);
    writeKeyValue(3, 0);
    writeKeyValue(4, 0);
    writeKeyValue(5, 0);
    writeKeyValue(6, 0);
    writeKeyValue(7, 0);
  } else {
    if (valueInt >= -124 && valueInt <= 124) { // 確認資料介於 -124 ~ 124
      writeKeyValue(keyInt, valueInt); // 儲存校正值
    }
  }

  // Software PWM PIN attach
  GPIO14SERVO.attach(14, SERVOMIN, SERVOMAX);
  GPIO12SERVO.attach(12, SERVOMIN, SERVOMAX);
  GPIO13SERVO.attach(13, SERVOMIN, SERVOMAX);
  GPIO15SERVO.attach(15, SERVOMIN, SERVOMAX);
  GPIO16SERVO.attach(16, SERVOMIN, SERVOMAX);
  GPIO5SERVO.attach(5, SERVOMIN, SERVOMAX);
  GPIO4SERVO.attach(4, SERVOMIN, SERVOMAX);
  GPIO2SERVO.attach(2, SERVOMIN, SERVOMAX);
  delay(10);

  server.send(200, "text/html", "(key, value)=(" + key + "," + value + ")");
}

void handleController()
{
  String pm = server.arg("pm");
  String servo = server.arg("servo");

  if (pm != "") {
    Servo_PROGRAM = pm.toInt();
  }

  if (servo != "") {
    GPIO_ID = servo.toInt();
    String ival = server.arg("value");
    Set_PWM_to_Servo(GPIO_ID, ival.toInt());
  }

  server.send(200, "text/html", "(pm)=(" + pm + ")");
}

void handleOnLine()
{
  String m0 = server.arg("m0");
  String m1 = server.arg("m1");
  String m2 = server.arg("m2");
  String m3 = server.arg("m3");
  String m4 = server.arg("m4");
  String m5 = server.arg("m5");
  String m6 = server.arg("m6");
  String m7 = server.arg("m7");
  String t1 = server.arg("t1");

  int Servo_Prg_tmp [][ALLMATRIX] = {
    // GPIO14,     GPIO12,     GPIO13,     GPIO15,     GPIO16,     GPIO5,      GPIO4,      GPIO2,      Run Time
    { m0.toInt(), m1.toInt(), m2.toInt(), m3.toInt(), m4.toInt(), m5.toInt(), m6.toInt(), m7.toInt(), t1.toInt() }
  };

  Servo_PROGRAM_Run(Servo_Prg_tmp, 1);

  server.send(200, "text/html", "(m0, m1)=(" + m0 + "," + m1 + ")");
}

// --------------------------------------------------------------------------------



// WebServer
// --------------------------------------------------------------------------------

void enableWebServer()
{
  HTTPMethod getMethod = HTTP_GET;

  server.on("/controller", getMethod, handleController);
  server.on("/save", getMethod, handleSave);
  server.on("/", getMethod, handleIndex);
  server.on("/editor", getMethod, handleEditor);
  server.on("/zero", getMethod, handleZero);
  server.on("/setting", getMethod, handleSetting);
  server.on("/online", getMethod, handleOnLine);

  server.begin();
}

// --------------------------------------------------------------------------------



// Setup
// --------------------------------------------------------------------------------

void setup(void)
{
  Serial.begin(9600);
  Serial.println("Q1 mini Start!");

  // Software PWM PIN
  GPIO14SERVO.attach(14, SERVOMIN, SERVOMAX);
  GPIO12SERVO.attach(12, SERVOMIN, SERVOMAX);
  GPIO13SERVO.attach(13, SERVOMIN, SERVOMAX);
  GPIO15SERVO.attach(15, SERVOMIN, SERVOMAX);
  GPIO16SERVO.attach(16, SERVOMIN, SERVOMAX);
  GPIO5SERVO.attach(5, SERVOMIN, SERVOMAX);
  GPIO4SERVO.attach(4, SERVOMIN, SERVOMAX);
  GPIO2SERVO.attach(2, SERVOMIN, SERVOMAX);

  // AP SSID Name
  uint8_t mac[WL_MAC_ADDR_LENGTH];
  WiFi.softAPmacAddress(mac);
  String macID = String(mac[WL_MAC_ADDR_LENGTH - 2], HEX) + String(mac[WL_MAC_ADDR_LENGTH - 1], HEX);
  macID.toUpperCase();

  String AP_NameString = "Q1 mini - " + macID;

  char AP_NameChar[AP_NameString.length() + 1];
  memset(AP_NameChar, 0, AP_NameString.length() + 1);

  for (int i = 0; i < AP_NameString.length(); i++)
    AP_NameChar[i] = AP_NameString.charAt(i);

  WiFi.softAP(AP_NameChar, WiFiAPPSK);
  IPAddress myIP = WiFi.softAPIP();

  // EEPROM
  EEPROM.begin(512);
  delay(10);

  // 清除備份目前馬達數值
  for (int Index = 0; Index < ALLMATRIX; Index++) {
    Running_Servo_POS[Index] = Servo_Act_0[Index];
  }

  // 自動歸零 增加組裝便利性
  Servo_PROGRAM_Zero();

  // 網頁生成
  enableWebServer();
}

// --------------------------------------------------------------------------------



// Loop
// --------------------------------------------------------------------------------

void loop(void)
{
  // 網頁建構
  server.handleClient();

  if (Servo_PROGRAM >= 1 ) {
    switch (Servo_PROGRAM) {
      case 1: // Standby 待機
        Servo_PROGRAM_Run(Servo_Prg_1, Servo_Prg_1_Step);
        break;
      case 2: // Forward 前行
        Servo_PROGRAM_Run(Servo_Prg_2, Servo_Prg_2_Step);
        break;
      case 3: // Backward 退後
        Servo_PROGRAM_Run(Servo_Prg_3, Servo_Prg_3_Step);
        break;
      case 4: // Left shift 左移
        Servo_PROGRAM_Run(Servo_Prg_4, Servo_Prg_4_Step);
        break;
      case 5: // Right shift 右移
        Servo_PROGRAM_Run(Servo_Prg_5, Servo_Prg_5_Step);
        break;
      case 6: // Turn left 左轉
        Servo_PROGRAM_Run(Servo_Prg_6, Servo_Prg_6_Step);
        break;
      case 7: // Turn right 右轉
        Servo_PROGRAM_Run(Servo_Prg_7, Servo_Prg_7_Step);
        break;
      case 8: // Lie 趴地
        Servo_PROGRAM_Run(Servo_Prg_8, Servo_Prg_8_Step);
        break;
      case 9: // Say Hi 打招呼
        Servo_PROGRAM_Run(Servo_Prg_9, Servo_Prg_9_Step);
        Servo_PROGRAM_Run(Servo_Prg_1, Servo_Prg_1_Step);
        break;
      case 10: // Fighting 戰鬥姿態
        Servo_PROGRAM_Run(Servo_Prg_10, Servo_Prg_10_Step);
        break;
      case 11: // Push up 掌上壓
        Servo_PROGRAM_Run(Servo_Prg_11, Servo_Prg_11_Step);
        break;
      case 12: // Sleep 睡眠姿勢
        Servo_PROGRAM_Run(Servo_Prg_1, Servo_Prg_1_Step);
        Servo_PROGRAM_Run(Servo_Prg_12, Servo_Prg_12_Step);
        break;
      case 13: // 舞步 1
        Servo_PROGRAM_Run(Servo_Prg_13, Servo_Prg_13_Step);
        break;
      case 14: // 舞步 2
        Servo_PROGRAM_Run(Servo_Prg_14, Servo_Prg_14_Step);
        break;
      case 15: // 舞步 3
        Servo_PROGRAM_Run(Servo_Prg_15, Servo_Prg_15_Step);
        break;
      case 99: // 待機
        Servo_PROGRAM_Center();
        delay(300);
        break;
      case 100: // 歸零姿勢
        Servo_PROGRAM_Zero();
        delay(300);
        break;
    }
    Servo_PROGRAM = 0;
  }
}

// --------------------------------------------------------------------------------



// html
// --------------------------------------------------------------------------------

// Zero check
void handleZero()
{
  String content = "";

  content += "<html>";
  content += "<head>";
  content += "<title>Zero check</title>";
  content += "<meta charset=UTF-8>";
  content += "<meta name=viewport content=width=device-width>";
  content += "<style type=text/css>";
  content += "body {";
  content += "margin: 0px;";
  content += "backgound-color: #FFFFFF;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 100%;";
  content += "color: #555555;";
  content += "}";
  content += "td {";
  content += "text-align: center;";
  content += "}";
  content += "span {";
  content += "font-family: helvetica, arial;";
  content += "font-size: 80%;";
  content += "color: #777777;";
  content += "}";
  content += "button {";
  content += "width: 40%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 90%;";
  content += "color: #555555;";
  content += "background: #BFDFFF;";
  content += "padding: 5px 5px 5px 5px;";
  content += "border: none;";
  content += "}";
  content += "</style>";
  content += "</head>";
  content += "<body>";
  content += "<br>";
  content += "<table width=100% height=90%>";
  content += "<tr>";
  content += "<td width=50%><button type=button style=background:#FFE599 onclick=controlServo(4,45)>D16</button></td>";
  content += "<td width=50%><button type=button style=background:#FFE599 onclick=controlServo(0,135)>D14</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td><button type=button onclick=controlServo(5,135)>D05</button></td>";
  content += "<td><button type=button onclick=controlServo(1,45)>D12</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td><button type=button onclick=controlServo(6,45)>D04</button></td>";
  content += "<td><button type=button onclick=controlServo(2,135)>D13</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlServo(7,135)>D02</button></td>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlServo(3,45)>D15</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td colspan=2><button type=button style=background:#FFBFBF onclick=controlPm(100)>ZERO Postition</button></td>";
  content += "</tr>";
  content += "</table>";
  content += "</body>";
  content += "<script>";
  content += "function controlServo(id, value) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "document.getElementById(\"demo\").innerHTML = xhttp.responseText;";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\", \"controller?servo=\"+id+\"&value=\"+value, true);";
  content += "xhttp.send();";
  content += "}";
  content += "function controlPm(value) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "document.getElementById(\"demo\").innerHTML = xhttp.responseText;";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\", \"controller?pm=\"+value, true);";
  content += "xhttp.send();";
  content += "}";
  content += "</script>";
  content += "</html>";

  server.send(200, "text/html", content);
}

// Servo calibration
void handleSetting()
{
  int servo7Val = readKeyValue(7);
  String servo7ValStr = String(servo7Val);
  int servo6Val = readKeyValue(6);
  String servo6ValStr = String(servo6Val);
  int servo5Val = readKeyValue(5);
  String servo5ValStr = String(servo5Val);
  int servo4Val = readKeyValue(4);
  String servo4ValStr = String(servo4Val);
  int servo3Val = readKeyValue(3);
  String servo3ValStr = String(servo3Val);
  int servo2Val = readKeyValue(2);
  String servo2ValStr = String(servo2Val);
  int servo1Val = readKeyValue(1);
  String servo1ValStr = String(servo1Val);
  int servo0Val = readKeyValue(0);
  String servo0ValStr = String(servo0Val);
  String content = "";

  content += "<html>";
  content += "<head>";
  content += "<title>Servo calibration</title>";
  content += "<meta charset=UTF-8>";
  content += "<meta name=viewport content=width=device-width>";
  content += "<style type=text/css>";
  content += "body {";
  content += "margin: 0px;";
  content += "backgound-color: #FFFFFF;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 100%;";
  content += "color: #555555;";
  content += "}";
  content += "td {";
  content += "text-align: center;";
  content += "}";
  content += "span {";
  content += "font-family: helvetica, arial;";
  content += "font-size: 70%;";
  content += "color: #777777;";
  content += "}";
  content += "input[type=text] {";
  content += "width: 40%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 90%;";
  content += "color: #555555;";
  content += "text-align: center;";
  content += "padding: 3px 3px 3px 3px;";
  content += "}";
  content += "button {";
  content += "width: 40%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 90%;";
  content += "color: #555555;";
  content += "background: #BFDFFF;";
  content += "padding: 5px 5px 5px 5px;";
  content += "border: none;";
  content += "}";
  content += "</style>";
  content += "</head>";
  content += "<body>";
  content += "<br>";
  content += "<table width=100% height=90%>";
  content += "<tr>";
  content += "<td width=50%>D16<br/><input type=text id=servo_4 value=\"" + servo4ValStr + "\"><button type=button style=background:#FFE599 onclick=saveServo(4,'servo_4')>SET</button></td>";
  content += "<td width=50%>D14<br/><input type=text id=servo_0 value=\"" + servo0ValStr + "\"><button type=button style=background:#FFE599 onclick=saveServo(0,'servo_0')>SET</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td>D05<br/><input type=text id=servo_5 value=\"" + servo5ValStr + "\"><button type=button onclick=saveServo(5,'servo_5')>SET</button></td>";
  content += "<td>D12<br/><input type=text id=servo_1 value=\"" + servo1ValStr + "\"><button type=button onclick=saveServo(1,'servo_1')>SET</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td>D04<br/><input type=text id=servo_6 value=\"" + servo6ValStr + "\"><button type=button onclick=saveServo(6,'servo_6')>SET</button></td>";
  content += "<td>D13<br/><input type=text id=servo_2 value=\"" + servo2ValStr + "\"><button type=button onclick=saveServo(2,'servo_2')>SET</button></td>";
  content += "</tr>";
  content += "<tr>";
  content += "<td>D02<br/><input type=text id=servo_7 value=\"" + servo7ValStr + "\"><button type=button style=background:#FFE599 onclick=saveServo(7,'servo_7')>SET</button></td>";
  content += "<td>D15<br/><input type=text id=servo_3 value=\"" + servo3ValStr + "\"><button type=button style=background:#FFE599 onclick=saveServo(3,'servo_3')>SET</button></td>";
  content += "</tr>";
  content += "<!--<tr>";
  content += "<td colspan=2><button type=button style=background:#FFBFBF onclick=saveServo(100,0)>RESET ALL</button></td>";
  content += "</tr>-->";
  content += "</table>";
  content += "</body>";
  content += "<script>";
  content += "function saveServo(id, textId) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "var value = \"0\";";
  content += "if(id==100){";
  content += "document.getElementById(\"servo_7\").value = \"0\";";
  content += "document.getElementById(\"servo_6\").value = \"0\";";
  content += "document.getElementById(\"servo_5\").value = \"0\";";
  content += "document.getElementById(\"servo_4\").value = \"0\";";
  content += "document.getElementById(\"servo_3\").value = \"0\";";
  content += "document.getElementById(\"servo_2\").value = \"0\";";
  content += "document.getElementById(\"servo_1\").value = \"0\";";
  content += "document.getElementById(\"servo_0\").value = \"0\";";
  content += "}else{";
  content += "value = document.getElementById(textId).value;";
  content += "}";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "document.getElementById(\"demo\").innerHTML = xhttp.responseText;";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\",\"save?key=\"+id+\"&value=\"+value, true);";
  content += "xhttp.send();";
  content += "}";
  content += "</script>";
  content += "</html>";

  server.send(200, "text/html", content);
}

// Motion editor
void handleEditor()
{
  String content = "";

  content += "<html>";
  content += "<head>";
  content += "<title>Motion editor</title>";
  content += "<meta charset=UTF-8>";
  content += "<meta name=viewport content=width=device-width>";
  content += "<style type=text/css>";
  content += "body {";
  content += "margin: 0px;";
  content += "backgound-color: #FFFFFF;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 100%;";
  content += "color: #555555;";
  content += "}";
  content += "td {";
  content += "text-align: center;";
  content += "}";
  content += "span {";
  content += "font-family: helvetica, arial;";
  content += "font-size: 70%;";
  content += "color: #777777;";
  content += "}";
  content += "input[type=range] {";
  content += "-webkit-appearance: none;";
  content += "background-color: #CCCCCC;";
  content += "width: 70%;";
  content += "height: 20px;";
  content += "}";
  content += "input[type=range]::-webkit-slider-thumb {";
  content += "-webkit-appearance: none;";
  content += "background-color: #4DA6FF;";
  content += "opacity: 0.9;";
  content += "width: 12px;";
  content += "height: 20px;";
  content += "}";
  content += "input[type=text] {";
  content += "width: 40%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 90%;";
  content += "color: #555555;";
  content += "text-align: center;";
  content += "padding: 3px 3px 3px 3px;";
  content += "}";
  content += "button {";
  content += "width: 40%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 90%;";
  content += "color: #555555;";
  content += "padding: 5px 5px 5px 5px;";
  content += "border: none;";
  content += "}";
  content += "</style>";
  content += "</head>";
  content += "<body onload='actionCode()'>";
  content += "<br>";
  content += "<table width=100% height=90%>";

  content += "<tr>";
  content += "<td width=50%>D16 <span>Default 110<br>⬇ 135 <input type=range id=range_4 min=45 max=135 value=110 style=direction:rtl onchange=controlServo(4,'range_4')> 45 ⬆</span>";
  content += "<br><input type=text id=servo_4 value=110> <button type=button style=background:#FFE599 onclick=controlServo(4,'servo_4')>Send</button></td>";
  content += "<td width=50%>D14 <span>Default 70<br>⬆ 135 <input type=range id=range_0 min=45 max=135 value=70 style=direction:rtl onchange=controlServo(0,'range_0')> 45 ⬇</span>";
  content += "<br><input type=text id=servo_0 value=70> <button type=button style=background:#FFE599 onclick=controlServo(0,'servo_0')>Send</button></td>";
  content += "</tr>";

  content += "<tr><td colspan=4><span><br></span></td></tr>";

  content += "<tr>";
  content += "<td>D05 <span>Default 90<br>◀ 135 <input type=range id=range_5 min=45 max=135 value=90 style=direction:rtl onchange=controlServo(5,'range_5')> 45 ▶</span>";
  content += "<br><input type=text id=servo_5 value=90> <button type=button style=background:#BFDFFF onclick=controlServo(5,'servo_5')>Send</button></td>";
  content += "<td>D12 <span>Default 90<br>◀ 135 <input type=range id=range_1 min=45 max=135 value=90 style=direction:rtl onchange=controlServo(1,'range_1')> 45 ▶</span>";
  content += "<br><input type=text id=servo_1 value=90> <button type=button style=background:#BFDFFF onclick=controlServo(1,'servo_1')>Send</button></td>";
  content += "</tr>";

  content += "<tr><td colspan=4><span><br></span></td></tr>";

  content += "<tr>";
  content += "<td>D04 <span>Default 90<br>◀ 45 <input type=range id=range_6 min=45 max=135 value=90 onchange=controlServo(6,'range_6')> 135 ▶</span>";
  content += "<br><input type=text id=servo_6 value=90> <button type=button style=background:#BFDFFF onclick=controlServo(6,'servo_6')>Send</button></td>";
  content += "<td>D13 <span>Default 90<br>◀ 45 <input type=range id=range_2 min=45 max=135 value=90 onchange=controlServo(2,'range_2')> 135 ▶</span>";
  content += "<br><input type=text id=servo_2 value=90> <button type=button style=background:#BFDFFF onclick=controlServo(2,'servo_2')>Send</button></td>";
  content += "</tr>";

  content += "<tr><td colspan=4><span><br></span></td></tr>";

  content += "<tr>";
  content += "<td>D02 <span>Default 70<br>⬇ 45 <input type=range id=range_7 min=45 max=135 value=70 onchange=controlServo(7,'range_7')> 135 ⬆</span>";
  content += "<br><input type=text id=servo_7 value=70> <button type=button style=background:#FFE599 onclick=controlServo(7,'servo_7')>Send</button></td>";
  content += "<td>D15 <span>Default 110<br>⬆ 45 <input type=range id=range_3 min=45 max=135 value=110 onchange=controlServo(3,'range_3')> 135 ⬇</span>";
  content += "<br><input type=text id=servo_3 value=110> <button type=button style=background:#FFE599 onclick=controlServo(3,'servo_3')>Send</button></td>";
  content += "</tr>";

  content += "<tr>";
  content += "<td colspan=4><br><span>Action Code:<br><output id=actionCode></output></span></font></td>";
  content += "</tr>";
  content += "<tr><td colspan=4><span><br></span></td></tr>";
  content += "<tr>";
  content += "<td colspan=2><button type=button style=background:#FFCC99 onclick=controlPm(1)>Standby</button></td>";
  content += "</tr>";
  content += "</body>";
  content += "<script>";
  content += "function controlServo(id, textId) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "var value = document.getElementById(textId).value;";
  content += "document.querySelector('#range_' + id).value = value;";
  content += "document.querySelector('#servo_' + id).value = value;";
  content += "actionCode();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "document.getElementById(\"demo\").innerHTML = xhttp.responseText;";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\",\"controller?servo=\"+id+\"&value=\"+value, true);";
  content += "xhttp.send();";
  content += "}";
  content += "function controlPm(value) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "document.getElementById(\"demo\").innerHTML = xhttp.responseText;";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\", \"controller?pm=\"+value, true);";
  content += "xhttp.send();";
  content += "}";
  content += "function actionCode() {";
  content += "document.querySelector('#actionCode').value =";
  content += "document.getElementById('servo_0').value + ', '";
  content += "+ document.getElementById('servo_1').value + ', '";
  content += "+ document.getElementById('servo_2').value + ', '";
  content += "+ document.getElementById('servo_3').value + ', '";
  content += "+ document.getElementById('servo_4').value + ', '";
  content += "+ document.getElementById('servo_5').value + ', '";
  content += "+ document.getElementById('servo_6').value + ', '";
  content += "+ document.getElementById('servo_7').value;";
  content += "}";
  content += "</script>";
  content += "</html>";

  server.send(200, "text/html", content);
}

// Main controller
void handleIndex()
{
  String content = "";

  content += "<html>";
  content += "<head>";
  content += "<title>Q1 mini Controller</title>";
  content += "<meta charset=UTF-8>";
  content += "<meta name=viewport content=width=device-width>";
  content += "<style type=text/css>";
  content += "body {";
  content += "margin: 0px;";
  content += "backgound-color: #FFFFFF;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 100%;";
  content += "color: #555555;";
  content += "}";
  content += "td {";
  content += "text-align: center;";
  content += "}";
  content += "span {";
  content += "font-family: helvetica, arial;";
  content += "font-size: 70%;";
  content += "color: #777777;";
  content += "}";
  content += "button {";
  content += "width: 90%;";
  content += "height: 90%;";
  content += "font-family: helvetica, arial;";
  content += "font-size: 100%;";
  content += "color: #555555;";
  content += "background: #BFDFFF;";
  content += "padding: 5px 5px 5px 5px;";
  content += "border: none;";
  content += "}";
  content += "</style>";
  content += "</head>";
  content += "<body>";
  content += "<br>";
  content += "<table width=100% height=90%>";
  content += "<tr height=19%>";
  content += "<td width=33%><button type=button style=background:#BFFFCF onclick=controlPm(6)>Turn Left</button></td>";
  content += "<td width=33%><button type=button onclick=controlPm(2)>Forward</button></td>";
  content += "<td width=33%><button type=button style=background:#BFFFCF onclick=controlPm(7)>Turn Right</button></td>";
  content += "</tr>";
  content += "<tr height=19%>";
  content += "<td><button type=button onclick=controlPm(4)>Left</button></td>";
  content += "<td><button type=button onclick=controlPm(3)>Backward</button></td>";
  content += "<td><button type=button onclick=controlPm(5)>Right</button></td>";
  content += "</tr>";
  content += "<tr height=5%><td colspan=3><span><br></span></td></tr>";
  content += "<tr height=20%>";
  content += "<td><button type=button style=background:#FFCC99 onclick=controlPm(1)>Standby</button></td>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlPm(9)>Say Hi</button></td>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlPm(11)>Push Up</button></td>";
  content += "</tr>";
  content += "<tr height=19%>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlPm(8)>Lie</button></td>";
  content += "<td><button type=button style=background:#FFE599 onclick=controlPm(10)>Fighting</button></td>";
  content += "<td><button type=button style=background:#FFBFBF onclick=controlPm(12)>Sleep</button></td>";
  content += "</tr>";
  content += "<tr height=19%>";
  content += "<td><button type=button style=background:#CFBFFF onclick=controlPm(13)>Dancing 1</button></td>";
  content += "<td><button type=button style=background:#CFBFFF onclick=controlPm(14)>Dancing 2</button></td>";
  content += "<td><button type=button style=background:#CFBFFF onclick=controlPm(15)>Dancing 3</button></td>";
  content += "</tr>";
  content += "</table>";
  content += "<span><p align=center>" + FW_Version + "</p></span>";
  content += "</body>";
  content += "<script>";
  content += "function controlPm(id) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\", \"controller?pm=\"+id, true);";
  content += "xhttp.send();";
  content += "}";
  content += "function controlPms(id) {";
  content += "var xhttp = new XMLHttpRequest();";
  content += "xhttp.onreadystatechange = function() {";
  content += "if (xhttp.readyState == 4 && xhttp.status == 200) {";
  content += "}";
  content += "};";
  content += "xhttp.open(\"GET\", \"controller?pms=\"+id, true);";
  content += "xhttp.send();";
  content += "}";
  content += "</script>";
  content += "</html>";

  server.send(200, "text/html", content);
}

// --------------------------------------------------------------------------------

目录

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