# API

# Skills

Enhance your Amsel by using it's functionality your own way with these endpoints.

# /stop

# Arguments:

speed
Type: Ìnteger

# Example:

http://amsel.local/stop

# Function reference:

// functions.ino

void stop() {
  drive_factor = 0;
  steer_factor = 0;
  updateWheelSpeed();
  server.send(200, "text/plain", "Amsel now stopping!");
}

# Library reference:

stop

# /forward

# Arguments:

speed
Type: Ìnteger

# Example:

http://amsel.local/forward?speed=120

# Function reference:

// functions.ino

void handleForward(int speed) {
  drive_factor = (float)speed/100.0;
  updateWheelSpeed();
  server.send(200, "text/plain", "Amsel now moving forward!"); 
}

# Library reference:

forward

# /backward

# Arguments:

speed
Type: Ìnteger

# Example:

http://amsel.local/backward?speed=120

# Function reference:

// functions.ino

void handleBackward(int speed) {
  drive_factor = -(float)speed/100.0;
  updateWheelSpeed();
  server.send(200, "text/plain", "Amsel now moving backward!");  
}

# Library reference:

backward

# /left

# Arguments:

speed
Type: Ìnteger

# Example:

http://amsel.local/left?speed=120

# Function reference:

// functions.ino

void handleLeft(int speed) {
  steer_factor = (float)speed/100.0; 
  updateWheelSpeed();
  server.send(200, "text/plain", "Amsel now turning left!");
}

# Library reference:

left

# /right

# Arguments:

speed
Type: Ìnteger

# Example:

http://amsel.local/right?speed=120

# Function reference:

// functions.ino

void handleRight(int speed) {
  steer_factor = -(float)speed/100.0; 
  updateWheelSpeed();
  server.send(200, "text/plain", "Amsel now turning right!");
}

# Library reference:

right

# Sensors

Request sensor data

# /distance

Returns the current value of the IR sensor at the front of the Amsel.

# Example:

http://amsel.local/distance

# Function reference:

// functions.ino

void handleDistance() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);

  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  distance = (duration/2) / 29.1;

  server.send(200, "text/plain", String(distance));
}

# Library reference:

distance

# Display

Render something on the display.

# /print

Shows the passed parameter value on the display

# Example:

http://amsel.local/print

# Function reference:

// functions.ino

void handlePrint(String text) {
  userText = text;
  server.send(200, "text/plain", "Amsel printed: \"" + text + "\"");
}

# Library reference:

# Setters

Set data onboard.

# /calibrate

Takes two arguments to calibrate the speed of the dc motors.

# Arguments:

l (left)
Type: Float
r (right)
Type: Float

# Example:

http://amsel.local/calibrate?l=0.0&r=0.7

# Function reference:

// functions.ino

void handleCalibration() {
  String left_str = server.arg("l");
  String right_str = server.arg("r");
  float left_float = left_str.toFloat();
  float right_float = right_str.toFloat();
  
  float full_speed1 = (float)full_speed1*left_float;
  float full_speed2 = (float)full_speed2*right_float;

  server.send(200, "text/plain", String(full_speed1, full_speed2));
}