add face

src/face.cpp

@@ -0,0 +1,86 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include "face.h"
+
+// ===== OLED CONFIG =====
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 32
+#define OLED_RESET -1
+#define OLED_ADDR 0x3C
+
+#define SDA_PIN 21
+#define SCL_PIN 22
+
+static Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+static FaceExpression currentFace = FACE_NEUTRAL;
+
+// ===== Drawing helpers =====
+static void clearFace() {
+  display.clearDisplay();
+}
+
+// 🙂 Нейтральный
+static void drawNeutral() {
+  clearFace();
+  display.drawLine(40, 18, 88, 18, SSD1306_WHITE);
+  display.display();
+}
+
+// 😀 Улыбка
+static void drawHappy() {
+  clearFace();
+  display.drawLine(42, 16, 48, 20, SSD1306_WHITE);
+  display.drawLine(48, 20, 80, 20, SSD1306_WHITE);
+  display.drawLine(80, 20, 86, 16, SSD1306_WHITE);
+  display.display();
+}
+
+// 😮 Удивление
+static void drawSurprised() {
+  clearFace();
+  display.drawCircle(64, 18, 6, SSD1306_WHITE);
+  display.display();
+}
+
+// 😐 Скука
+static void drawBored() {
+  clearFace();
+  display.drawLine(40, 17, 88, 17, SSD1306_WHITE);
+  display.drawLine(40, 19, 88, 19, SSD1306_WHITE);
+  display.display();
+}
+
+// 😠 Злой
+static void drawAngry() {
+  clearFace();
+  display.drawLine(40, 22, 88, 14, SSD1306_WHITE);
+  display.display();
+}
+
+void faceInit() {
+  Wire.begin(SDA_PIN, SCL_PIN);
+
+  if (!display.begin(SSD1306_SWITCHCAPVCC, OLED_ADDR)) {
+    while (true); // OLED не найден
+  }
+
+  faceSet(FACE_NEUTRAL);
+}
+
+void faceSet(FaceExpression f) {
+  currentFace = f;
+
+  switch (f) {
+    case FACE_NEUTRAL:   drawNeutral(); break;
+    case FACE_HAPPY:     drawHappy(); break;
+    case FACE_SURPRISED: drawSurprised(); break;
+    case FACE_BORED:     drawBored(); break;
+    case FACE_ANGRY:     drawAngry(); break;
+  }
+}
+
+FaceExpression faceGet() {
+  return currentFace;
+}

src/face.h

@@ -0,0 +1,13 @@
+#pragma once
+
+enum FaceExpression {
+  FACE_NEUTRAL,
+  FACE_HAPPY,
+  FACE_SURPRISED,
+  FACE_BORED,
+  FACE_ANGRY
+};
+
+void faceInit();
+void faceSet(FaceExpression f);
+FaceExpression faceGet();

src/main.cpp

@@ -7,12 +7,14 @@
 #include "ws_server.h"
 #include "servo.h"
 #include "ultrasonic.h"
+#include "face.h"
 
 void setup() {
   Serial.begin(115200);
 
   servoInit();
   ultrasonicInit();
+  faceInit();
   actuatorsInit();
   webServerInit();
   wsInit();

src/ws_server.cpp

@@ -4,6 +4,7 @@
 #include "ws_server.h"
 #include "controller.h"
 #include "robot_state.h"
+#include "face.h"
 
 static WebSocketsServer ws(81); // порт 81
 
@@ -53,6 +54,17 @@ void wsEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {
             }
         }
 
+      else if (msg.startsWith("FACE:")) {
+         String v = msg.substring(5);
+          v.toUpperCase();
+
+          if (v == "HAPPY")      faceSet(FACE_HAPPY);
+          else if (v == "ANGRY") faceSet(FACE_ANGRY);
+          else if (v == "BORED") faceSet(FACE_BORED);
+          else if (v == "SURPRISED") faceSet(FACE_SURPRISED);
+          else faceSet(FACE_NEUTRAL);
+        }
+
       else if (msg.startsWith("SPEED:")) {
         int v = msg.substring(6).toInt();
         controllerSetSpeed(v, v);