Arduino networking code

4DrobotServer/4DrobotServer.ino

+/*
+ * Server for controling 4D robot for moving samples in/out of the beam at CLEAR.
+ * Access via telnet-like interface at port 23.
+ * 
+ * Example for accessing over text interface:
+ *  nc 192.168.1.31 23
+ * Netcat (nc) is the best client: it is a clean TCP client,
+ * which makes no attempts to negotiate anything.
+ * 
+ * Kyrre Ness Sjobak, 24 April 2021
+ * University of Oslo / CERN
+ * 
+ * Inspired by PositionGaugeServer, also in use at CLEAR.
+ */
+
+#include <Arduino.h>
+
+#include <SPI.h>
+#include <Ethernet.h>
+
+#include <OneWire.h>
+#include <DallasTemperature.h>
+#include <Servo.h>
+
+//This file holds all the configurations
+// to be modified for deployment
+#include "4DrobotServer_config.h"
+
+//This file holds all the global variables
+// it does not need to be modified
+#include "4DrobotServer_globalVars.h"
+
+void setup() {
+  //Serial setup, for debugging
+  Serial.begin(9600);
+  
+  // wait for serial port to connect. Needed for native USB port only
+  int serialCounter=0;
+  while (!Serial) {
+    //However only wait for 1 second before giving up,
+    // so that it can work also when not connected to USB
+    delay(100);
+    serialCounter++;
+    if (serialCounter > 10) break;
+  }
+  Serial.print('\n');
+  Serial.print("4DrobotServer initializing...\n");
+
+  setup_networkIO();
+
+  setup_servo();
+  setup_stepper();
+
+  setup_temperatures();
+
+  //Serial is ready for input!
+  Serial.print(F("@ INFO MSG Say 'HELP' to get started\n"));
+}
+
+//Run all the "programs" in order
+void loop() {
+  // Run actuators (one at a time)
+  servo_control();
+  stepper_control();
+
+  // Update sensor readings
+  temperatures_update();
+
+  // Communicate
+  telnet_server();
+
+  // Housekeeping
+  #ifdef USE_DHCP
+  DHCPhousekeeping();
+  #endif
+}