Arduino WiFi Shield - remotely (SSH) controlling 2 Servos

Wireless & IoT
1

I’m a noob at Arduino’s/forums, so I’ll try to be as detailed as possible. Forgive my noobness.

I’m trying to control 2 servo motors (for a robot) via WiFi. I have the official Arduino WiFi shield stacked on top of an Arduino Uno R3. I have it working on Serial, and now I’ve converted the code for WiFi (changed pins to 5,6 so that they don’t clash with the WiFi shield).

When I SSH through Putty, I connect to the WiFi shield (it says connected to client - as shown in the screen shot), but I can’t seem to give any commands as it keeps looping back and posting the same message ('connected to client) till it gives me the error (software caused connection to abort - screenshot 2). I also get some garbage character returned to me (screenshot).

My code is copied below (it’s kind of long - apologies). Please let me know what I’m doing wrong. Or if there’s any other detail you want me to post.

Thanks,

Mustafa

screenshot1: http://bit.ly/XRzdXo

screenshot2: http://bit.ly/TOFH3p

String readString;
#include <Servo.h> 
#include <WiFi.h>
Servo left;  // create servo object to control a servo 
Servo right;
char ssid[] = "Your Network";     // the name of your network –hiding it for posting online
int status = WL_IDLE_STATUS;     // the Wifi radio's status
IPAddress ip; 
WiFiServer server(22);
//WiFiClient client;
void setup() {
  Serial.begin(9600);
 // tone(3, 3000, 1000);                       // Play tone for 1 second
  //delay(1000);                               // Delay to finish tone
  
  // attempt to connect to an open network:
  Serial.println("Attempting to connect to open network...");
  status = WiFi.begin(ssid);

  // if you're not connected, stop here:
  if ( status != WL_CONNECTED) { 
    Serial.println("Couldn't get a wifi connection");
    while(true);
  } 
  // if you are connected :
  else {
      Serial.println("Connected to wifi");
   // Serial.print("Connected to the network");
          
      server.begin();
      ip = WiFi.localIP();
      Serial.print("\nLocal IP is");
      Serial.print (ip);
      
      Serial.println("\nStarting Connection...");
     
   //   if (client.connect (server,22) {
   //     Serial.println("connected");}
     
  }    
  
  
  left.writeMicroseconds(1500); //set initial servo position if desired
  right.writeMicroseconds(1500);
  left.attach(5);  //the pin for the servo control 
  right.attach(6);
  Serial.println("servo-test-22-dual-input"); // so I can keep track of what is loaded
}

void loop() {
  WiFiClient client = server.available();
  if (client) {

    if (client.connected()) {
      Serial.println("Connected to client");    //it gets till here. In the serial window, it says                              //“connected to client. 
        char c = client.read();  //gets one byte from serial buffer
    readString += c; //makes the string readString
    delay(2);  //slow looping to allow buffer to fill with next character
    }
  
  }

  if (readString.length() >0) {
    Serial.println(readString);  //so you can see the captured string 
    int n = readString.toInt();  //convert readString into a number

    
    if(n== 1)
    {
      Serial.print("Writing moveForward code to servos");
      Serial.println(n);
      left.writeMicroseconds(1700);
      right.writeMicroseconds (1300);
    }
   
    else if (n==2)
    {
      Serial.print("Writing Turn Left code to servos");
      Serial.println(n);
      left.writeMicroseconds(1300);
      right.writeMicroseconds(1300);
    }
    else if (n==3)
    {
      Serial.print("Writing Turn Right code to servos");
      Serial.println(n);
      left.writeMicroseconds(1700);
      right.writeMicroseconds(1700);
    }
    else if (n==4)
    {
      Serial.print("Writing moveBack code to servos)");
      Serial.println(n);
      left.writeMicroseconds(1300);
      right.writeMicroseconds(1700);
    }
      
        readString=""; //empty for next input
  } 
}