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main.ino
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#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
//SSID and Password to your ESP Access Point
const char* ssid = "TamimX";
const char* password = "def_Tamim_2023";
#define ENA 4 // Enable/speed motors Right GPIO4(D2)
#define IN_1 0 // L298N in1 motors Right GPIO0(D3)
#define IN_2 2 // L298N in2 motors Right GPIO2(D4)
#define IN_3 12 // L298N in3 motors Left GPIO12(D6)
#define IN_4 13 // L298N in4 motors Left GPIO13(D7)
#define ENB 15 // Enable/speed motors Left GPIO15(D8)
#define Light 16 // Light GPIO16(D0)
String command; //String to store app command state.
int speedCar = 150; // 0 to 255
int speed_0 = 60;
ESP8266WebServer server(80);
void setup() {
Serial.begin(115200);
pinMode(ENA, OUTPUT);
pinMode(IN_1, OUTPUT);
pinMode(IN_2, OUTPUT);
pinMode(IN_3, OUTPUT);
pinMode(IN_4, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(Light, OUTPUT);
// Connecting WiFi
WiFi.mode(WIFI_AP); //Only Access point
WiFi.softAP(ssid, password); //Start HOTspot removing password will disable security
IPAddress myIP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(myIP);
// Starting WEB-server
server.on("/", HTTP_handleRoot);
server.onNotFound(HTTP_handleRoot);
server.begin();
}
void loop() {
server.handleClient();
command = server.arg("State");
if (command == "F") goForword();
else if (command == "B") goBack();
else if (command == "L") goLeft();
else if (command == "R") goRight();
else if (command == "I") goForwordRight();
else if (command == "G") goForwordLeft();
else if (command == "J") goBackRight();
else if (command == "H") goBackLeft();
else if (command == "W") digitalWrite(Light, 1); // light is on
else if (command == "w") digitalWrite(Light, 0); // light is off
else if (command == "0") speedCar = 100;
else if (command == "1") speedCar = 120;
else if (command == "2") speedCar = 140;
else if (command == "3") speedCar = 160;
else if (command == "4") speedCar = 180;
else if (command == "5") speedCar = 200;
else if (command == "6") speedCar = 215;
else if (command == "7") speedCar = 230;
else if (command == "8") speedCar = 240;
else if (command == "9") speedCar = 255;
else if (command == "S") stopRobot();
}
void HTTP_handleRoot(void) {
if (server.hasArg("State")) {
Serial.println(server.arg("State"));
}
server.send(200, "text/html", "");
delay(1);
}
void goForword(){
digitalWrite(IN_1, 1);
digitalWrite(IN_2, 0);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 0);
digitalWrite(IN_4, 1);
analogWrite(ENB, speedCar);
}
void goBack(){
digitalWrite(IN_1, 0);
digitalWrite(IN_2, 1);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 1);
digitalWrite(IN_4, 0);
analogWrite(ENB, speedCar);
}
void goRight(){
digitalWrite(IN_1, 0);
digitalWrite(IN_2, 1);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 0);
digitalWrite(IN_4, 1);
analogWrite(ENB, speedCar);
}
void goLeft(){
digitalWrite(IN_1, 1);
digitalWrite(IN_2, 0);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 1);
digitalWrite(IN_4, 0);
analogWrite(ENB, speedCar);
}
void goForwordRight(){
digitalWrite(IN_1, 1);
digitalWrite(IN_2, 0);
analogWrite(ENA, speedCar - speed_0);
digitalWrite(IN_3, 0);
digitalWrite(IN_4, 1);
analogWrite(ENB, speedCar);
}
void goForwordLeft(){
digitalWrite(IN_1, 1);
digitalWrite(IN_2, 0);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 0);
digitalWrite(IN_4, 1);
analogWrite(ENB, speedCar - speed_0);
}
void goBackRight(){
digitalWrite(IN_1, 0);
digitalWrite(IN_2, 1);
analogWrite(ENA, speedCar - speed_0);
digitalWrite(IN_3, 1);
digitalWrite(IN_4, 0);
analogWrite(ENB, speedCar);
}
void goBackLeft(){
digitalWrite(IN_1, 0);
digitalWrite(IN_2, 1);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 1);
digitalWrite(IN_4, 0);
analogWrite(ENB, speedCar - speed_0);
}
void stopRobot(){
digitalWrite(IN_1, 0);
digitalWrite(IN_2, 0);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, 0);
digitalWrite(IN_4, 0);
analogWrite(ENB, speedCar);
}