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WorkingMotors_and_pump copy.ino
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WorkingMotors_and_pump copy.ino
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#include <WiFi.h>
#include <WiFiClient.h>
#include <WebServer.h>
String command;.
int speedCar = 1023; // 400 - 1023.
int speed_Coeff = 3;
const char *ssid = "POCO";
const char *password = "12345678";
WebServer server(80);
#define ENA 23 // Enable/speed motors Right GPIO14(D5)
#define ENB 22 // Enable/speed motors Left GPIO12(D6)
#define IN_1 16 // L298N in1 motors Right GPIO15(D8)
#define IN_2 17 // L298N in2 motors Right GPIO13(D7)
#define IN_3 18 // L298N in3 motors Left GPIO2(D4)
#define IN_4 19 // L298N in4 motors Left GPIO0(D3)
#define PUMP_PIN 2
void setup()
{
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN_1, OUTPUT);
pinMode(IN_2, OUTPUT);
pinMode(IN_3, OUTPUT);
pinMode(IN_4, OUTPUT);
pinMode(PUMP_PIN, OUTPUT);
digitalWrite(PUMP_PIN, LOW);
Serial.begin(115200);
// Connecting to existing WiFi
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(1000);
Serial.println("Connecting to WiFi...");
}
Serial.println("Connected to WiFi");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
// Starting WEB-server
server.on("/", HTTP_handleRoot);
server.on("/sensorData", HTTP_handleSensorData);
server.onNotFound(HTTP_handleRoot);
server.begin();
delay(4000);
}
void goAhead()
{
digitalWrite(IN_1, LOW);
digitalWrite(IN_2, HIGH);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, LOW);
digitalWrite(IN_4, HIGH);
analogWrite(ENB, speedCar);
}
void goBack()
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, LOW);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, HIGH);
digitalWrite(IN_4, LOW);
analogWrite(ENB, speedCar);
}
void goRight()
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, LOW);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, LOW);
digitalWrite(IN_4, HIGH);
analogWrite(ENB, speedCar);
}
void goLeft()
{
digitalWrite(IN_1, LOW);
digitalWrite(IN_2, HIGH);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, HIGH);
digitalWrite(IN_4, LOW);
analogWrite(ENB, speedCar);
}
void goAheadRight()
{
digitalWrite(IN_1, LOW);
digitalWrite(IN_2, HIGH);
analogWrite(ENA, speedCar / speed_Coeff);
digitalWrite(IN_3, LOW);
digitalWrite(IN_4, HIGH);
analogWrite(ENB, speedCar);
}
void goAheadLeft()
{
digitalWrite(IN_1, LOW);
digitalWrite(IN_2, HIGH);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, LOW);
digitalWrite(IN_4, HIGH);
analogWrite(ENB, speedCar / speed_Coeff);
}
void goBackRight()
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, LOW);
analogWrite(ENA, speedCar / speed_Coeff);
digitalWrite(IN_3, HIGH);
digitalWrite(IN_4, LOW);
analogWrite(ENB, speedCar);
}
void goBackLeft()
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, LOW);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, HIGH);
digitalWrite(IN_4, LOW);
analogWrite(ENB, speedCar / speed_Coeff);
}
void stopRobot()
{
digitalWrite(IN_1, LOW);
digitalWrite(IN_2, LOW);
analogWrite(ENA, speedCar);
digitalWrite(IN_3, LOW);
digitalWrite(IN_4, LOW);
analogWrite(ENB, speedCar);
}
void startPump()
{
digitalWrite(PUMP_PIN, HIGH);
}
void stopPump()
{
digitalWrite(PUMP_PIN, LOW);
}
const char *htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>DSLD Project Agriculture Bot</title>
<style>
body {
font-family: Arial, sans-serif;
display: flex;
flex-direction: column;
align-items: center;
justify-content: center;
height: 100vh;
margin: 0;
}
h1 {
text-align: center;
}
table {
margin: 0 auto;
}
td {
text-align: center;
}
button {
width: 80px;
height: 80px;
font-size: 18px;
margin: 5px;
}
@media (max-width: 600px) {
button {
width: 60px;
height: 60px;
font-size: 14px;
}
}
</style>
</head>
<body>
<h1>DSLD Project Agriculture Bot</h1>
<table>
<tr>
<td><button id="forwardLeftBtn" ontouchstart="sendCommand('G')" ontouchend="sendCommand('S')">↖️</button></td>
<td><button id="forwardBtn" ontouchstart="sendCommand('F')" ontouchend="sendCommand('S')">⬆️</button></td>
<td><button id="forwardRightBtn" ontouchstart="sendCommand('I')" ontouchend="sendCommand('S')">↗️</button></td>
</tr>
<tr>
<td><button id="leftBtn" ontouchstart="sendCommand('L')" ontouchend="sendCommand('S')">⬅️</button></td>
<td><button id="stopBtn" ontouchstart="sendCommand('S')" ontouchend="sendCommand('S')">⏹️</button></td>
<td><button id="rightBtn" ontouchstart="sendCommand('R')" ontouchend="sendCommand('S')">➡️</button></td>
</tr>
<tr>
<td><button id="backwardLeftBtn" ontouchstart="sendCommand('H')" ontouchend="sendCommand('S')">↙️</button></td>
<td><button id="backwardBtn" ontouchstart="sendCommand('B')" ontouchend="sendCommand('S')">⬇️</button></td>
<td><button id="backwardRightBtn" ontouchstart="sendCommand('J')" ontouchend="sendCommand('S')">↘️</button></td>
</tr>
</table>
<button id="startPumpBtn" onclick="sendCommand('P')"">Start Pump</button>
<button id="stopPumpBtn" onclick="sendCommand('Q')"">Stop Pump</button>
<script>
function sendCommand(command) {
var xhr = new XMLHttpRequest();
xhr.open("GET", "/?State=" + command, true);
xhr.send();
}
</script>
</body>
</html>
)HTMLHOMEPAGE";
void HTTP_handleRoot(void)
{
server.send(200, "text/html", htmlHomePage);
}
void loop()
{
server.handleClient();
command = server.arg("State");
if (command == "F")
goAhead();
else if (command == "B")
goBack();
else if (command == "L")
goLeft();
else if (command == "R")
goRight();
else if (command == "I")
goAheadRight();
else if (command == "G")
goAheadLeft();
else if (command == "J")
goBackRight();
else if (command == "H")
goBackLeft();
else if (command == "0")
speedCar = 1023;
else if (command == "S")
stopRobot();
else if (command == "Q")
startPump();
else if (command == "P")
stopPump();
}