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serv.ino
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serv.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 = "NodeMCU Car";
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)
void setup()
{
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN_1, OUTPUT);
pinMode(IN_2, OUTPUT);
pinMode(IN_3, OUTPUT);
pinMode(IN_4, OUTPUT);
Serial.begin(115200);
// Connecting WiFi
WiFi.mode(WIFI_AP);
WiFi.softAP(ssid);
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 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 HTTP_handleRoot(void)
{
String html = "<html><body>";
html += "<h1>ESP32 Motor Control</h1>";
html += "<button onclick=\"sendCommand('F')\">Forward</button>";
html += "<button onclick=\"sendCommand('B')\">Backward</button>";
html += "<button onclick=\"sendCommand('L')\">Left</button>";
html += "<button onclick=\"sendCommand('R')\">Right</button>";
html += "<button onclick=\"sendCommand('I')\">Forward Right</button>";
html += "<button onclick=\"sendCommand('G')\">Forward Left</button>";
html += "<button onclick=\"sendCommand('J')\">Backward Right</button>";
html += "<button onclick=\"sendCommand('H')\">Backward Left</button>";
html += "<br><br>";
html += "<button onclick=\"sendCommand('S')\">Stop</button>";
html += "<script>";
html += "function sendCommand(command) {";
html += " var xhr = new XMLHttpRequest();";
html += " xhr.open('GET', '/?State=' + command, true);";
html += " xhr.send();";
html += "}";
html += "</script>";
html += "</body></html>";
if (server.hasArg("State"))
{
Serial.println(server.arg("State"));
}
server.send(200, "text/html", html);
}
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 == "1")
speedCar = 1023;
else if (command == "2")
speedCar = 1023;
else if (command == "3")
speedCar = 1023;
else if (command == "4")
speedCar = 1023;
else if (command == "5")
speedCar = 1023;
else if (command == "6")
speedCar = 1023;
else if (command == "7")
speedCar = 1023;
else if (command == "8")
speedCar = 1023;
else if (command == "9")
speedCar = 1023;
else if (command == "S")
stopRobot();
}