#include #ifdef ESP32 #include #include #elif defined(ESP8266) #include #include #endif #include #define UP 1 #define DOWN 2 #define LEFT 3 #define RIGHT 4 #define UP_LEFT 5 #define UP_RIGHT 6 #define DOWN_LEFT 7 #define DOWN_RIGHT 8 #define TURN_LEFT 9 #define TURN_RIGHT 10 #define STOP 0 #define FRONT_RIGHT_MOTOR 0 #define BACK_RIGHT_MOTOR 1 #define FRONT_LEFT_MOTOR 2 #define BACK_LEFT_MOTOR 3 #define FORWARD 1 #define BACKWARD -1 int arma= 13; struct MOTOR_PINS { int pinIN1; int pinIN2; }; std::vector motorPins = { {16, 17}, //FRONT_RIGHT_MOTOR {18, 19}, //BACK_RIGHT_MOTOR {27, 26}, //FRONT_LEFT_MOTOR {22, 23}, //BACK_LEFT_MOTOR }; const char* ssid = "MyWiFiCar"; const char* password = "12345678"; AsyncWebServer server(80); AsyncWebSocket ws("/ws"); const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(

Hash Include Electronics

Wi-Fi 🚗 Control

⬉	⇧	⬈
⇦		⇨
⬋	⇩	⬊
↺		↻

)HTMLHOMEPAGE"; void rotateMotor(int motorNumber, int motorDirection) { if (motorDirection == FORWARD) { digitalWrite(motorPins[motorNumber].pinIN1, HIGH); digitalWrite(motorPins[motorNumber].pinIN2, LOW); } else if (motorDirection == BACKWARD) { digitalWrite(motorPins[motorNumber].pinIN1, LOW); digitalWrite(motorPins[motorNumber].pinIN2, HIGH); } else { digitalWrite(motorPins[motorNumber].pinIN1, LOW); digitalWrite(motorPins[motorNumber].pinIN2, LOW); } } void processCarMovement(String inputValue) { Serial.printf("Got value as %s %d\n", inputValue.c_str(), inputValue.toInt()); switch(inputValue.toInt()) { case UP: rotateMotor(FRONT_RIGHT_MOTOR, FORWARD); rotateMotor(BACK_RIGHT_MOTOR, FORWARD); rotateMotor(FRONT_LEFT_MOTOR, FORWARD); rotateMotor(BACK_LEFT_MOTOR, FORWARD); break; case DOWN: rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD); rotateMotor(BACK_RIGHT_MOTOR, BACKWARD); rotateMotor(FRONT_LEFT_MOTOR, BACKWARD); rotateMotor(BACK_LEFT_MOTOR, BACKWARD); break; case LEFT: rotateMotor(FRONT_RIGHT_MOTOR, FORWARD); rotateMotor(BACK_RIGHT_MOTOR, BACKWARD); rotateMotor(FRONT_LEFT_MOTOR, BACKWARD); rotateMotor(BACK_LEFT_MOTOR, FORWARD); break; case RIGHT: rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD); rotateMotor(BACK_RIGHT_MOTOR, FORWARD); rotateMotor(FRONT_LEFT_MOTOR, FORWARD); rotateMotor(BACK_LEFT_MOTOR, BACKWARD); break; case UP_LEFT: rotateMotor(FRONT_RIGHT_MOTOR, FORWARD); rotateMotor(BACK_RIGHT_MOTOR, STOP); rotateMotor(FRONT_LEFT_MOTOR, STOP); rotateMotor(BACK_LEFT_MOTOR, FORWARD); break; case UP_RIGHT: rotateMotor(FRONT_RIGHT_MOTOR, STOP); rotateMotor(BACK_RIGHT_MOTOR, FORWARD); rotateMotor(FRONT_LEFT_MOTOR, FORWARD); rotateMotor(BACK_LEFT_MOTOR, STOP); break; case DOWN_LEFT: rotateMotor(FRONT_RIGHT_MOTOR, STOP); rotateMotor(BACK_RIGHT_MOTOR, BACKWARD); rotateMotor(FRONT_LEFT_MOTOR, BACKWARD); rotateMotor(BACK_LEFT_MOTOR, STOP); break; case DOWN_RIGHT: rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD); rotateMotor(BACK_RIGHT_MOTOR, STOP); rotateMotor(FRONT_LEFT_MOTOR, STOP); rotateMotor(BACK_LEFT_MOTOR, BACKWARD); break; case TURN_LEFT: rotateMotor(FRONT_RIGHT_MOTOR, FORWARD); rotateMotor(BACK_RIGHT_MOTOR, FORWARD); rotateMotor(FRONT_LEFT_MOTOR, BACKWARD); rotateMotor(BACK_LEFT_MOTOR, BACKWARD); break; case TURN_RIGHT: rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD); rotateMotor(BACK_RIGHT_MOTOR, BACKWARD); rotateMotor(FRONT_LEFT_MOTOR, FORWARD); rotateMotor(BACK_LEFT_MOTOR, FORWARD); break; case STOP: rotateMotor(FRONT_RIGHT_MOTOR, STOP); rotateMotor(BACK_RIGHT_MOTOR, STOP); rotateMotor(FRONT_LEFT_MOTOR, STOP); rotateMotor(BACK_LEFT_MOTOR, STOP); break; default: rotateMotor(FRONT_RIGHT_MOTOR, STOP); rotateMotor(BACK_RIGHT_MOTOR, STOP); rotateMotor(FRONT_LEFT_MOTOR, STOP); rotateMotor(BACK_LEFT_MOTOR, STOP); break; } } void handleRoot(AsyncWebServerRequest *request) { request->send_P(200, "text/html", htmlHomePage); } void handleNotFound(AsyncWebServerRequest *request) { request->send(404, "text/plain", "File Not Found"); } void onWebSocketEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len) { switch (type) { case WS_EVT_CONNECT: Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str()); //client->text(getRelayPinsStatusJson(ALL_RELAY_PINS_INDEX)); break; case WS_EVT_DISCONNECT: Serial.printf("WebSocket client #%u disconnected\n", client->id()); processCarMovement("0"); break; case WS_EVT_DATA: AwsFrameInfo *info; info = (AwsFrameInfo*)arg; if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) { std::string myData = ""; myData.assign((char *)data, len); processCarMovement(myData.c_str()); } break; case WS_EVT_PONG: case WS_EVT_ERROR: break; default: break; } } void setUpPinModes() { for (int i = 0; i < motorPins.size(); i++) { pinMode(motorPins[i].pinIN1, OUTPUT); pinMode(motorPins[i].pinIN2, OUTPUT); rotateMotor(i, STOP); } } void setup(void) { setUpPinModes(); Serial.begin(115200); WiFi.softAP(ssid, password); IPAddress IP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(IP); server.on("/", HTTP_GET, handleRoot); server.onNotFound(handleNotFound); ws.onEvent(onWebSocketEvent); server.addHandler(&ws); server.begin(); Serial.println("HTTP server started"); } void loop() { ws.cleanupClients(); }