Esp8266 (GIT8266O-885)

[garaianiket896-blip]

/******************* WiFi Robot Remote Control Mode ********************/
#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
#include <ArduinoOTA.h>

// connections for drive Motors
int PWM_A = D1;
int PWM_B = D2;
int DIR_A = D3;
int DIR_B = D4;

const int buzPin = D5; // set digital pin D5 as buzzer pin (use active buzzer)
const int ledPin = D8; // set digital pin D8 as LED pin (use super bright LED)
const int wifiLedPin = D0; // set digital pin D0 as indication, the LED turn on if NodeMCU connected to WiFi as STA mode

String command; // String to store app command state.
int SPEED = 1023; // 330 - 1023.
int speed_Coeff = 3;

ESP8266WebServer server(80); // Create a webserver object that listens for HTTP request on port 80

unsigned long previousMillis = 0;

String sta_ssid = ""; // set Wifi networks you want to connect to
String sta_password = ""; // set password for Wifi networks

void setup(){
Serial.begin(115200); // set up Serial library at 115200 bps
Serial.println();
Serial.println("WiFi Robot Remote Control Mode");
Serial.println("--------------------------------------");

pinMode(buzPin, OUTPUT); // sets the buzzer pin as an Output
pinMode(ledPin, OUTPUT); // sets the LED pin as an Output
pinMode(wifiLedPin, OUTPUT); // sets the Wifi LED pin as an Output
digitalWrite(buzPin, LOW);
digitalWrite(ledPin, LOW);
digitalWrite(wifiLedPin, HIGH);

// Set all the motor control pins to outputs
pinMode(PWM_A, OUTPUT);
pinMode(PWM_B, OUTPUT);
pinMode(DIR_A, OUTPUT);
pinMode(DIR_B, OUTPUT);

// Turn off motors - Initial state
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, 0);
analogWrite(PWM_B, 0);

// set NodeMCU Wifi hostname based on chip mac address
String chip_id = String(ESP.getChipId(), HEX);
int i = chip_id.length()-4;
chip_id = chip_id.substring(i);
chip_id = "wificar-" + chip_id;
String hostname(chip_id);

Serial.println();
Serial.println("Hostname: "+hostname);

// first, set NodeMCU as STA mode to connect with a Wifi network
WiFi.mode(WIFI_STA);
WiFi.begin(sta_ssid.c_str(), sta_password.c_str());
Serial.println("");
Serial.print("Connecting to: ");
Serial.println(sta_ssid);
Serial.print("Password: ");
Serial.println(sta_password);

// try to connect with Wifi network about 10 seconds
unsigned long currentMillis = millis();
previousMillis = currentMillis;
while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 10000) {
delay(500);
Serial.print(".");
currentMillis = millis();
}

// if failed to connect with Wifi network set NodeMCU as AP mode
if (WiFi.status() == WL_CONNECTED) {
Serial.println("");
Serial.println("WiFi-STA-Mode");
Serial.print("IP: ");
Serial.println(WiFi.localIP());
digitalWrite(wifiLedPin, LOW); // Wifi LED on when connected to Wifi as STA mode
delay(3000);
} else {
WiFi.mode(WIFI_AP);
WiFi.softAP(hostname.c_str());
IPAddress myIP = WiFi.softAPIP();
Serial.println("");
Serial.println("WiFi failed connected to " + sta_ssid);
Serial.println("");
Serial.println("WiFi-AP-Mode");
Serial.print("AP IP address: ");
Serial.println(myIP);
digitalWrite(wifiLedPin, HIGH); // Wifi LED off when status as AP mode
delay(3000);
}

server.on ( "/", HTTP_handleRoot ); // call the 'handleRoot' function when a client requests URI "/"
server.onNotFound ( HTTP_handleRoot ); // when a client requests an unknown URI (i.e. something other than "/"), call function "handleNotFound"
server.begin(); // actually start the server

ArduinoOTA.begin(); // enable to receive update/uploade firmware via Wifi OTA
}

void loop() {
ArduinoOTA.handle(); // listen for update OTA request from clients
server.handleClient(); // listen for HTTP requests from clients

  command = server.arg("State");          // check HTPP request, if has arguments "State" then saved the value
  if (command == "F") Forward();          // check string then call a function or set a value
  else if (command == "B") Backward();
  else if (command == "R") TurnRight();
  else if (command == "L") TurnLeft();
  else if (command == "G") ForwardLeft();
  else if (command == "H") BackwardLeft();
  else if (command == "I") ForwardRight();
  else if (command == "J") BackwardRight();
  else if (command == "S") Stop();
  else if (command == "V") BeepHorn();
  else if (command == "W") TurnLightOn();
  else if (command == "w") TurnLightOff();
  else if (command == "0") SPEED = 330;
  else if (command == "1") SPEED = 400;
  else if (command == "2") SPEED = 470;
  else if (command == "3") SPEED = 540;
  else if (command == "4") SPEED = 610;
  else if (command == "5") SPEED = 680;
  else if (command == "6") SPEED = 750;
  else if (command == "7") SPEED = 820;
  else if (command == "8") SPEED = 890;
  else if (command == "9") SPEED = 960;
  else if (command == "q") SPEED = 1023;

}

// function prototypes for HTTP handlers
void HTTP_handleRoot(void){
server.send ( 200, "text/html", "" ); // Send HTTP status 200 (Ok) and send some text to the browser/client

if( server.hasArg("State") ){
Serial.println(server.arg("State"));
}
}

void handleNotFound(){
server.send(404, "text/plain", "404: Not found"); // Send HTTP status 404 (Not Found) when there's no handler for the URI in the request
}

// function to move forward
void Forward(){
digitalWrite(DIR_A, HIGH);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED);
}

// function to move backward
void Backward(){
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED);
}

// function to turn right
void TurnRight(){
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED);
}

// function to turn left
void TurnLeft(){
digitalWrite(DIR_A, HIGH);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED);
}

// function to move forward left
void ForwardLeft(){
digitalWrite(DIR_A, HIGH);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED/speed_Coeff);
}

// function to move backward left
void BackwardLeft(){
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, SPEED);
analogWrite(PWM_B, SPEED/speed_Coeff);
}

// function to move forward right
void ForwardRight(){
digitalWrite(DIR_A, HIGH);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_A, SPEED/speed_Coeff);
analogWrite(PWM_B, SPEED);
}

// function to move backward left
void BackwardRight(){
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, SPEED/speed_Coeff);
analogWrite(PWM_B, SPEED);
}

// function to stop motors
void Stop(){
digitalWrite(DIR_A, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_A, 0);
analogWrite(PWM_B, 0);
}

// function to beep a buzzer
void BeepHorn(){
digitalWrite(buzPin, HIGH);
delay(150);
digitalWrite(buzPin, LOW);
delay(80);
}

// function to turn on LED
void TurnLightOn(){
digitalWrite(ledPin, HIGH);
}

// function to turn off LED
void TurnLightOff(){
digitalWrite(ledPin, LOW);
}