Project-Hermes/sketch_hermes.ino at main · CarloPalanca/Project-Hermes · GitHub

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#define ENA   14          // Enable/speed motors Right        GPIO14(D5)
#define ENB   12          // Enable/speed motors Left         GPIO12(D6)
#define IN_1  0           // L298N in1 motors Right           GPIO15(D3)
#define IN_2  2           // L298N in2 motors Right           GPIO13(D4)
#define IN_3  15          // L298N in3 motors Left            GPIO2(D8)
#define IN_4  13          // L298N in4 motors Left            GPIO0(D7)
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
String command;             //String to store app command state.
int speedCar = 1023;         // 400 - 1023.
int speed_Coeff = 3;
const char* ssid = "Group 1";
ESP8266WebServer server(80);
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 goBack()
{
  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);
  analogWrite(ENA, speedCar);
  digitalWrite(IN_3, LOW);
  digitalWrite(IN_4, HIGH);
  analogWrite(ENB, speedCar);
}

void goAheadSlow()
{
  digitalWrite(IN_1, HIGH);
  digitalWrite(IN_2, LOW);
  analogWrite(ENA, speedCar * 0.15);
  digitalWrite(IN_3, HIGH);
  digitalWrite(IN_4, LOW);
  analogWrite(ENB, speedCar * 0.15);
}

void goAhead()
{
  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 * 0.8);
  digitalWrite(IN_3, LOW);
  digitalWrite(IN_4, HIGH);
  analogWrite(ENB, speedCar * 0.8);
}

void goLeft()
{
  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);
  analogWrite(ENA, speedCar * 0.8);
  digitalWrite(IN_3, HIGH);
  digitalWrite(IN_4, LOW);
  analogWrite(ENB, speedCar * 0.8);
}

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 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 = 400;
  else if (command == "1") speedCar = 470;
  else if (command == "2") speedCar = 540;
  else if (command == "3") speedCar = 610;
  else if (command == "4") speedCar = 680;
  else if (command == "5") speedCar = 750;
  else if (command == "6") speedCar = 820;
  else if (command == "7") speedCar = 890;
  else if (command == "8") speedCar = 960;
  else if (command == "9") speedCar = 1023;
  else if (command == "S") stopRobot();
  else
  {
    stopRobot();
    command == "";
  }
}

void HTTP_handleRoot(void)
{
  if ( server.hasArg("State") )
  {
    Serial.println(server.arg("State"));
  }
  server.send ( 200, "text/html", "" );
  delay(1);
}