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PROGRAMA AUDUINO Auto Con Grua

The document defines pin assignments and motor control functions for an ESP8266-controlled robot. Pin numbers are assigned to enable motors, motor controller inputs, an LED, and a sensor. Functions are defined to control motor directions and speeds for moving the robot forward, backward, left, right, and diagonally. The ESP8266 connects to WiFi as an access point and runs a web server to receive movement commands via GET requests and call the appropriate motor control functions.

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Marcelo Vargas
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36 views

PROGRAMA AUDUINO Auto Con Grua

The document defines pin assignments and motor control functions for an ESP8266-controlled robot. Pin numbers are assigned to enable motors, motor controller inputs, an LED, and a sensor. Functions are defined to control motor directions and speeds for moving the robot forward, backward, left, right, and diagonally. The ESP8266 connects to WiFi as an access point and runs a web server to receive movement commands via GET requests and call the appropriate motor control functions.

Uploaded by

Marcelo Vargas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as TXT, PDF, TXT or read online on Scribd
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#define EnableA 15 // Enable motors Right GPIO15(D8)

#define EnableB 4 // Enable motors Left GPIO4 (D2)


#define IN1 13 // L298N in1 motors Right GPIO13(D7)
#define IN2 12 // L298N in2 motors Right GPIO12(D6)
#define IN3 14 // L298N in3 motors Left GPIO14(D5)
#define IN4 0 // L298N in4 motors Left GPIO0 (D3)
#define ledP 5
int Status = 16; // Digital pin D0

int sensor = 2;
//
//#include <PS4Controller.h>

#include <ESP8266WiFi.h> //
#include <WiFiClient.h> //
#include <ESP8266WebServer.h> //

String command; //String to store app command state.


int speedCar = 800; // 400 - 1023.
int speed_Coeff = 3;

const char* ssid = "autouwu";


ESP8266WebServer server(80);

void setup() {
/*Serial.begin(115200);
PS4.begin();
const uint8_t* address = esp_bt_dev_get_address();
char str[100];
sprintf(str, "ESP32's Bluetooth MAC address is - %02x:%02x:%02x:%02x:%02x:%02x",
address[0],address[1],address[2],address[3],address[4],address[5]);
Serial.println(str);*/
pinMode(sensor, INPUT); // declare sensor as input
pinMode(Status, OUTPUT); // declare LED as output

pinMode(EnableA, OUTPUT);
pinMode(EnableB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ledP,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(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(EnableB, speedCar);
}

void goBack(){

digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(EnableB, speedCar);
}

void goRight(){

digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(EnableB, speedCar);
}

void goLeft(){

digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(EnableB, speedCar);
}

void goAheadRight(){

digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(EnableA, speedCar/speed_Coeff);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(EnableB, speedCar);
}
void goAheadLeft(){

digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(EnableB, speedCar/speed_Coeff);
}

void goBackRight(){

digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(EnableA, speedCar/speed_Coeff);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(EnableB, speedCar);
}

void goBackLeft(){

digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(EnableB, speedCar/speed_Coeff);
}

void stopRobot(){

digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
analogWrite(EnableA, speedCar);

digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
analogWrite(EnableB, speedCar);
}

void loop() {
server.handleClient();
long state = digitalRead(sensor);//esta parte es del sensor todo esto comentado
si lo descomentamos da el sensor pero hay mucha mas latencia al controlar el auto
haber si se arregla con las tres pilas si dejar comentado
/*if(state == HIGH) {
digitalWrite (Status, HIGH);
Serial.println("Motion detected!");
delay(1000);
}

else {
digitalWrite (Status, LOW);
Serial.println("Motion absent!");
delay(1000);
}*/

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") digitalWrite(ledP,HIGH);//goBackRight();
else if (command == "H") digitalWrite(ledP,LOW);//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();
}

void HTTP_handleRoot(void) {

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

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