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    PROGRAMA AUDUINO Auto Con Grua

    Uploaded by

    Marcelo Vargas
    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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    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd

    PROGRAMA AUDUINO Auto Con Grua

    Uploaded by

    Marcelo Vargas
    31 views4 pages
    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.

    Original Title

    PROGRAMA AUDUINO auto con grua

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    © © All Rights Reserved

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    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.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    31 views4 pages

    PROGRAMA AUDUINO Auto Con Grua

    Uploaded by

    Marcelo Vargas
    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.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
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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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