I was making a car but it does not work as expected.
I used a ESP32 DEV Module.
A l293d Motor driver and 2 Motors connected to motor driver.
I made a webserver in the code.
When I clicked the buttons on the webserver the motors didn't spin.
#include <Arduino.h>
#ifdef ESP32
#include <WiFi.h>
#include <AsyncTCP.h>
#elif defined(ESP8266)
#include <ESP8266WiFi.h>
#include <ESPAsyncTCP.h>
#endif
#include <ESPAsyncWebServer.h>
#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 RIGHT_MOTOR 0
#define LEFT_MOTOR 2
#define FORWARD 1
#define BACKWARD -1
struct MOTOR_PINS
{
int pinIN1;
int pinIN2;
};
std::vector<MOTOR_PINS> motorPins =
{
{16, 17}, //RIGHT_MOTOR
{27, 26}, //LEFT_MOTOR
};
const char* ssid = "MyWiFiCar";
const char* password = "12345678";
AsyncWebServer server(80);
AsyncWebSocket ws("/ws");
const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
<style>
.arrows {
font-size:70px;
color:red;
}
.circularArrows {
font-size:80px;
color:blue;
}
td {
background-color:black;
border-radius:25%;
box-shadow: 5px 5px #888888;
}
td:active {
transform: translate(5px,5px);
box-shadow: none;
}
.noselect {
-webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */
user-select: none; /* Non-prefixed version, currently
supported by Chrome and Opera */
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<h1 style="color: teal;text-align:center;">Hash Include Electronics</h1>
<h2 style="color: teal;text-align:center;">Wi-Fi 🚗 Control</h2>
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<td ontouchstart='onTouchStartAndEnd("5")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⬉</span></td>
<td ontouchstart='onTouchStartAndEnd("1")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⇧</span></td>
<td ontouchstart='onTouchStartAndEnd("6")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⬈</span></td>
</tr>
<tr>
<td ontouchstart='onTouchStartAndEnd("3")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⇦</span></td>
<td></td>
<td ontouchstart='onTouchStartAndEnd("4")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⇨</span></td>
</tr>
<tr>
<td ontouchstart='onTouchStartAndEnd("7")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⬋</span></td>
<td ontouchstart='onTouchStartAndEnd("2")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⇩</span></td>
<td ontouchstart='onTouchStartAndEnd("8")' ontouchend='onTouchStartAndEnd("0")'><span class="arrows" >⬊</span></td>
</tr>
<tr>
<td ontouchstart='onTouchStartAndEnd("9")' ontouchend='onTouchStartAndEnd("0")'><span class="circularArrows" >↺</span></td>
<td style="background-color:white;box-shadow:none"></td>
<td ontouchstart='onTouchStartAndEnd("10")' ontouchend='onTouchStartAndEnd("0")'><span class="circularArrows" >↻</span></td>
</tr>
</table>
<script>
var webSocketUrl = "ws:\/\/" + window.location.hostname + "/ws";
var websocket;
function initWebSocket()
{
websocket = new WebSocket(webSocketUrl);
websocket.onopen = function(event){};
websocket.onclose = function(event){setTimeout(initWebSocket, 2000);};
websocket.onmessage = function(event){};
}
function onTouchStartAndEnd(value)
{
websocket.send(value);
}
window.onload = initWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
</script>
</body>
</html>
)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(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
Serial.println("1");
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
Serial.println("2");
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
Serial.println("3");
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
Serial.println("4");
break;
case UP_LEFT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, STOP);
Serial.println("5");
break;
case UP_RIGHT:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, FORWARD);
Serial.println("6");
break;
case DOWN_LEFT:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, BACKWARD);
Serial.println("7");
break;
case DOWN_RIGHT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, STOP);
Serial.println("8");
break;
case TURN_LEFT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
Serial.println("9");
break;
case TURN_RIGHT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
Serial.println("10");
break;
case STOP:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
Serial.println("11");
break;
default:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
Serial.println("12");
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();
}