Real Time Stepper Motors Control using NodeMCU and Blynk app

Other Hardware Robotics
1

I wanted to control 2 Stepper Motors for running a robot using the joystick of Blynk App and NodeMCU. But when I searched for the codes of real time controlling of Stepper Motors online I didn't get much code and most of them were not real time.

This is code I am currently working on:-

#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>

#define RightMotorSpeed D7
#define RightMotorDir   D8  

const int enPin = D2;
const int enPin2 = D3;

#define LeftMotorSpeed  D6  
#define LeftMotorDir    D5


// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
// Use your own WiFi settings
char auth[] = "LRTCZUnCI06P-pqh5rlPXRbuOUgQ_uGH";
char ssid[] = "Airtel_7599998800";
char pass[] = "air71454";

// neutral zone settings for x and y
// joystick must move outside these boundary numbers to activate the motors
// makes it a little easier to control the wifi car
int minRange = 312;
int maxRange = 712;

// analog speeds from 0 (lowest) - 1023 (highest)
// 3 speeds used -- 0 (noSpeed), 350 (minSpeed), 850 (maxSpeed).
// use whatever speeds you want...too fast made it a pain in the ass to control
int minSpeed = 450;
int maxSpeed = 1023;
int noSpeed = 0;


void moveControl(int x, int y)
{
  // movement logic
  // move forward

   // y je vetsi jak maxrange a současně x je vetsi jak minRange a současne mensi jak max range 
  while(y >= maxRange && x >= minRange && x <= maxRange) //zataci R
  {
    digitalWrite(RightMotorDir,HIGH);  
    digitalWrite(LeftMotorDir,HIGH);

    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);

    delayMicroseconds(500);

    digitalWrite(RightMotorSpeed,0); 
    digitalWrite(LeftMotorSpeed,0);

    delayMicroseconds(500);
  }

  // move forward right
  while(x >= maxRange && y >= maxRange)   //zataci R
  {
    digitalWrite(RightMotorDir,HIGH);
    digitalWrite(LeftMotorDir,HIGH);
   analogWrite(RightMotorSpeed,minSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);
  }

  // move forward left
  while(x <= minRange && y >= maxRange)
  {
    digitalWrite(RightMotorDir,HIGH);
    digitalWrite(LeftMotorDir,HIGH);
    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,minSpeed);
  }

  // neutral zone
  while(y < maxRange && y > minRange && x < maxRange && x > minRange)
  {
    analogWrite(RightMotorSpeed,noSpeed); 
    analogWrite(LeftMotorSpeed,noSpeed);
  }

 // move back
  while(y <= minRange && x >= minRange && x <= maxRange)
  {
    digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
   analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);
  }

  // move back and right
 while(y <= minRange && x <= minRange)
  {
   digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
    analogWrite(RightMotorSpeed,minSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);  
  }

  // move back and left
  while(y <= minRange && x >= maxRange)
  {
    digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,minSpeed);
  }
}

void setup()
{
  // initial settings for motors off and direction forward
  pinMode(RightMotorSpeed, OUTPUT);
  pinMode(LeftMotorSpeed, OUTPUT);
  pinMode(RightMotorDir, OUTPUT);
  pinMode(LeftMotorDir, OUTPUT);
  digitalWrite(RightMotorSpeed, LOW);
  digitalWrite(LeftMotorSpeed, LOW);
  digitalWrite(RightMotorDir, HIGH);
  digitalWrite(LeftMotorDir,HIGH);



    Serial.begin(9600);

    pinMode(enPin,OUTPUT);
    digitalWrite(enPin,LOW);

    pinMode(enPin2,OUTPUT);
    digitalWrite(enPin2,LOW);



  Blynk.begin(auth, ssid, pass);
 }


void loop()
{
  Blynk.run();
}


BLYNK_WRITE(V1)
{
  int x = param[0].asInt();
  int y = param[1].asInt();
  moveControl(x,y); 
}

Here I have defined by 2 Stepper motors as Right and Left and since I am using TB6600 Motor Driver therefore their Pulse and Direction Pins are also Defined. That is the main reason that I am unable to use the Stepper motor Library for the code.

Running the code I see that Both the motors runs fine once for 3 to 5 seconds and the the Blynk Server Disconnects and Reconnects again causing the motors to stop and not creating a real time communication. Some one Please help me create a code for these 2 stepper motors to run at realtime.

I think that Blink.run() causes the server to reconnect and stop the motor.

I also searched for this cause and found that instead of Stepper motor Library I should use AccelStepper Library but that is also not achieved . Please help me with this. Any correct reference is also appreciable. Thanks in advance.