RC Wood Truck, Car (DIY): Arduino + ESP32 + MIT App Inventor

Build your own wooden monstertruck around Arduino IDE with Bluetooth control, loudspeaker and lights using an ESP32.

Jan 1, 2021

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1 respects

app inventor

esp32

rc control truck

Components and supplies

ESP32

PAM8302

Stepper Motors

Loudspeaker

Jumper wires (generic)

Tools and machines

Soldering iron (generic)

Solder Wire, Lead Free

Apps and platforms

Arduino IDE

MIT App Inventor

Project description

Code

Arduino Code for Wood RC-Truck

arduino

Arduino Code for Wood RC-Truck

1//By Marco Bobinger - 2020
2//
3/*Pin assignment:
4 * GPIO16: Mute   PM8302 sound card on SD (Shutdown PIN)
5 * GPIO25: DAC (digital-to-analog-converter)   on A+ pin on PM8302
6 * VCC of PM8302 on 3.3V
7 * L298N Micro stepper card:   right wheels on MOTOR A output of L298N
8 * L298N Micro stepper card: LEFT wheels   on MOTOR B output of L298N
9 * Right Motor: see GPIO below
10 * Left motor: see   GPIO below
11 */
12//This example creates a bridge between Serial and Classical   Bluetooth (SPP)
13//and also demonstrate that SerialBT have the same functionalities   of a normal Serial
14/*
15F: Forward : 70
16B: Back : 66
17S: Stop : 83
18L:   Left : 76
19R: Right : 82
20I: Forward right : 73
21J: Back right : 74
22H:   back left : 72
23G: forward left : 71
24u: u-turn : 117
25t: u-turn : 116
26M:   Sound1 77
27N: Sound2 78
28O: Sound3 79
29K: Light off 75
30Z: light on 90
31   */
32#include "BluetoothSerial.h"
33#include "hupen.h"
34#include "XT_DAC_Audio.h"
35int   mutepin = 16;
36XT_Wav_Class hupenclass(hupen);                                  
37XT_DAC_Audio_Class   DacAudio(25,0);
38
39
40#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
41#error   Bluetooth is not enabled! Please run `make menuconfig` to and enable it
42#endif
43
44byte   incoming;
45int counter = 0;
46int lightpin = 15;
47
48//left motor
49int rmotorpinA   = 33; //change to 32
50int rmotorpinB = 32;
51
52//right motor
53int lmotorpinA   = 14; //change to 14
54int lmotorpinB = 27;
55
56BluetoothSerial SerialBT;
57
58void   stop() {
59  digitalWrite(rmotorpinA, LOW);
60  digitalWrite(rmotorpinB, LOW);
61   digitalWrite(lmotorpinA, LOW);
62  digitalWrite(lmotorpinB, LOW); 
63}
64void   setup() {
65  Serial.begin(115200);
66  SerialBT.begin("Lasercut24 - 2912");   //Bluetooth device name
67  Serial.println("The device started, now you can pair   it with bluetooth!");
68//pin settings for digitalwrite GPIO Pins
69pinMode(rmotorpinA,   OUTPUT);
70pinMode(rmotorpinB, OUTPUT);
71pinMode(lmotorpinA, OUTPUT);
72pinMode(lmotorpinB,   OUTPUT);
73pinMode(mutepin, OUTPUT);
74pinMode(lightpin, OUTPUT);
75digitalWrite(mutepin,   LOW);
76}
77
78void loop() {
79  /*
80  if (Serial.available()) {
81    SerialBT.write(Serial.read());
82   }
83  if (SerialBT.available()) {
84    Serial.write(SerialBT.read());
85  }
86   */
87  if (SerialBT.available()) {
88    incoming = SerialBT.read();
89    Serial.println(incoming);
90     counter = 0;
91  }
92      if (incoming == 70)
93  {
94  Serial.println("Driving   forward");
95  SerialBT.println("Forward");
96  digitalWrite(rmotorpinA, LOW);
97   digitalWrite(rmotorpinB, HIGH);
98  digitalWrite(lmotorpinA, LOW);
99  digitalWrite(lmotorpinB,   HIGH);
100  }
101
102  if (incoming == 66)
103  {
104  Serial.println("Driving   back");
105  SerialBT.println("Back");
106  digitalWrite(rmotorpinA, HIGH);
107   digitalWrite(rmotorpinB, LOW);
108  digitalWrite(lmotorpinA, HIGH);
109  digitalWrite(lmotorpinB,   LOW);
110  }
111
112  if (incoming == 83)
113  {
114  Serial.println("Stopping   now");
115  SerialBT.println("Stopping");
116  digitalWrite(rmotorpinA, LOW);
117   digitalWrite(rmotorpinB, LOW);
118  digitalWrite(lmotorpinA, LOW);
119  digitalWrite(lmotorpinB,   LOW);
120  }
121  delay(20);
122
123  if (incoming == 76)
124  {
125  Serial.println("Driving   left");
126  SerialBT.println("Left");
127  digitalWrite(rmotorpinA, LOW);
128   digitalWrite(rmotorpinB, HIGH);
129  digitalWrite(lmotorpinA, LOW);
130  digitalWrite(lmotorpinB,   LOW);
131  }
132  
133if (incoming == 82)
134  {
135  Serial.println("Driving right");
136   SerialBT.println("Right");
137  digitalWrite(rmotorpinA, LOW);
138  digitalWrite(rmotorpinB,   LOW);
139  digitalWrite(lmotorpinA, LOW);
140  digitalWrite(lmotorpinB, HIGH);
141   }
142
143  if (incoming == 73)
144  {
145  Serial.println("Forward right");
146   SerialBT.println("F-Right");
147  if (counter >= 1)
148  {
149  counter = 0;
150   digitalWrite(rmotorpinA, LOW);
151  digitalWrite(rmotorpinB, LOW);
152  delay(100);
153   }
154  else if (counter < 1)
155  {
156  counter = counter + 1;
157  digitalWrite(rmotorpinA,   LOW);
158  digitalWrite(rmotorpinB, HIGH);
159  }
160  digitalWrite(lmotorpinA,   LOW);
161  digitalWrite(lmotorpinB, HIGH);
162  }
163
164  if (incoming == 74)
165   {
166  Serial.println("Back right");
167  SerialBT.println("B-Right");
168   if (counter >= 1)
169  {
170  counter = 0;
171  digitalWrite(rmotorpinA, LOW);
172   digitalWrite(rmotorpinB, LOW);
173  delay(100);
174  }
175  else if (counter <   1)
176  {
177  counter = counter + 1;
178  digitalWrite(rmotorpinA, HIGH);
179  digitalWrite(rmotorpinB,   LOW);
180  }
181  digitalWrite(lmotorpinA, HIGH);
182  digitalWrite(lmotorpinB,   LOW);
183  }
184
185  if (incoming == 72)
186  {
187  Serial.println("Back left");
188   SerialBT.println("B-Left");
189  digitalWrite(rmotorpinA, HIGH);
190  digitalWrite(rmotorpinB,   LOW);
191  if (counter >= 1)
192  {
193  counter = 0;
194  digitalWrite(lmotorpinA,   LOW);
195  digitalWrite(lmotorpinB, LOW);
196  delay(100);
197  }
198  else if (counter   < 1)
199  {
200    counter = counter + 1;
201  digitalWrite(lmotorpinA, HIGH);
202   digitalWrite(lmotorpinB, LOW);
203  }
204  }
205
206  if (incoming == 71)
207   {
208  Serial.println("Forward left");
209  SerialBT.println("F-Left");
210   digitalWrite(rmotorpinA, LOW);
211  digitalWrite(rmotorpinB, HIGH);
212  if (counter   >= 1)
213  {
214  counter = 0;
215  digitalWrite(lmotorpinA, LOW);
216  digitalWrite(lmotorpinB,   LOW);
217  delay(100);
218  }
219  else if (counter < 1)
220  {
221  counter = counter   + 1;
222  digitalWrite(lmotorpinA, LOW);
223  digitalWrite(lmotorpinB, HIGH); 
224   }
225  }
226  
227  if (incoming == 117) // u turn with letter u
228  {
229  SerialBT.println("U-turn");
230   Serial.println("U-turn");
231  digitalWrite(rmotorpinA, LOW);
232  digitalWrite(rmotorpinB,   HIGH);
233  digitalWrite(lmotorpinA, HIGH);
234  digitalWrite(lmotorpinB, LOW);
235   }
236
237  if (incoming == 116) // u turn with letter t
238  {
239  SerialBT.println("U-turn");
240   Serial.println("U-turn");
241  digitalWrite(rmotorpinA, HIGH);
242  digitalWrite(rmotorpinB,   LOW);
243  digitalWrite(lmotorpinA, LOW);
244  digitalWrite(lmotorpinB, HIGH); 
245   }
246  
247  if (incoming == 77) // Play sound 1
248  {
249digitalWrite(mutepin,   HIGH);
250Serial.println("Now Playing Sound 1");
251SerialBT.println("Sound 1");
252DacAudio.FillBuffer();
253if(hupenclass.Playing==false){
254DacAudio.Play(&hupenclass);
255incoming   = 0;
256digitalWrite(mutepin, LOW);  
257  }
258  }
259  
260  if (incoming == 89)
261   {
262  SerialBT.println("Muting");
263  Serial.println("Muting");
264  digitalWrite(mutepin,   LOW);   
265  }
266
267  if (incoming == 90)
268  {
269  SerialBT.println("Light   on");
270  Serial.println("Light on");
271  digitalWrite(lightpin, HIGH);   
272   }
273  if (incoming == 75)
274  {
275  SerialBT.println("Light off");
276  Serial.println("Light   off");
277  digitalWrite(lightpin, LOW);   
278  }
279}

//By Marco Bobinger - 2020
//
/*Pin assignment:
 * GPIO16: Mute   PM8302 sound card on SD (Shutdown PIN)
 * GPIO25: DAC (digital-to-analog-converter)   on A+ pin on PM8302
 * VCC of PM8302 on 3.3V
 * L298N Micro stepper card:   right wheels on MOTOR A output of L298N
 * L298N Micro stepper card: LEFT wheels   on MOTOR B output of L298N
 * Right Motor: see GPIO below
 * Left motor: see   GPIO below
 */
//This example creates a bridge between Serial and Classical   Bluetooth (SPP)
//and also demonstrate that SerialBT have the same functionalities   of a normal Serial
/*
F: Forward : 70
B: Back : 66
S: Stop : 83
L:   Left : 76
R: Right : 82
I: Forward right : 73
J: Back right : 74
H:   back left : 72
G: forward left : 71
u: u-turn : 117
t: u-turn : 116
M:   Sound1 77
N: Sound2 78
O: Sound3 79
K: Light off 75
Z: light on 90
   */
#include "BluetoothSerial.h"
#include "hupen.h"
#include "XT_DAC_Audio.h"
int   mutepin = 16;
XT_Wav_Class hupenclass(hupen);                                  
XT_DAC_Audio_Class   DacAudio(25,0);


#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error   Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif

byte   incoming;
int counter = 0;
int lightpin = 15;

//left motor
int rmotorpinA   = 33; //change to 32
int rmotorpinB = 32;

//right motor
int lmotorpinA   = 14; //change to 14
int lmotorpinB = 27;

BluetoothSerial SerialBT;

void   stop() {
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
   digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW); 
}
void   setup() {
  Serial.begin(115200);
  SerialBT.begin("Lasercut24 - 2912");   //Bluetooth device name
  Serial.println("The device started, now you can pair   it with bluetooth!");
//pin settings for digitalwrite GPIO Pins
pinMode(rmotorpinA,   OUTPUT);
pinMode(rmotorpinB, OUTPUT);
pinMode(lmotorpinA, OUTPUT);
pinMode(lmotorpinB,   OUTPUT);
pinMode(mutepin, OUTPUT);
pinMode(lightpin, OUTPUT);
digitalWrite(mutepin,   LOW);
}

void loop() {
  /*
  if (Serial.available()) {
    SerialBT.write(Serial.read());
   }
  if (SerialBT.available()) {
    Serial.write(SerialBT.read());
  }
   */
  if (SerialBT.available()) {
    incoming = SerialBT.read();
    Serial.println(incoming);
     counter = 0;
  }
      if (incoming == 70)
  {
  Serial.println("Driving   forward");
  SerialBT.println("Forward");
  digitalWrite(rmotorpinA, LOW);
   digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,   HIGH);
  }

  if (incoming == 66)
  {
  Serial.println("Driving   back");
  SerialBT.println("Back");
  digitalWrite(rmotorpinA, HIGH);
   digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB,   LOW);
  }

  if (incoming == 83)
  {
  Serial.println("Stopping   now");
  SerialBT.println("Stopping");
  digitalWrite(rmotorpinA, LOW);
   digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,   LOW);
  }
  delay(20);

  if (incoming == 76)
  {
  Serial.println("Driving   left");
  SerialBT.println("Left");
  digitalWrite(rmotorpinA, LOW);
   digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,   LOW);
  }
  
if (incoming == 82)
  {
  Serial.println("Driving right");
   SerialBT.println("Right");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB,   LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH);
   }

  if (incoming == 73)
  {
  Serial.println("Forward right");
   SerialBT.println("F-Right");
  if (counter >= 1)
  {
  counter = 0;
   digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  delay(100);
   }
  else if (counter < 1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA,   LOW);
  digitalWrite(rmotorpinB, HIGH);
  }
  digitalWrite(lmotorpinA,   LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 74)
   {
  Serial.println("Back right");
  SerialBT.println("B-Right");
   if (counter >= 1)
  {
  counter = 0;
  digitalWrite(rmotorpinA, LOW);
   digitalWrite(rmotorpinB, LOW);
  delay(100);
  }
  else if (counter <   1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,   LOW);
  }
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB,   LOW);
  }

  if (incoming == 72)
  {
  Serial.println("Back left");
   SerialBT.println("B-Left");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,   LOW);
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA,   LOW);
  digitalWrite(lmotorpinB, LOW);
  delay(100);
  }
  else if (counter   < 1)
  {
    counter = counter + 1;
  digitalWrite(lmotorpinA, HIGH);
   digitalWrite(lmotorpinB, LOW);
  }
  }

  if (incoming == 71)
   {
  Serial.println("Forward left");
  SerialBT.println("F-Left");
   digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  if (counter   >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,   LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter   + 1;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
   }
  }
  
  if (incoming == 117) // u turn with letter u
  {
  SerialBT.println("U-turn");
   Serial.println("U-turn");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB,   HIGH);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
   }

  if (incoming == 116) // u turn with letter t
  {
  SerialBT.println("U-turn");
   Serial.println("U-turn");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,   LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
   }
  
  if (incoming == 77) // Play sound 1
  {
digitalWrite(mutepin,   HIGH);
Serial.println("Now Playing Sound 1");
SerialBT.println("Sound 1");
DacAudio.FillBuffer();
if(hupenclass.Playing==false){
DacAudio.Play(&hupenclass);
incoming   = 0;
digitalWrite(mutepin, LOW);  
  }
  }
  
  if (incoming == 89)
   {
  SerialBT.println("Muting");
  Serial.println("Muting");
  digitalWrite(mutepin,   LOW);   
  }

  if (incoming == 90)
  {
  SerialBT.println("Light   on");
  Serial.println("Light on");
  digitalWrite(lightpin, HIGH);   
   }
  if (incoming == 75)
  {
  SerialBT.println("Light off");
  Serial.println("Light   off");
  digitalWrite(lightpin, LOW);   
  }
}

Arduino Code for Wood RC-Truck

arduino

Arduino Code for Wood RC-Truck

1//By Marco Bobinger - 2020
2//
3/*Pin assignment:
4 * GPIO16: Mute  PM8302 sound card on SD (Shutdown PIN)
5 * GPIO25: DAC (digital-to-analog-converter)  on A+ pin on PM8302
6 * VCC of PM8302 on 3.3V
7 * L298N Micro stepper card:  right wheels on MOTOR A output of L298N
8 * L298N Micro stepper card: LEFT wheels  on MOTOR B output of L298N
9 * Right Motor: see GPIO below
10 * Left motor: see  GPIO below
11 */
12//This example creates a bridge between Serial and Classical  Bluetooth (SPP)
13//and also demonstrate that SerialBT have the same functionalities  of a normal Serial
14/*
15F: Forward : 70
16B: Back : 66
17S: Stop : 83
18L:  Left : 76
19R: Right : 82
20I: Forward right : 73
21J: Back right : 74
22H:  back left : 72
23G: forward left : 71
24u: u-turn : 117
25t: u-turn : 116
26M:  Sound1 77
27N: Sound2 78
28O: Sound3 79
29K: Light off 75
30Z: light on 90
31  */
32#include "BluetoothSerial.h"
33#include "hupen.h"
34#include "XT_DAC_Audio.h"
35int  mutepin = 16;
36XT_Wav_Class hupenclass(hupen);                                  
37XT_DAC_Audio_Class  DacAudio(25,0);
38
39
40#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
41#error  Bluetooth is not enabled! Please run `make menuconfig` to and enable it
42#endif
43
44byte  incoming;
45int counter = 0;
46int lightpin = 15;
47
48//left motor
49int rmotorpinA  = 33; //change to 32
50int rmotorpinB = 32;
51
52//right motor
53int lmotorpinA  = 14; //change to 14
54int lmotorpinB = 27;
55
56BluetoothSerial SerialBT;
57
58void  stop() {
59  digitalWrite(rmotorpinA, LOW);
60  digitalWrite(rmotorpinB, LOW);
61  digitalWrite(lmotorpinA, LOW);
62  digitalWrite(lmotorpinB, LOW); 
63}
64void  setup() {
65  Serial.begin(115200);
66  SerialBT.begin("Lasercut24 - 2912");  //Bluetooth device name
67  Serial.println("The device started, now you can pair  it with bluetooth!");
68//pin settings for digitalwrite GPIO Pins
69pinMode(rmotorpinA,  OUTPUT);
70pinMode(rmotorpinB, OUTPUT);
71pinMode(lmotorpinA, OUTPUT);
72pinMode(lmotorpinB,  OUTPUT);
73pinMode(mutepin, OUTPUT);
74pinMode(lightpin, OUTPUT);
75digitalWrite(mutepin,  LOW);
76}
77
78void loop() {
79  /*
80  if (Serial.available()) {
81    SerialBT.write(Serial.read());
82  }
83  if (SerialBT.available()) {
84    Serial.write(SerialBT.read());
85  }
86  */
87  if (SerialBT.available()) {
88    incoming = SerialBT.read();
89    Serial.println(incoming);
90    counter = 0;
91  }
92      if (incoming == 70)
93  {
94  Serial.println("Driving  forward");
95  SerialBT.println("Forward");
96  digitalWrite(rmotorpinA, LOW);
97  digitalWrite(rmotorpinB, HIGH);
98  digitalWrite(lmotorpinA, LOW);
99  digitalWrite(lmotorpinB,  HIGH);
100  }
101
102  if (incoming == 66)
103  {
104  Serial.println("Driving  back");
105  SerialBT.println("Back");
106  digitalWrite(rmotorpinA, HIGH);
107  digitalWrite(rmotorpinB, LOW);
108  digitalWrite(lmotorpinA, HIGH);
109  digitalWrite(lmotorpinB,  LOW);
110  }
111
112  if (incoming == 83)
113  {
114  Serial.println("Stopping  now");
115  SerialBT.println("Stopping");
116  digitalWrite(rmotorpinA, LOW);
117  digitalWrite(rmotorpinB, LOW);
118  digitalWrite(lmotorpinA, LOW);
119  digitalWrite(lmotorpinB,  LOW);
120  }
121  delay(20);
122
123  if (incoming == 76)
124  {
125  Serial.println("Driving  left");
126  SerialBT.println("Left");
127  digitalWrite(rmotorpinA, LOW);
128  digitalWrite(rmotorpinB, HIGH);
129  digitalWrite(lmotorpinA, LOW);
130  digitalWrite(lmotorpinB,  LOW);
131  }
132  
133if (incoming == 82)
134  {
135  Serial.println("Driving right");
136  SerialBT.println("Right");
137  digitalWrite(rmotorpinA, LOW);
138  digitalWrite(rmotorpinB,  LOW);
139  digitalWrite(lmotorpinA, LOW);
140  digitalWrite(lmotorpinB, HIGH);
141  }
142
143  if (incoming == 73)
144  {
145  Serial.println("Forward right");
146  SerialBT.println("F-Right");
147  if (counter >= 1)
148  {
149  counter = 0;
150  digitalWrite(rmotorpinA, LOW);
151  digitalWrite(rmotorpinB, LOW);
152  delay(100);
153  }
154  else if (counter < 1)
155  {
156  counter = counter + 1;
157  digitalWrite(rmotorpinA,  LOW);
158  digitalWrite(rmotorpinB, HIGH);
159  }
160  digitalWrite(lmotorpinA,  LOW);
161  digitalWrite(lmotorpinB, HIGH);
162  }
163
164  if (incoming == 74)
165  {
166  Serial.println("Back right");
167  SerialBT.println("B-Right");
168  if (counter >= 1)
169  {
170  counter = 0;
171  digitalWrite(rmotorpinA, LOW);
172  digitalWrite(rmotorpinB, LOW);
173  delay(100);
174  }
175  else if (counter <  1)
176  {
177  counter = counter + 1;
178  digitalWrite(rmotorpinA, HIGH);
179  digitalWrite(rmotorpinB,  LOW);
180  }
181  digitalWrite(lmotorpinA, HIGH);
182  digitalWrite(lmotorpinB,  LOW);
183  }
184
185  if (incoming == 72)
186  {
187  Serial.println("Back left");
188  SerialBT.println("B-Left");
189  digitalWrite(rmotorpinA, HIGH);
190  digitalWrite(rmotorpinB,  LOW);
191  if (counter >= 1)
192  {
193  counter = 0;
194  digitalWrite(lmotorpinA,  LOW);
195  digitalWrite(lmotorpinB, LOW);
196  delay(100);
197  }
198  else if (counter  < 1)
199  {
200    counter = counter + 1;
201  digitalWrite(lmotorpinA, HIGH);
202  digitalWrite(lmotorpinB, LOW);
203  }
204  }
205
206  if (incoming == 71)
207  {
208  Serial.println("Forward left");
209  SerialBT.println("F-Left");
210  digitalWrite(rmotorpinA, LOW);
211  digitalWrite(rmotorpinB, HIGH);
212  if (counter  >= 1)
213  {
214  counter = 0;
215  digitalWrite(lmotorpinA, LOW);
216  digitalWrite(lmotorpinB,  LOW);
217  delay(100);
218  }
219  else if (counter < 1)
220  {
221  counter = counter  + 1;
222  digitalWrite(lmotorpinA, LOW);
223  digitalWrite(lmotorpinB, HIGH); 
224  }
225  }
226  
227  if (incoming == 117) // u turn with letter u
228  {
229  SerialBT.println("U-turn");
230  Serial.println("U-turn");
231  digitalWrite(rmotorpinA, LOW);
232  digitalWrite(rmotorpinB,  HIGH);
233  digitalWrite(lmotorpinA, HIGH);
234  digitalWrite(lmotorpinB, LOW);
235  }
236
237  if (incoming == 116) // u turn with letter t
238  {
239  SerialBT.println("U-turn");
240  Serial.println("U-turn");
241  digitalWrite(rmotorpinA, HIGH);
242  digitalWrite(rmotorpinB,  LOW);
243  digitalWrite(lmotorpinA, LOW);
244  digitalWrite(lmotorpinB, HIGH); 
245  }
246  
247  if (incoming == 77) // Play sound 1
248  {
249digitalWrite(mutepin,  HIGH);
250Serial.println("Now Playing Sound 1");
251SerialBT.println("Sound 1");
252DacAudio.FillBuffer();
253if(hupenclass.Playing==false){
254DacAudio.Play(&hupenclass);
255incoming  = 0;
256digitalWrite(mutepin, LOW);  
257  }
258  }
259  
260  if (incoming == 89)
261  {
262  SerialBT.println("Muting");
263  Serial.println("Muting");
264  digitalWrite(mutepin,  LOW);   
265  }
266
267  if (incoming == 90)
268  {
269  SerialBT.println("Light  on");
270  Serial.println("Light on");
271  digitalWrite(lightpin, HIGH);   
272  }
273  if (incoming == 75)
274  {
275  SerialBT.println("Light off");
276  Serial.println("Light  off");
277  digitalWrite(lightpin, LOW);   
278  }
279}

//By Marco Bobinger - 2020
//
/*Pin assignment:
 * GPIO16: Mute  PM8302 sound card on SD (Shutdown PIN)
 * GPIO25: DAC (digital-to-analog-converter)  on A+ pin on PM8302
 * VCC of PM8302 on 3.3V
 * L298N Micro stepper card:  right wheels on MOTOR A output of L298N
 * L298N Micro stepper card: LEFT wheels  on MOTOR B output of L298N
 * Right Motor: see GPIO below
 * Left motor: see  GPIO below
 */
//This example creates a bridge between Serial and Classical  Bluetooth (SPP)
//and also demonstrate that SerialBT have the same functionalities  of a normal Serial
/*
F: Forward : 70
B: Back : 66
S: Stop : 83
L:  Left : 76
R: Right : 82
I: Forward right : 73
J: Back right : 74
H:  back left : 72
G: forward left : 71
u: u-turn : 117
t: u-turn : 116
M:  Sound1 77
N: Sound2 78
O: Sound3 79
K: Light off 75
Z: light on 90
  */
#include "BluetoothSerial.h"
#include "hupen.h"
#include "XT_DAC_Audio.h"
int  mutepin = 16;
XT_Wav_Class hupenclass(hupen);                                  
XT_DAC_Audio_Class  DacAudio(25,0);


#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error  Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif

byte  incoming;
int counter = 0;
int lightpin = 15;

//left motor
int rmotorpinA  = 33; //change to 32
int rmotorpinB = 32;

//right motor
int lmotorpinA  = 14; //change to 14
int lmotorpinB = 27;

BluetoothSerial SerialBT;

void  stop() {
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW); 
}
void  setup() {
  Serial.begin(115200);
  SerialBT.begin("Lasercut24 - 2912");  //Bluetooth device name
  Serial.println("The device started, now you can pair  it with bluetooth!");
//pin settings for digitalwrite GPIO Pins
pinMode(rmotorpinA,  OUTPUT);
pinMode(rmotorpinB, OUTPUT);
pinMode(lmotorpinA, OUTPUT);
pinMode(lmotorpinB,  OUTPUT);
pinMode(mutepin, OUTPUT);
pinMode(lightpin, OUTPUT);
digitalWrite(mutepin,  LOW);
}

void loop() {
  /*
  if (Serial.available()) {
    SerialBT.write(Serial.read());
  }
  if (SerialBT.available()) {
    Serial.write(SerialBT.read());
  }
  */
  if (SerialBT.available()) {
    incoming = SerialBT.read();
    Serial.println(incoming);
    counter = 0;
  }
      if (incoming == 70)
  {
  Serial.println("Driving  forward");
  SerialBT.println("Forward");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,  HIGH);
  }

  if (incoming == 66)
  {
  Serial.println("Driving  back");
  SerialBT.println("Back");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB,  LOW);
  }

  if (incoming == 83)
  {
  Serial.println("Stopping  now");
  SerialBT.println("Stopping");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,  LOW);
  }
  delay(20);

  if (incoming == 76)
  {
  Serial.println("Driving  left");
  SerialBT.println("Left");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,  LOW);
  }
  
if (incoming == 82)
  {
  Serial.println("Driving right");
  SerialBT.println("Right");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB,  LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 73)
  {
  Serial.println("Forward right");
  SerialBT.println("F-Right");
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA,  LOW);
  digitalWrite(rmotorpinB, HIGH);
  }
  digitalWrite(lmotorpinA,  LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 74)
  {
  Serial.println("Back right");
  SerialBT.println("B-Right");
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  delay(100);
  }
  else if (counter <  1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,  LOW);
  }
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB,  LOW);
  }

  if (incoming == 72)
  {
  Serial.println("Back left");
  SerialBT.println("B-Left");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,  LOW);
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA,  LOW);
  digitalWrite(lmotorpinB, LOW);
  delay(100);
  }
  else if (counter  < 1)
  {
    counter = counter + 1;
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }
  }

  if (incoming == 71)
  {
  Serial.println("Forward left");
  SerialBT.println("F-Left");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  if (counter  >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB,  LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter  + 1;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
  }
  }
  
  if (incoming == 117) // u turn with letter u
  {
  SerialBT.println("U-turn");
  Serial.println("U-turn");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB,  HIGH);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }

  if (incoming == 116) // u turn with letter t
  {
  SerialBT.println("U-turn");
  Serial.println("U-turn");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB,  LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
  }
  
  if (incoming == 77) // Play sound 1
  {
digitalWrite(mutepin,  HIGH);
Serial.println("Now Playing Sound 1");
SerialBT.println("Sound 1");
DacAudio.FillBuffer();
if(hupenclass.Playing==false){
DacAudio.Play(&hupenclass);
incoming  = 0;
digitalWrite(mutepin, LOW);  
  }
  }
  
  if (incoming == 89)
  {
  SerialBT.println("Muting");
  Serial.println("Muting");
  digitalWrite(mutepin,  LOW);   
  }

  if (incoming == 90)
  {
  SerialBT.println("Light  on");
  Serial.println("Light on");
  digitalWrite(lightpin, HIGH);   
  }
  if (incoming == 75)
  {
  SerialBT.println("Light off");
  Serial.println("Light  off");
  digitalWrite(lightpin, LOW);   
  }
}

Downloadable files

Circuit Schematic for RC Wood Truck

Circuit Schematic for RC Wood Truck - ESP32 Wiring - PAM8302 Wiring - L298N micro board stepper motor card wiring - Loudspeaker connection

Circuit Schematic for RC Wood Truck

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