WIFI Control Car Arduino Concept | Internet of Things

1#include <ESP8266WiFi.h>
2#include <WiFiClient.h>
3#include <ESP8266WebServer.h>
4//defining  pins
5#define ENR  D1          // Enables  motors Right
6#define ENL  D2          //  Enables motors Left
7#define IN1  D5          // L298N in1 motors Right
8#define  IN2  D6          // L298N in2 motors Right
9#define IN3  D7           // L298N  in3 motors Left
10#define IN4  D8           // L298N in4 motors Left
11String  command;             //String to store web command "state"
12int Speed = 450;         // initial speed 400-1024
13int SpeedDiv = 3;         //value that speed  will be divided by
14
15const char* ssid = "WiFi Car";// wifi ssid name
16ESP8266WebServer  server(80);//server port-80, 80 is http port
17
18void setup() {
19pinMode(ENR,  OUTPUT);//declaring pins as input or output in this case all are outputs
20pinMode(ENL,  OUTPUT);
21pinMode(IN1, OUTPUT);
22pinMode(IN2, OUTPUT);
23pinMode(IN3, OUTPUT);
24pinMode(IN4,  OUTPUT);
25Serial.begin(115200);//establishing serial communication between Arduino  board and pc
26
27// Connecting WiFi
28WiFi.mode(WIFI_AP);//wifi mode set as  wifi access point
29WiFi.softAP("WifiCar", "Password", 1, 0, 1);
30//WiFi.softAP(ssid,  pwd, channel, hidden, max_connection)
31IPAddress myIP = WiFi.softAPIP();
32Serial.print("AP  IP address: ");//prints AP IP..... in serial monitor
33Serial.println(myIP);//ip  address prints in arduino serial monitor
34// Starting WEB-server
35server.on  ( "/", HTTP_handleRoot );
36server.onNotFound ( HTTP_handleRoot );
37server.begin();
38}
39
40void  Forward(){ //function for car forward
41digitalWrite(IN1, LOW);
42//if this is  turned high l298n bridge would switch the polarities(+,-) and motor will turn backward
43digitalWrite(IN2,  HIGH);
44//when this is turned high l298n bridge would switch the polarities(-,+)  and motor will turn forward
45analogWrite(ENR, Speed);//enables l298N right side  according to speed
46
47digitalWrite(IN3, LOW);
48digitalWrite(IN4, HIGH);
49analogWrite(ENL,  Speed);//enables l298N left side according to speed
50}
51
52void Reverse(){  //function for reverse
53digitalWrite(IN1, HIGH);
54digitalWrite(IN2, LOW);
55analogWrite(ENR,  Speed);
56
57digitalWrite(IN3, HIGH);
58digitalWrite(IN4, LOW);
59analogWrite(ENL,  Speed);
60}
61
62void Right(){ //fuction for turning right
63//In this fuction  when left side wheels are going backward the other side of wheel turns 
64//backwards  by doing that it gives the ability to turn in the same place(like in tanks)
65      digitalWrite(IN1, HIGH);
66      digitalWrite(IN2, LOW);
67      analogWrite(ENR,  Speed);
68
69      digitalWrite(IN3, LOW);
70      digitalWrite(IN4, HIGH);
71      analogWrite(ENL, Speed);
72  }
73
74void Left(){//function for turning  left
75//In this fuction when right side wheels are going forward the other side  of wheel turns backwards
76//by doing that it gives the ability to turn in the  same place(like in tanks)
77      digitalWrite(IN1, LOW);
78      digitalWrite(IN2,  HIGH);
79      analogWrite(ENR, Speed);
80
81      digitalWrite(IN3, HIGH);
82      digitalWrite(IN4, LOW);
83      analogWrite(ENL, Speed);
84  }
85
86void  goAheadRight(){//fuction for turning right while moving      
87      digitalWrite(IN1,  LOW);
88      digitalWrite(IN2, HIGH);
89      analogWrite(ENR, Speed/SpeedDiv);
90      //speed get divided by speeddiv and reduces the speed of right side wheels
91  
92      digitalWrite(IN3, LOW);
93      digitalWrite(IN4, HIGH);
94      analogWrite(ENL,  Speed);
95   }
96
97void goAheadLeft(){//fuction for turning left while moving;      
98      digitalWrite(IN1, LOW);
99      digitalWrite(IN2, HIGH);
100      analogWrite(ENR,  Speed);
101
102      digitalWrite(IN3, LOW);
103      digitalWrite(IN4, HIGH);
104      analogWrite(ENL, Speed/SpeedDiv);
105      //speed get divided by speeddiv  and reduces the speed of left side wheels 
106  }
107
108void goBackRight(){ //fuction  for going right while reversing
109      digitalWrite(IN1, HIGH);
110      digitalWrite(IN2,  LOW);
111      analogWrite(ENR, Speed/SpeedDiv);
112
113      digitalWrite(IN3,  HIGH);
114      digitalWrite(IN4, LOW);
115      analogWrite(ENL, Speed);
116  }
117
118void  goBackLeft(){ //fuction for going left while reversing
119      digitalWrite(IN1,  HIGH);
120      digitalWrite(IN2, LOW);
121      analogWrite(ENR, Speed);
122
123      digitalWrite(IN3, HIGH);
124      digitalWrite(IN4, LOW);
125      analogWrite(ENL,  Speed/SpeedDiv);
126  }
127
128void Stop(){  //stop
129      digitalWrite(IN1, LOW);
130      digitalWrite(IN2, LOW);
131      analogWrite(ENR, 0);
132
133      digitalWrite(IN3,  LOW);
134      digitalWrite(IN4, LOW);
135      analogWrite(ENL, 0);
136 }
137
138void  loop() {  
139    server.handleClient();    
140      command = server.arg("State");  //functioning the fuctions according to user input
141      if (command == "F")  Forward(); 
142      else if (command == "B") Reverse();
143      else if (command  == "L") Left();
144      else if (command == "R") Right();
145      else if  (command == "I") goAheadRight();
146      else if (command == "G") goAheadLeft();
147      else if (command == "J") goBackRight();
148      else if (command == "H")  goBackLeft();      
149      else if (command == "1") Speed = 470; 
150      else  if (command == "2") Speed = 540;
151      else if (command == "3") Speed = 680;
152      else if (command == "4") Speed = 750;
153      else if (command == "5")  Speed = 1023;         
154      else if (command == "S") Stop();
155}
156void  HTTP_handleRoot() 
157{
158if(server.hasArg("State"))//when server recives a command
159  {
160       Serial.println(server.arg("State"));//prints present state in arduino  serial monitor
161  }
162  server.send ( 200, "text/html", "" );//getting the  command
163  delay(1);}
164
165