wifi car

2026-08-13 13:04:44 +02:00
parent aa76c1b274
commit d77e7f49e0
1 changed files with 554 additions and 0 deletions
@@ -0,0 +1,554 @@
+/*
+ * Simple car controlled by any wifi device with browser.
+ * Nodemcu with L293D driver and 6V battery pack. 
+ * Nodemcu will act as AccessPoint.
+ * After connecting to AP, open 192.168.4.1
+ * 
+ */
+
+#include <ESP8266WiFi.h>
+#include <ESP8266WebServer.h>
+
+#define IN1 D1  // left motor
+#define IN2 D2  // left motor
+#define IN3 D5  // right motor
+#define IN4 D6  // right motor
+
+const char* ssid = "RobotV1";
+const char* password = "12345678";
+
+ESP8266WebServer server(80);
+
+
+// =============================
+// Motor control
+// =============================
+
+void leftForward() {
+  digitalWrite(IN1, HIGH);
+  digitalWrite(IN2, LOW);
+}
+
+void leftBackward() {
+  digitalWrite(IN1, LOW);
+  digitalWrite(IN2, HIGH);
+}
+
+void rightForward() {
+  digitalWrite(IN3, HIGH);
+  digitalWrite(IN4, LOW);
+}
+
+void rightBackward() {
+  digitalWrite(IN3, LOW);
+  digitalWrite(IN4, HIGH);
+}
+
+void stopRobot() {
+  digitalWrite(IN1, LOW);
+  digitalWrite(IN2, LOW);
+  digitalWrite(IN3, LOW);
+  digitalWrite(IN4, LOW);
+}
+
+
+// =============================
+// Drive
+// =============================
+
+void drive(int left, int right) {
+
+  // Left motor
+  if (left > 0) {
+    leftForward();
+  }
+  else if (left < 0) {
+    leftBackward();
+  }
+  else {
+    digitalWrite(IN1, LOW);
+    digitalWrite(IN2, LOW);
+  }
+
+  // Right motor
+  if (right > 0) {
+    rightForward();
+  }
+  else if (right < 0) {
+    rightBackward();
+  }
+  else {
+    digitalWrite(IN3, LOW);
+    digitalWrite(IN4, LOW);
+  }
+}
+
+
+// =============================
+// Web page
+// =============================
+
+const char webpage[] PROGMEM = R"rawliteral(
+
+<!DOCTYPE html>
+
+<html>
+
+<head>
+
+<meta name="viewport"
+      content="width=device-width,
+               initial-scale=1.0,
+               maximum-scale=1.0,
+               user-scalable=no">
+
+<title>Robot Control</title>
+
+<style>
+
+body {
+  margin: 0;
+  background: #111;
+  color: white;
+  font-family: Arial;
+  text-align: center;
+  overflow: hidden;
+  touch-action: none;
+}
+
+h2 {
+  margin-top: 25px;
+}
+
+#joystick {
+  width: 280px;
+  height: 280px;
+
+  background: #333;
+
+  border: 3px solid #555;
+  border-radius: 50%;
+
+  margin: 40px auto;
+
+  position: relative;
+
+  touch-action: none;
+}
+
+#stick {
+
+  width: 100px;
+  height: 100px;
+
+  background: #2196F3;
+
+  border-radius: 50%;
+
+  position: absolute;
+
+  left: 90px;
+  top: 90px;
+
+  box-shadow: 0 0 20px #2196F3;
+}
+
+#status {
+  font-size: 20px;
+  color: #aaa;
+}
+
+</style>
+
+</head>
+
+
+<body>
+
+<h2>🤖 Robot</h2>
+
+<div id="joystick">
+
+  <div id="stick"></div>
+
+</div>
+
+<div id="status">
+  STOP
+</div>
+
+
+<script>
+
+const joystick = document.getElementById("joystick");
+const stick = document.getElementById("stick");
+const status = document.getElementById("status");
+
+let active = false;
+
+const center = 140;
+const maxDistance = 90;
+
+
+// --------------------------------
+// Send motor command
+// --------------------------------
+
+function sendCommand(x, y) {
+
+  // Up = positive
+  let forward = -y / maxDistance;
+  let turn = x / maxDistance;
+
+  // Tank steering
+
+  let left = forward + turn;
+  let right = forward - turn;
+
+  // Limit values
+
+  left = Math.max(-1, Math.min(1, left));
+  right = Math.max(-1, Math.min(1, right));
+
+
+  let leftCmd = Math.round(left * 100);
+  let rightCmd = Math.round(right * 100);
+
+
+  fetch(
+    "/drive?left=" +
+    leftCmd +
+    "&right=" +
+    rightCmd
+  );
+
+
+  // Status
+
+  if (Math.abs(leftCmd) < 5 &&
+      Math.abs(rightCmd) < 5) {
+
+    status.innerText = "STOP";
+
+  }
+  else if (forward > 0.3 &&
+           Math.abs(turn) < 0.3) {
+
+    status.innerText = "FORWARD";
+
+  }
+  else if (forward < -0.3 &&
+           Math.abs(turn) < 0.3) {
+
+    status.innerText = "BACKWARD";
+
+  }
+  else if (turn > 0.3) {
+
+    status.innerText = "RIGHT";
+
+  }
+  else if (turn < -0.3) {
+
+    status.innerText = "LEFT";
+
+  }
+  else {
+
+    status.innerText = "DRIVING";
+
+  }
+}
+
+
+// --------------------------------
+// Move joystick
+// --------------------------------
+
+function moveStick(clientX, clientY) {
+
+  const rect = joystick.getBoundingClientRect();
+
+  let x = clientX - rect.left - center;
+  let y = clientY - rect.top - center;
+
+
+  let distance =
+    Math.sqrt(x * x + y * y);
+
+
+  if (distance > maxDistance) {
+
+    x =
+      x / distance *
+      maxDistance;
+
+    y =
+      y / distance *
+      maxDistance;
+  }
+
+
+  stick.style.left =
+    (center - 50 + x) + "px";
+
+  stick.style.top =
+    (center - 50 + y) + "px";
+
+
+  sendCommand(x, y);
+}
+
+
+// --------------------------------
+// Reset joystick
+// --------------------------------
+
+function resetStick() {
+
+  active = false;
+
+
+  stick.style.left = "90px";
+  stick.style.top = "90px";
+
+
+  fetch("/stop");
+
+
+  status.innerText = "STOP";
+}
+
+
+// --------------------------------
+// Touch
+// --------------------------------
+
+joystick.addEventListener(
+  "touchstart",
+  function(e) {
+
+    e.preventDefault();
+
+    active = true;
+
+    const touch = e.touches[0];
+
+    moveStick(
+      touch.clientX,
+      touch.clientY
+    );
+
+  }
+);
+
+
+joystick.addEventListener(
+  "touchmove",
+  function(e) {
+
+    e.preventDefault();
+
+    if (!active)
+      return;
+
+    const touch = e.touches[0];
+
+    moveStick(
+      touch.clientX,
+      touch.clientY
+    );
+
+  }
+);
+
+
+joystick.addEventListener(
+  "touchend",
+  function(e) {
+
+    e.preventDefault();
+
+    resetStick();
+
+  }
+);
+
+
+// --------------------------------
+// Mouse support
+// --------------------------------
+
+joystick.addEventListener(
+  "mousedown",
+  function(e) {
+
+    active = true;
+
+    moveStick(
+      e.clientX,
+      e.clientY
+    );
+
+  }
+);
+
+
+document.addEventListener(
+  "mousemove",
+  function(e) {
+
+    if (active) {
+
+      moveStick(
+        e.clientX,
+        e.clientY
+      );
+
+    }
+
+  }
+);
+
+
+document.addEventListener(
+  "mouseup",
+  function() {
+
+    if (active)
+      resetStick();
+
+  }
+);
+
+</script>
+
+</body>
+
+</html>
+
+)rawliteral";
+
+
+// =============================
+// Web server
+// =============================
+
+void handleRoot() {
+
+  server.send(
+    200,
+    "text/html",
+    webpage
+  );
+
+}
+
+
+void handleDrive() {
+
+  int left =
+    server.arg("left").toInt();
+
+  int right =
+    server.arg("right").toInt();
+
+
+  drive(left, right);
+
+
+  server.send(
+    200,
+    "text/plain",
+    "OK"
+  );
+
+}
+
+
+void handleStop() {
+
+  stopRobot();
+
+  server.send(
+    200,
+    "text/plain",
+    "STOP"
+  );
+
+}
+
+
+// =============================
+// Setup
+// =============================
+
+void setup() {
+
+  Serial.begin(115200);
+
+
+  pinMode(IN1, OUTPUT);
+  pinMode(IN2, OUTPUT);
+
+  pinMode(IN3, OUTPUT);
+  pinMode(IN4, OUTPUT);
+
+
+  stopRobot();
+
+
+  // Create WiFi network
+
+  WiFi.softAP(
+    ssid,
+    password
+  );
+
+
+  Serial.println();
+  Serial.println("Robot WiFi started");
+
+  Serial.print("IP address: ");
+
+  Serial.println(
+    WiFi.softAPIP()
+  );
+
+
+  // Web server routes
+
+  server.on(
+    "/",
+    handleRoot
+  );
+
+  server.on(
+    "/drive",
+    handleDrive
+  );
+
+  server.on(
+    "/stop",
+    handleStop
+  );
+
+
+  server.begin();
+
+  Serial.println(
+    "Web server started"
+  );
+
+}
+
+
+// =============================
+// Main loop
+// =============================
+
+void loop() {
+
+  server.handleClient();
+
+}