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();
 }