WiFiCar

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How To Make A Wi-Fi Car Using NodeMCU esp8266 | Mobile Phone Controlled Car | PROKNOW

Smartphone controlled WiFi car | esp32 | Mecanum wheels

安裝ESP32開發板環境

檔案 > 偏好設定 > 額外開發板管理員 >

輸入https://dl.espressif.com/dl/package_esp32_index.json

code for WiFi car | esp32 | Mecanum wheels

#include <Arduino.h>

#ifdef ESP32

#include <WiFi.h>

#include <AsyncTCP.h>

#elif defined(ESP8266)

#include <ESP8266WiFi.h>

#include <ESPAsyncTCP.h>

#endif

#include <ESPAsyncWebServer.h>

#define UP 1

#define DOWN 2

#define LEFT 3

#define RIGHT 4

#define UP_LEFT 5

#define UP_RIGHT 6

#define DOWN_LEFT 7

#define DOWN_RIGHT 8

#define TURN_LEFT 9

#define TURN_RIGHT 10

#define STOP 0

#define FRONT_RIGHT_MOTOR 0

#define BACK_RIGHT_MOTOR 1

#define FRONT_LEFT_MOTOR 2

#define BACK_LEFT_MOTOR 3

#define FORWARD 1

#define BACKWARD -1

struct MOTOR_PINS {

int pinIN1;

int pinIN2;

};

std::vector<MOTOR_PINS> motorPins = {

{ 16, 17 }, //FRONT_RIGHT_MOTOR

{ 18, 19 }, //BACK_RIGHT_MOTOR

{ 27, 26 }, //FRONT_LEFT_MOTOR

{ 25, 33 }, //BACK_LEFT_MOTOR

};

const char *ssid = "MyWiFiCar";

const char *password = "12345678";

AsyncWebServer server(80);

AsyncWebSocket ws("/ws");

const char *htmlHomePage PROGMEM = R"HTMLHOMEPAGE(

<!DOCTYPE html>

<html>

<head>

<style>

.arrows {

font-size:70px;

color:red;

}

.circularArrows {

font-size:80px;

color:blue;

}

td {

background-color:black;

border-radius:25%;

box-shadow: 5px 5px #888888;

}

td:active {

transform: translate(5px,5px);

box-shadow: none;

}

.noselect {

-webkit-touch-callout: none; /* iOS Safari */

-webkit-user-select: none; /* Safari */

-khtml-user-select: none; /* Konqueror HTML */

-moz-user-select: none; /* Firefox */

-ms-user-select: none; /* Internet Explorer/Edge */

user-select: none; /* Non-prefixed version, currently

supported by Chrome and Opera */

}

</style>

</head>

<h1 style="color: teal;text-align:center;">Hash Include Electronics</h1>

<h2 style="color: teal;text-align:center;">Wi-Fi 🚗 Control</h2>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

</table>

var webSocketUrl = "ws:\/\/" + window.location.hostname + "/ws";

var websocket;

function initWebSocket()

{

websocket = new WebSocket(webSocketUrl);

websocket.onopen = function(event){};

websocket.onclose = function(event){setTimeout(initWebSocket, 2000);};

websocket.onmessage = function(event){};

}

function onTouchStartAndEnd(value)

{

websocket.send(value);

}

window.onload = initWebSocket;

document.getElementById("mainTable").addEventListener("touchend", function(event){

event.preventDefault()

});

</script>

</body>

</html>

)HTMLHOMEPAGE";

void rotateMotor(int motorNumber, int motorDirection) {

if (motorDirection == FORWARD) {

digitalWrite(motorPins[motorNumber].pinIN1, HIGH);

digitalWrite(motorPins[motorNumber].pinIN2, LOW);

} else if (motorDirection == BACKWARD) {

digitalWrite(motorPins[motorNumber].pinIN1, LOW);

digitalWrite(motorPins[motorNumber].pinIN2, HIGH);

} else {

digitalWrite(motorPins[motorNumber].pinIN1, LOW);

digitalWrite(motorPins[motorNumber].pinIN2, LOW);

}

void processCarMovement(String inputValue) {

Serial.printf("Got value as %s %d\n", inputValue.c_str(), inputValue.toInt());

switch (inputValue.toInt()) {

case UP:

rotateMotor(FRONT_RIGHT_MOTOR, FORWARD);

rotateMotor(BACK_RIGHT_MOTOR, FORWARD);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case DOWN:

rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD);

rotateMotor(BACK_RIGHT_MOTOR, BACKWARD);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, FORWARD);

rotateMotor(BACK_RIGHT_MOTOR, BACKWARD);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD);

rotateMotor(BACK_RIGHT_MOTOR, FORWARD);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case UP_LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, FORWARD);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case UP_RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, FORWARD);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

case DOWN_LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, BACKWARD);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

case DOWN_RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case TURN_LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, FORWARD);

rotateMotor(BACK_RIGHT_MOTOR, FORWARD);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case TURN_RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD);

rotateMotor(BACK_RIGHT_MOTOR, BACKWARD);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case STOP:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

default:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

}

void handleRoot(AsyncWebServerRequest *request) {

request->send_P(200, "text/html", htmlHomePage);

}

void handleNotFound(AsyncWebServerRequest *request) {

request->send(404, "text/plain", "File Not Found");

}

void onWebSocketEvent(AsyncWebSocket *server,

AsyncWebSocketClient *client,

AwsEventType type,

void *arg,

uint8_t *data,

size_t len) {

switch (type) {

case WS_EVT_CONNECT:

Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());

//client->text(getRelayPinsStatusJson(ALL_RELAY_PINS_INDEX));

break;

case WS_EVT_DISCONNECT:

Serial.printf("WebSocket client #%u disconnected\n", client->id());

processCarMovement("0");

break;

case WS_EVT_DATA:

AwsFrameInfo *info;

info = (AwsFrameInfo *)arg;

if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) {

std::string myData = "";

myData.assign((char *)data, len);

processCarMovement(myData.c_str());

}

break;

case WS_EVT_PONG:

case WS_EVT_ERROR:

break;

default:

break;

}

void setUpPinModes() {

for (int i = 0; i < motorPins.size(); i++) {

pinMode(motorPins[i].pinIN1, OUTPUT);

pinMode(motorPins[i].pinIN2, OUTPUT);

rotateMotor(i, STOP);

}

void setup(void) {

setUpPinModes();

Serial.begin(115200);

WiFi.softAP(ssid, password);

IPAddress IP = WiFi.softAPIP();

Serial.print("AP IP address: ");

Serial.println(IP);

server.on("/", HTTP_GET, handleRoot);

server.onNotFound(handleNotFound);

ws.onEvent(onWebSocketEvent);

server.addHandler(&ws);

server.begin();

Serial.println("HTTP server started");

}

void loop() {

ws.cleanupClients();

}

WIFI_car_ESP32_forklift_V1(推高機)

#include <Arduino.h>

#ifdef ESP32

#include <WiFi.h>

#include <AsyncTCP.h>

#elif defined(ESP8266)

#include <ESP8266WiFi.h>

#include <ESPAsyncTCP.h>

#endif

#include <ESPAsyncWebServer.h>

#define UP 1

#define DOWN 2

#define LEFT 3

#define RIGHT 4

#define UP_LEFT 5

#define UP_RIGHT 6

#define DOWN_LEFT 7

#define DOWN_RIGHT 8

#define TURN_LEFT 9

#define TURN_RIGHT 10

#define STOP 0

#define FRONT_RIGHT_MOTOR 0

#define BACK_RIGHT_MOTOR 1

#define FRONT_LEFT_MOTOR 2

#define BACK_LEFT_MOTOR 3

#define FORWARD 1

#define BACKWARD -1

struct MOTOR_PINS

{

int pinIN1;

int pinIN2;

};

std::vector<MOTOR_PINS> motorPins =

{

{16, 17}, // 推高機連桿

{18, 19}, //

{27, 26}, // 右側輪子

{25, 33}, // 左側輪子

};

const char* ssid = "MyWiFiCar";

const char* password = "12345678";

AsyncWebServer server(80);

AsyncWebSocket ws("/ws");

const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(

<!DOCTYPE html>

<html>

<head>

<style>

.arrows {

font-size:70px;

color:red;

}

.circularArrows {

font-size:80px;

color:blue;

}

td {

background-color:black;

border-radius:25%;

box-shadow: 5px 5px #888888;

}

td:active {

transform: translate(5px,5px);

box-shadow: none;

}

.noselect {

-webkit-touch-callout: none; /* iOS Safari */

-webkit-user-select: none; /* Safari */

-khtml-user-select: none; /* Konqueror HTML */

-moz-user-select: none; /* Firefox */

-ms-user-select: none; /* Internet Explorer/Edge */

user-select: none; /* Non-prefixed version, currently

supported by Chrome and Opera */

}

</style>

</head>

<h1 style="color: teal;text-align:center;">FORKLIFT BY WU</h1>

<h2 style="color: teal;text-align:center;">Wi-Fi 🚗 Control</h2>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

</tr>

</table>

var webSocketUrl = "ws:\/\/" + window.location.hostname + "/ws";

var websocket;

function initWebSocket()

{

websocket = new WebSocket(webSocketUrl);

websocket.onopen = function(event){};

websocket.onclose = function(event){setTimeout(initWebSocket, 2000);};

websocket.onmessage = function(event){};

}

function onTouchStartAndEnd(value)

{

websocket.send(value);

}

window.onload = initWebSocket;

document.getElementById("mainTable").addEventListener("touchend", function(event){

event.preventDefault()

});

</script>

</body>

</html>

)HTMLHOMEPAGE";

void rotateMotor(int motorNumber, int motorDirection)

{

if (motorDirection == FORWARD)

{

digitalWrite(motorPins[motorNumber].pinIN1, HIGH);

digitalWrite(motorPins[motorNumber].pinIN2, LOW);

}

else if (motorDirection == BACKWARD)

{

digitalWrite(motorPins[motorNumber].pinIN1, LOW);

digitalWrite(motorPins[motorNumber].pinIN2, HIGH);

}

else

{

digitalWrite(motorPins[motorNumber].pinIN1, LOW);

digitalWrite(motorPins[motorNumber].pinIN2, LOW);

}

void processCarMovement(String inputValue)

{

Serial.printf("Got value as %s %d\n", inputValue.c_str(), inputValue.toInt());

switch(inputValue.toInt())

{

case UP:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case DOWN:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, BACKWARD);

rotateMotor(BACK_LEFT_MOTOR, FORWARD);

break;

case RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, FORWARD);

rotateMotor(BACK_LEFT_MOTOR, BACKWARD);

break;

case TURN_LEFT:

rotateMotor(FRONT_RIGHT_MOTOR, FORWARD);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

case TURN_RIGHT:

rotateMotor(FRONT_RIGHT_MOTOR, BACKWARD);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

case STOP:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

default:

rotateMotor(FRONT_RIGHT_MOTOR, STOP);

rotateMotor(BACK_RIGHT_MOTOR, STOP);

rotateMotor(FRONT_LEFT_MOTOR, STOP);

rotateMotor(BACK_LEFT_MOTOR, STOP);

break;

}

void handleRoot(AsyncWebServerRequest *request)

{

request->send_P(200, "text/html", htmlHomePage);

}

void handleNotFound(AsyncWebServerRequest *request)

{

request->send(404, "text/plain", "File Not Found");

}

void onWebSocketEvent(AsyncWebSocket *server,

AsyncWebSocketClient *client,

AwsEventType type,

void *arg,

uint8_t *data,

size_t len)

{

switch (type)

{

case WS_EVT_CONNECT:

Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());

//client->text(getRelayPinsStatusJson(ALL_RELAY_PINS_INDEX));

break;

case WS_EVT_DISCONNECT:

Serial.printf("WebSocket client #%u disconnected\n", client->id());

processCarMovement("0");

break;

case WS_EVT_DATA:

AwsFrameInfo *info;

info = (AwsFrameInfo*)arg;

if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)

{

std::string myData = "";

myData.assign((char *)data, len);

processCarMovement(myData.c_str());

}

break;

case WS_EVT_PONG:

case WS_EVT_ERROR:

break;

default:

break;

}

void setUpPinModes()

{

for (int i = 0; i < motorPins.size(); i++)

{

pinMode(motorPins[i].pinIN1, OUTPUT);

pinMode(motorPins[i].pinIN2, OUTPUT);

rotateMotor(i, STOP);

}

void setup(void)

{

setUpPinModes();

Serial.begin(115200);

WiFi.softAP(ssid, password);

IPAddress IP = WiFi.softAPIP();

Serial.print("AP IP address: ");

Serial.println(IP);

server.on("/", HTTP_GET, handleRoot);

server.onNotFound(handleNotFound);

ws.onEvent(onWebSocketEvent);

server.addHandler(&ws);

server.begin();

Serial.println("HTTP server started");

}

void loop()

{

ws.cleanupClients();

}