ESP32 Robot Car-Dabble Gamepad Control

/*

  Gamepad module provides three different mode namely Digital, JoyStick and Accerleometer.

  You can reduce the size of library compiled by enabling only those modules that you want to

  use. For this first define CUSTOM_SETTINGS followed by defining INCLUDE_modulename.

  Explore more on: https://thestempedia.com/docs/dabble/game-pad-module/

*/

#define CUSTOM_SETTINGS

#define INCLUDE_GAMEPAD_MODULE

#include <DabbleESP32.h>

int enableleftPin = 25; // EN1 on L298N

int motorleftPin1 = 32; // IN1 on L298N

int motorleftPin2 = 12; // IN2 on L298N

//Assign pins for right motor

int enablerightPin = 33; // EN2 on L298N

int motorrightPin1 = 18; // IN3 on L298N

int motorrightPin2 = 4; // IN4 on L298N

int distance=0;

#include <NewPing.h>

#define TRIGGER_PIN  15  // Arduino pin tied to trigger pin on the ultrasonic sensor.

#define ECHO_PIN      2  // Arduino pin tied to echo pin on the ultrasonic sensor.

#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

void setup() {

 // put your setup code here, to run once:

 Serial.begin(115200);      // make sure your Serial Monitor is also set at this baud rate.

 Dabble.begin("JonathansEsp32");       //set bluetooth name of your device

 pinMode(motorleftPin1, OUTPUT);

 pinMode(motorleftPin2, OUTPUT);

 pinMode(enableleftPin, OUTPUT);

 pinMode(motorrightPin1, OUTPUT);

 pinMode(motorrightPin2, OUTPUT);

 pinMode(enablerightPin, OUTPUT);

 analogWrite(enableleftPin,255); // 150 is a medium speed

 analogWrite(enablerightPin,255);

}

void loop() {

 delay(50);                     // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.

 Dabble.processInput();             //this function is used to refresh data obtained from smartphone.Hence calling this function is mandatory in order to get data properly from your mobile.

 Serial.print("KeyPressed: ");

 if (GamePad.isUpPressed())

 {

   Serial.print("Up");

   forward();

   if (sonar.ping_cm()< 10)

   {

   reverse();

   delay(300);

   right();

   delay(500);

   }

 }

 else if (GamePad.isDownPressed())

 {

   Serial.print("Down");

   reverse();

 }

 else if (GamePad.isLeftPressed())

 {

   Serial.print("Left");

   left();

 }

 else if (GamePad.isRightPressed())

 {

   Serial.print("Right");

   right();

 }

 else {

   stop();

 }

}

void left()

{

 digitalWrite( motorleftPin1, HIGH);

 digitalWrite( motorleftPin2, LOW);

 digitalWrite( motorrightPin1, LOW);

 digitalWrite( motorrightPin2, HIGH);

}

void right()

{

 digitalWrite( motorleftPin1, LOW);

 digitalWrite( motorleftPin2, HIGH);

  digitalWrite( motorrightPin1, HIGH);

 digitalWrite( motorrightPin2, LOW);

}

void forward()

{

 digitalWrite( motorleftPin1, HIGH);

 digitalWrite( motorleftPin2, LOW);

  digitalWrite( motorrightPin1, HIGH);

 digitalWrite( motorrightPin2, LOW);

}

void reverse()

{

 digitalWrite( motorleftPin1, LOW);

 digitalWrite( motorleftPin2, HIGH);

  digitalWrite( motorrightPin1, LOW);

 digitalWrite( motorrightPin2, HIGH);

}

void stop()

{

 digitalWrite( motorleftPin1, HIGH);

 digitalWrite( motorleftPin2, HIGH);

  digitalWrite( motorrightPin1, HIGH);

 digitalWrite( motorrightPin2, HIGH);

}