ESP32 Robot- Sensor control with Dabble

Install Dabble Arduino/ESP32 library into Arduino IDE

/*

   Dabble program for proportional control using Ipad acceleration sensors

*/

#define CUSTOM_SETTINGS

#define INCLUDE_SENSOR_MODULE

#include <DabbleESP32.h>

//Assign pins for left motor

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 xaxis=0;

int yaxis=0;

void setup() {

  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);

}

void loop() {

  settings();

  if( xaxis> 120){

  forward(); } else

  {

  reverse();

  }

  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.

}

void settings ()

{

  xaxis= map(Sensor.getAccelerometerXaxis(),-9,9,-255,255);

  yaxis= map(Sensor.getAccelerometerYaxis(), -9,9,-255,255);

  Serial.println(xaxis);

  Serial.println(yaxis);

}

void forward()

{

  analogWrite(enableleftPin, xaxis- yaxis);

  analogWrite(enablerightPin, xaxis+ yaxis);

  digitalWrite( motorleftPin1, HIGH);

  digitalWrite( motorleftPin2, LOW);

  digitalWrite( motorrightPin1, HIGH);

  digitalWrite( motorrightPin2, LOW);

}

void reverse()

{

  analogWrite(enableleftPin, -xaxis - yaxis);

  analogWrite(enablerightPin, -xaxis + yaxis);

  digitalWrite( motorleftPin1, LOW);

  digitalWrite( motorleftPin2, HIGH);

  digitalWrite( motorrightPin1, LOW);

  digitalWrite( motorrightPin2, HIGH);

}