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mobile_robot.ino
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mobile_robot.ino
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#include <ESP8266WiFi.h>
#define EN1 D6 // Enable PIN to control speed
#define EN2 D7
const char* ssid = "rpi50";
const char* password = "OC270000";
WiFiClient client;
WiFiServer server(80);
String data = "";
int LS=0;
int RS=0;
void setup() {
Serial.begin(115200);
pinMode(EN1, OUTPUT);
pinMode(EN2,OUTPUT);
// Connect to WiFi network
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("WiFi connected");
// Start the server
server.begin();
Serial.println("Server started");
// Print the IP address
Serial.print("Use this URL to connect: ");
Serial.print("http://");
Serial.print(WiFi.localIP());
Serial.println("/");
}
String checkClient (void)
{
while (!client.available())
delay(1);
String request = client.readStringUntil('\r');
Serial.println(request);
client.flush();
return request;
}
void loop() {
client = server.available();
if (!client) {
return;
}
data = checkClient ();
if(data.indexOf('L')!=-1)
LS=(data.substring(data.indexOf('L')+1,data.indexOf('&'))).toInt();
if(data.indexOf('R')!=-1)
RS=(data.substring(data.indexOf('R')+1,data.indexOf('&'))).toInt();
LS=LS-(LS%100);
RS=RS-(RS%100);
analogWrite(EN1,LS);
analogWrite(EN2,RS);
Serial.println(RS);
Serial.println(data);
client.println("HTTP/1.1 200 OK");
delay(1);
data="";
}