Lecture
藍牙遙控機器人實作

23 Feb 2023 • 張家豪
This project is to implement a bluetooth remote controlled robotcar.
藍牙遙控機器人

應用功能說明

Bluetooth remote control App
two-wheel robocar
設計考量與相關技術

系統設計考量：
操作方式:WebUI
移動方式:兩輪
供電方式:鋰電池 3.7V x2
聯網方式:藍牙
所需相關技術：
WiFi
Arduino程式設計
所需相關套件:
系統方塊圖

成果展示

程式碼

// PWM to DRV8833 dual H-bridge motor driver, PWM freq. = 1000 Hz
// ESP32 Webserver to receive commands to control RoboCar

#include <WiFi.h>
#include <WebServer.h>
#include <ESP32MotorControl.h> 

// DRV8833 pin connection
#define IN1pin 16  
#define IN2pin 17 
#define IN3pin 18 
#define IN4pin 19

#define motorR 0
#define motorL 1
#define FULLSPEED 100
#define HALFSPEED 50

ESP32MotorControl motor;


/* Set these to your desired credentials. */
const char *ssid = "Your_SSID";
const char *password = "Your_Password";

WebServer server(80); // Set web server port number to 80

const String HTTP_PAGE_HEAD = "<!DOCTYPE html><html lang=\"en\"><head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1, user-scalable=no\"/><title>{v}</title>";
const String HTTP_PAGE_STYLE = "<style>.c{text-align: center;} div,input{padding:5px;font-size:1em;}  input{width:90%;}  body{text-align: center;font-family:verdana;} button{border:0;border-radius:0.6rem;background-color:#1fb3ec;color:#fdd;line-height:2.4rem;font-size:1.2rem;width:100%;} .q{float: right;width: 64px;text-align: right;} .button1 {background-color: #4CAF50;} .button2 {background-color: #008CBA;} .button3 {background-color: #f44336;} .button4 {background-color: #e7e7e7; color: black;} .button5 {background-color: #555555;} </style>";
const String HTTP_PAGE_SCRIPT = "<script>function c(l){document.getElementById('s').value=l.innerText||l.textContent;document.getElementById('p').focus();}</script>";
const String HTTP_PAGE_BODY= "</head><body><div style='text-align:left;display:inline-block;min-width:260px;'>";
const String HTTP_PAGE_FORM = "<form action=\"/cmd1\" method=\"get\"><button class=\"button1\">Forward</button></form></br><form action=\"/cmd2\" method=\"get\"><button class=\"button2\">Backward</button></form></br><form action=\"/cmd3\" method=\"get\"><button class=\"button3\">Right</button></form></br><form action=\"/cmd4\" method=\"get\"><button class=\"button4\">Left</button></form></br><form action=\"/cmd5\" method=\"get\"><button class=\"button5\">Stop</button></form></br></div>";
const String HTTP_WEBPAGE = HTTP_PAGE_HEAD + HTTP_PAGE_STYLE + HTTP_PAGE_SCRIPT + HTTP_PAGE_BODY + HTTP_PAGE_FORM;
const String HTTP_PAGE_END = "</div></body></html>";

// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0; 
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;

int speed = HALFSPEED;

void handleRoot() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;
  server.send(200, "text/html", s);
}

void cmd1() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;  
  server.send(200, "text/html", s);
  motor.motorForward(motorR, speed);  
  motor.motorForward(motorL, speed);
  Serial.println("Move Forward");   
}

void cmd2() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;  
  server.send(200, "text/html", s);
  motor.motorReverse(motorR, speed);
  motor.motorReverse(motorL, speed);
  Serial.println("Move Backward");     
}

void cmd3() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;  
  server.send(200, "text/html", s);
  motor.motorReverse(motorR, speed);  
  motor.motorForward(motorL, speed);
  Serial.println("Turn Right");    
}

void cmd4() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;  
  server.send(200, "text/html", s);
  motor.motorForward(motorR, speed);
  motor.motorReverse(motorL, speed);
  Serial.println("Turn Left"); 
}

void cmd5() {
  String s  = HTTP_WEBPAGE; 
  s += HTTP_PAGE_END;  
  server.send(200, "text/html", s);
  motor.motorStop(motorR);
  motor.motorStop(motorL);
  Serial.println("Motor Stop");
}

void setup() {
  Serial.begin(115200);
  Serial.println("Motor Pins assigned...");
  motor.attachMotors(IN1pin, IN2pin, IN3pin, IN4pin);
  
  // Connect to Wi-Fi network with SSID and password
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address and start web server
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

  server.on("/", handleRoot);
  server.on("/cmd1", cmd1);
  server.on("/cmd2", cmd2);
  server.on("/cmd3", cmd3);
  server.on("/cmd4", cmd4);  
  server.on("/cmd5", cmd5);  

  Serial.println("HTTP server started");
  server.begin();

  motor.motorStop(motorR);
  motor.motorStop(motorL);
}

void loop() {
  server.handleClient();
}
This site was last updated June 05, 2023.