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robot.ino
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robot.ino
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#include <analogWrite.h>
//for moileApp
#define BLYNK_PRINT Serial
#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "RCFcE-uKKilfY_dMjUVYI9Ffb8XAfBYs";
// Your WiFi credentials.
// Set password to "" for open networks.
char ssid[] = "Eslam";
char pass[] = "20302030";
//for ultrasonic
#define ULTRASONIC_TRIG_PIN 33 // pin TRIG
#define ULTRASONIC_ECHO_PIN 32 // pin ECHO
long duration, distance;
// pin values for mobile app
int pinValue1=0;
int pinValue2=0;
int pinValue3=0;
int pinValue4=0;
int selfDrivingModeButton=0;
int hardTurningModeButton=0;
// Motor A
int motor1Pin1 = 27;
int motor1Pin2 = 26;
int enable1Pin = 14;
// Motor B
int motor2Pin1 = 21;
int motor2Pin2 = 19;
int enable1Pin2 = 18;
const int ledPin = 5;
// Setting PWM properties
const int freq = 30000;
const int pwmChannel = 0;
const int resolution = 8;
int dutyCycle = 170;
void setup() {
// sets the pins as outputs:
Blynk.begin(auth, ssid, pass);
//for ultrasonic
pinMode(ULTRASONIC_TRIG_PIN, OUTPUT);
pinMode(ULTRASONIC_ECHO_PIN, INPUT);
pinMode (ledPin, OUTPUT);
//setup motorA pins
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(enable1Pin, OUTPUT);
//setup motorB pins
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(enable1Pin2, OUTPUT);
// configure pwm for motor
ledcSetup(pwmChannel, freq, resolution);
// attach the channel to the GPIO to be controlled
ledcAttachPin(enable1Pin, pwmChannel);
ledcAttachPin(enable1Pin2, pwmChannel);
Serial.begin(115200);
}
void loop() {
//For Ultrasonic
digitalWrite(ULTRASONIC_TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(ULTRASONIC_TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(ULTRASONIC_TRIG_PIN, LOW);
duration = pulseIn(ULTRASONIC_ECHO_PIN, HIGH);
distance = (duration/2) / 29.1;
Serial.print(distance);
Serial.println(" cm");
if (selfDrivingModeButton == 1) {
checkdistance();
}
//For Mobileapp
Blynk.run();
}
// this function stops the robot when distance <=23 and then make it go backword then turn right then procced forward when distance >23
void checkdistance(){
if (distance<=23){
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
delay(2000);
//Go backword for 1.5 seconds
backword();
delay(1500);
//stop for 1.5 seconds
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
delay(1500);
// consider changing this part to somthing that have the abality to determin to turn left or wright
// maybe two IR sensors one at the right and the other on the left?
//Turn right for one second
right();
delay(1000);
//stop for 1.5 seconds
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
delay(1500);
}
else{
forward();
}
}
void forward()
{
analogWrite(enable1Pin,dutyCycle);
analogWrite(enable1Pin2,dutyCycle);
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
}
void backword()
{
analogWrite(enable1Pin,dutyCycle);
analogWrite(enable1Pin2,dutyCycle);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
}
void right()
{
if ((distance<=23 && selfDrivingModeButton==1) || hardTurningModeButton ==1){
analogWrite(enable1Pin,dutyCycle);
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin2, LOW);
}
else{
analogWrite(enable1Pin,dutyCycle);
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor2Pin1, LOW);
analogWrite(enable1Pin2,dutyCycle-35);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin2, HIGH);
}
}
void left()
{
if ((distance<=23 && selfDrivingModeButton==1) || hardTurningModeButton ==1){
analogWrite(enable1Pin,dutyCycle);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin2, HIGH);
}
else{
analogWrite(enable1Pin,dutyCycle-35);
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor2Pin1, LOW);
analogWrite(enable1Pin2,dutyCycle);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin2, HIGH);
}
}
void stopp(int pin1, int pin2, int pin3, int pin4)
{
if (pin1==0 && pin2==0 && pin3==0 && pin4==0){
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin2, LOW);
}
}
//Forward Button
BLYNK_WRITE(V1) {
pinValue1 = param.asInt(); // Assigning incoming value from pin V1 to a variable
if (selfDrivingModeButton==0){
if (pinValue1 == 1) {
forward();
}
else{
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
}
}
}
//Backward Button
BLYNK_WRITE(V2) {
pinValue2 = param.asInt(); // Assigning incoming value from pin V2 to a variable
if (selfDrivingModeButton==0){
if (pinValue2 == 1) {
backword();
}
else{
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
}
}
}
//Right Button
BLYNK_WRITE(V3) {
pinValue3 = param.asInt(); // Assigning incoming value from pin V3 to a variable
if (selfDrivingModeButton==0){
if (pinValue3 == 1) {
right();
}
else{
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
}
}
}
//Left Button
BLYNK_WRITE(V4) {
pinValue4 = param.asInt(); // Assigning incoming value from pin V4 to a
if (selfDrivingModeButton==0){
if (pinValue4 == 1) {
left();
}
else{
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
}
}
}
//Speed control slider
BLYNK_WRITE(V6){
int value = param.asInt();
dutyCycle = value;
}
// Self driving mode button
BLYNK_WRITE(V5) {
selfDrivingModeButton = param.asInt(); // Assigning incoming value from pin V5 to a variable
if (selfDrivingModeButton == 1) {
digitalWrite(ledPin, HIGH); // Turn LED on.
checkdistance();
} else {
digitalWrite(ledPin, LOW); // Turn LED off.
stopp(pinValue1,pinValue2,pinValue3,pinValue4);
}
}
// Hard right or left turning mode button
BLYNK_WRITE(V7) {
hardTurningModeButton = param.asInt(); // Assigning incoming value from pin V7 to a variable
}