ESP32 Web Server

#include #include const char *ssid = "esp322"; const char *password = "12345678"; AsyncWebServer server(80); #include #define PIN_SCL 21 #define PIN_SDA 17 #define LOX1_ADDRESS 0x30 // address we will assign if dual sensor is present #define LOX2_ADDRESS 0x31 #define LOX3_ADDRESS 0x32 int sensor1,sensor2,sensor3; #define SHT_LOX1 34 // set the pins to shutdown #define SHT_LOX2 36 #define SHT_LOX3 38 #define EEP 3 // silnik #define IN4 5 #define IN3 7 #define IN2 9 #define IN1 11 #define sensor1R 1 // defining the reflective sensors #define sensor2R 6 #define sensor3R 2 #define sensor4R 13 // objects for the vl53l0x VL53L0X lox1; VL53L0X lox2; VL53L0X lox3; // this holds the measurement bool buttonPressed = false; bool button2Pressed = false; bool button3Pressed = false; const char index_html[] PROGMEM = R"rawliteral( ESP32 Web Server

ESP32 Web Server

)rawliteral"; void setID() { // all reset digitalWrite(SHT_LOX1, LOW); digitalWrite(SHT_LOX2, LOW); digitalWrite(SHT_LOX3, LOW); delay(10); // all unreset digitalWrite(SHT_LOX1, HIGH); digitalWrite(SHT_LOX2, HIGH); digitalWrite(SHT_LOX3, HIGH); delay(10); // activating LOX1 and reseting LOX2 digitalWrite(SHT_LOX1, HIGH); digitalWrite(SHT_LOX2, LOW); digitalWrite(SHT_LOX3, LOW); // initing LOX1 lox1.setAddress(LOX1_ADDRESS); if(!lox1.init()) { Serial.println(F("Failed to boot first VL53L0X")); } lox1.setTimeout(50); delay(10); // activating LOX2 digitalWrite(SHT_LOX2, HIGH); delay(10); //initing LOX2 lox2.setAddress(LOX2_ADDRESS); if(!lox2.init()) { Serial.println(F("Failed to boot second VL53L0X")); } lox2.setTimeout(50); // activating LOX3 digitalWrite(SHT_LOX3, HIGH); delay(10); //initing LOX3 lox3.setAddress(LOX3_ADDRESS); if(!lox3.init()) { Serial.println(F("Failed to boot third VL53L0X")); } lox3.setTimeout(50); } int Dyst_LP() { return lox1.readRangeSingleMillimeters(); } int Dyst_PP() { return lox2.readRangeSingleMillimeters(); } int Dyst_T() { return lox3.readRangeSingleMillimeters(); } int Linia_PP() { return analogRead(sensor1R); } int Linia_LP() { return analogRead(sensor2R); } int Linia_LT() { return analogRead(sensor3R); } int Linia_PT() { return analogRead(sensor4R); } void forward() { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void backward() { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void rotate_right(){ digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void rotate_left(){ digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void stop_motors() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); button2Pressed=false; } void stand() { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void stop() { digitalWrite(EEP, LOW); } void start() { digitalWrite(EEP, HIGH); } bool starter=true; void setup() { Wire.begin(PIN_SDA, PIN_SCL); // Serial port for debugging Serial.begin(9600); // Set up the access point WiFi.softAP(ssid, password); Serial.print("Access point started. IP address: "); Serial.println(WiFi.softAPIP()); pinMode(SHT_LOX1, OUTPUT); pinMode(SHT_LOX2, OUTPUT); pinMode(SHT_LOX3, OUTPUT); pinMode(sensor1R, INPUT); pinMode(sensor2R, INPUT); pinMode(sensor3R, INPUT); pinMode(sensor4R, INPUT); pinMode(LED_BUILTIN, OUTPUT); pinMode(EEP, OUTPUT); pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); digitalWrite(EEP, LOW); digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); Serial.println("Shutdown pins inited..."); digitalWrite(SHT_LOX1, LOW); digitalWrite(SHT_LOX2, LOW); digitalWrite(SHT_LOX3, LOW); Serial.println("Both in reset mode...(pins are low)"); Serial.println("Starting..."); setID(); // Serve the main page server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) { request->send_P(200, "text/html", index_html); }); // Send the message over the serial port when the button is pressed server.on("/send", HTTP_GET, [](AsyncWebServerRequest *request) { //if (!buttonPressed) { Serial.println("Button pressed. Message sent."); buttonPressed = true; request->send(200, "text/plain", "Message sent"); //} }); server.on("/send2", HTTP_GET, [](AsyncWebServerRequest *request) { //if (!button2Pressed) { Serial.println("Button2 pressed. Message2 sent."); button2Pressed = true; buttonPressed = false; button3Pressed = false; starter= true; stop_motors(); request->send(200, "text/plain", "Message sent"); //} }); server.on("/send3", HTTP_GET, [](AsyncWebServerRequest *request) { //if (!buttonPressed) { Serial.println("Button3 pressed. Message sent."); button3Pressed = true; request->send(200, "text/plain", "Message sent"); //} }); // Start the server server.begin(); delay(5000); for(int i=0; i <1; i++){ Serial.print("Access point started. IP address: "); Serial.println(WiFi.softAPIP()); delay(2000); } start(); } void odczyty() { static unsigned long lastTime = 0; const long interval = 1000; unsigned long now = millis(); if ( now - lastTime > interval ) { lastTime = now; /* Serial.print("Dyst_LP:"); Serial.println(Dyst_LP()); Serial.print("Dyst_PP:"); Serial.println(Dyst_PP()); Serial.print("Dyst_T:"); Serial.println(Dyst_T()); */ Serial.print("Linia_LP:"); Serial.println(Linia_LP()); Serial.print("Linia_PP:"); Serial.println(Linia_PP()); Serial.print("Linia_LT:"); Serial.println(Linia_LT()); Serial.print("Linia_PT:"); Serial.println(Linia_PT()); } } const unsigned long Delay = 150; unsigned long now = 0; unsigned long LastSeen = 0; bool seen = true; bool seenline = false; void loop() { now = millis(); //odczyty(); if(buttonPressed){ if(starter){ //delay(5000); forward(); starter = false; } bool LineF = Linia_PP() < 6200 || Linia_LP() < 6200; if(LineF && !seenline){ seenline = true; LastSeen = millis(); backward(); return; } bool LineB = Linia_PT() < 6200 || Linia_LT() < 6200; if(LineB && !seenline){ seenline = true; LastSeen = millis(); forward(); return; } if(seen && seenline){ rotate_left(); delay(150); backward(); seen = false; seenline = false; return; } if(seenline && millis() - LastSeen > Delay){ seenline = false; } if(!seenline){ int16_t PP = Dyst_PP(); int16_t LP = Dyst_LP(); //bool SeenF = LP < 500 || PP < 500; bool SeenF = LP < 200 || PP < 200; if(SeenF && !seen){ seen = true; forward(); return; } int16_t T = Dyst_T(); bool SeenB = T < 200; if(SeenB && !seen){ seen = true; backward(); return; } if(!SeenF && !SeenB && seen){ seen = false; rotate_right(); return; } } } if(button3Pressed){ if(starter){ forward(); starter = false; return; } bool LineF = Linia_PP() < 6200 || Linia_LP() < 6200; if(LineF && !starter){ rotate_right(); delay(450); starter = true; return; } } }