/*
Arduino RC Car Drift
By Pakorn Rattanaying
https://www.9arduino.com
*/
#include <ESP8266WiFi.h>
#include <WiFiUDP.h>
int status = WL_IDLE_STATUS;
const char* ssid = "9arduino"; // your network SSID (name)
const char* pass = "Pass wifi"; // your network password
unsigned int localPort = 2390; // Port สำหรับการเชื่อมต่อ
byte packetBuffer[512]; //buffer to hold incoming and outgoing packets
// A UDP instance to let us send and receive packets over UDP
WiFiUDP Udp;
int a;
int b;
int c;
int d;
int pw1;
int pw2;
const int pin1 = D1;
const int pin2 = D2;
const int pin3 = D3;
const int pin4 = D4;
const int pwm1 = D5;
const int pwm2 = D6;
void setup()
{
// Open serial communications and wait for port to open:
Serial.begin(115200);
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT);
pinMode(pin4, OUTPUT);
pinMode(pwm1, OUTPUT);
pinMode(pwm2, OUTPUT);
digitalWrite(pin1, HIGH);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, HIGH);
while (!Serial) {
; // wait for serial port to connect. Needed for Leonardo only
}
// setting up Station AP
WiFi.begin(ssid, pass);
// Wait for connect to AP
Serial.print("[Connecting]");
Serial.print(ssid);
int tries=0;
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
tries++;
if (tries > 30){
break;
}
}
Serial.println();
printWifiStatus();
Serial.println("Connected to wifi");
Serial.print("Udp server started at port ");
Serial.println(localPort);
Udp.begin(localPort);
}
void loop()
{
int noBytes = Udp.parsePacket();
if ( noBytes ) {
Serial.print(millis() / 1000);
Serial.print(":Packet of ");
Serial.print(noBytes);
Serial.print(" received from ");
Serial.print(Udp.remoteIP());
Serial.print(":");
Serial.println(Udp.remotePort());
// We've received a packet, read the data from it
Udp.read(packetBuffer,noBytes); // read the packet into the buffer
/* motor 1 */
Serial.print("Motor 1 ");
Serial.print(packetBuffer[2],DEC);
Serial.print(" ");
Serial.print(packetBuffer[3],DEC);
Serial.print(" ");
a = packetBuffer[2],DEC;
b = packetBuffer[3],DEC;
if (a == 255 and b >= 106){ //เลี้ยวซ้าย
Serial.print(" Left ");
pw1 = map(b, 255, 106, 0, 255);
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
}
else if(a == 0 and b <= 150 and b >= 1){ //เลี้ยวขวา
Serial.print(" Right ");
pw1 = map(b, 1, 150, 0, 255);
digitalWrite(pin2, LOW);
digitalWrite(pin1, HIGH);
}
else{
Serial.print(" Stop ");
pw1 = 0;
digitalWrite(pin1, HIGH);
digitalWrite(pin2, HIGH);
}
Serial.println(pw1);
/* motor 2 */
Serial.print("Motor 2 ");
Serial.print(packetBuffer[6],DEC);
Serial.print(" ");
Serial.print(packetBuffer[7],DEC);
Serial.print(" ");
c = packetBuffer[6],DEC;
d = packetBuffer[7],DEC;
if (c == 255 and d >= 106){ //ถอยหลัง
Serial.print(" BACK ");
pw2 = map(d, 255, 106, 0, 255);
digitalWrite(pin4, LOW);
digitalWrite(pin3, HIGH);
}
else if(c == 0 and d <= 150 and d >= 1){ //เดินหน้า
Serial.print(" GO ");
pw2 = map(d, 1, 150, 0, 255);
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
}
else{
Serial.print(" stop ");
pw2 = 0;
digitalWrite(pin3, HIGH);
digitalWrite(pin4, HIGH);
}
Serial.print(pw2);
Serial.println();
} // end if
}
void printWifiStatus() {
// print the SSID of the network you're attached to:
Serial.print("SSID: ");
Serial.println(WiFi.SSID());
// print your WiFi shield's IP address:
IPAddress ip = WiFi.localIP();
Serial.print("IP Address: ");
Serial.println(ip);
}
