ESP 32 cam robot add a slider

Q&A Forum › ESP 32 cam robot add a slider
Austin asked 6 years ago
17 Answers
Austin answered 6 years ago
I am trying to figure out how to add a slider to this program. I am not following the web page programming. I modified the program from its original because of hardware. I want to use the speed slider and add a sider for time delay. so I can adjust the time delay between turning and stop, to increase the angle it turns.
/*********
Rui Santos
Complete project details at http://randomnerdtutorials.com
*********/
// Load Wi-Fi library
#include <WiFi.h>
// You can customize the SSID name and change the password
const char* ssid = "ESP32-Robot";
const char* password = "123456789";
// Set web server port number to 80
WiFiServer server(80);
// Variable to store the HTTP request
String header;
// Motor 1
int motor1Pin1 = 13; //Ain
int motor1Pin2 = 14; //Ain
int enable1Pin = 2;
// Motor 2
int motor2Pin1 = 15; //Bin
int motor2Pin2 = 12; //Bin
int enable2Pin = 32;
// Setting PWM properties
const int freq = 30000;
const int pwmChannel0 = 0;
const int pwmChannel1 = 1;
const int pwmChannel2 = 2;
const int pwmChannel3 = 3;
const int resolution = 8;
int dutyCycle = 0;
// Decode HTTP GET value
String valueString = "0";
int pos1 = 0;
int pos2 = 0;
void setup() {
Serial.begin(115200);
/* // Set the Motor pins as outputs
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);*/
// Configure PWM channel functionalitites
ledcSetup(pwmChannel0, freq, resolution);
ledcSetup(pwmChannel1, freq, resolution);
ledcSetup(pwmChannel2, freq, resolution);
ledcSetup(pwmChannel3, freq, resolution);
// Attach the PWM channel 0 to the enable pins which are the GPIOs to be controlled
// ledcAttachPin(enable1Pin, pwmChannel);
// ledcAttachPin(enable2Pin, pwmChannel);
ledcAttachPin(motor1Pin1, pwmChannel0);
ledcAttachPin(motor1Pin2, pwmChannel1);
ledcAttachPin(motor2Pin1, pwmChannel2);
ledcAttachPin(motor2Pin2, pwmChannel3);
// Produce a PWM signal to both enable pins with a duty cycle 0
ledcWrite(pwmChannel0, dutyCycle);
ledcWrite(pwmChannel1, dutyCycle);
ledcWrite(pwmChannel2, dutyCycle);
ledcWrite(pwmChannel3, dutyCycle);
// Connect to Wi-Fi network with SSID and password
Serial.print("Setting AP (Access Point)...");
// Remove the password parameter, if you want the AP (Access Point) to be open
WiFi.softAP(ssid, password);
IPAddress IP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(IP);
server.begin();
}
void loop(){
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If a new client connects,
Serial.println("New Client."); // print a message out in the serial port
String currentLine = ""; // make a String to hold incoming data from the client
while (client.connected()) { // loop while the client's connected
if (client.available()) { // if there's bytes to read from the client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
header += c;
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
// and a content-type so the client knows what's coming, then a blank line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println("Connection: close");
client.println();
// turns the GPIOs on and off
if (header.indexOf("GET /forward") >= 0) {
Serial.println("Forward");
ledcWrite(pwmChannel0 ,0); //(forward low)
//digitalWrite(motor1Pin1, LOW);
ledcWrite(pwmChannel1 ,dutyCycle); //attach motor1pin1 (forward high)
//digitalWrite(motor1Pin2, HIGH);
ledcWrite(pwmChannel2 ,0); //(forward low)
//digitalWrite(motor2Pin1, LOW);
ledcWrite(pwmChannel3,dutyCycle); //attach motor1pin1
// digitalWrite(motor2Pin2, HIGH);
} else if (header.indexOf("GET /left") >= 0) {
Serial.println("Left");
ledcWrite(pwmChannel0 ,0);
ledcWrite(pwmChannel1 ,dutyCycle);
ledcWrite(pwmChannel2 ,dutyCycle);
ledcWrite(pwmChannel3 ,0);
delay(220);
ledcWrite(pwmChannel0 ,0);
ledcWrite(pwmChannel1 ,0);
ledcWrite(pwmChannel2 ,0);
ledcWrite(pwmChannel3 ,0);
} else if (header.indexOf("GET /stop") >= 0) {
Serial.println("Stop");
ledcWrite(pwmChannel0 ,0);
//digitalWrite(motor1Pin1, LOW);
ledcWrite(pwmChannel1 ,0);
//digitalWrite(motor1Pin2, LOW);
ledcWrite(pwmChannel2 ,0);
//digitalWrite(motor2Pin1, LOW);
ledcWrite(pwmChannel3 ,0);
//digitalWrite(motor2Pin2, LOW);
} else if (header.indexOf("GET /right") >= 0) {
Serial.println("Right");
ledcWrite(pwmChannel0 ,dutyCycle);
ledcWrite(pwmChannel1 ,0);
ledcWrite(pwmChannel2 ,0);
ledcWrite(pwmChannel3 ,dutyCycle);
delay(220);
ledcWrite(pwmChannel0 ,0);
ledcWrite(pwmChannel1 ,0);
ledcWrite(pwmChannel2 ,0);
ledcWrite(pwmChannel3 ,0);
} else if (header.indexOf("GET /reverse") >= 0) {
Serial.println("Reverse");
ledcWrite(pwmChannel0 ,dutyCycle);
//digitalWrite(motor1Pin1, HIGH);
ledcWrite(pwmChannel1 ,0);
//digitalWrite(motor1Pin2, LOW);
ledcWrite(pwmChannel2 ,dutyCycle);
//digitalWrite(motor2Pin1, HIGH);
ledcWrite(pwmChannel3 ,0);
//digitalWrite(motor2Pin2, LOW);
}
// Display the HTML web page
client.println("<!DOCTYPE HTML><html>");
client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
client.println("<link rel=\"icon\" href=\"data:,\">");
// CSS to style the buttons
// Feel free to change the background-color and font-size attributes to fit your preferences
client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
client.println(".button { -webkit-user-select: none; -moz-user-select: none; -ms-user-select: none; user-select: none; background-color: #4CAF50;");
client.println("border: none; color: white; padding: 12px 28px; text-decoration: none; font-size: 26px; margin: 1px; cursor: pointer;}");
client.println(".button2 {background-color: #555555;}</style></head>");
// Web Page
client.println("<p><a href=\"/forward\"><button class=\"button\" onclick=\"moveForward()\">FORWARD</button></a></p>");
client.println("<div style=\"clear: both;\"><p><a href=\"/left\"><button class=\"button\" onclick=\"moveLeft()\">LEFT </button></a>");
client.println("<a href=\"/stop\"><button class=\"button button2\" onclick=\"stopRobot()\">STOP</button></a>");
client.println("<a href=\"/right\"><button class=\"button\" onclick=\"moveRight()\">RIGHT</button></a></p></div>");
client.println("<p><a href=\"/reverse\"><button class=\"button\" onclick=\"moveReverse()\">REVERSE</button></a></p>");
client.println("<input type=\"range\" min=\"0\" max=\"100\" step=\"25\" id=\"motorSlider\" onchange=\"motorSpeed(this.value)\" value=\"" + valueString + "\"/>");
client.println("<script> function motorSpeed(pos) { ");
client.println("var xhr = new XMLHttpRequest();");
client.println("xhr.open('GET', \"/?value=\" + pos + \"&\", true);");
client.println("xhr.send(); } </script>");
client.println("</html>");
//Request example: GET /?value=100& HTTP/1.1 - sets PWM duty cycle to 100
if(header.indexOf("GET /?value=")>=0) {
pos1 = header.indexOf('=');
pos2 = header.indexOf('&');
valueString = header.substring(pos1+1, pos2);
//Set motor speed value
if (valueString == "0") {
//ledcWrite(pwmChannel0, 0);
// ledcWrite(pwmChannel1, 0);
// ledcWrite(pwmChannel2, 0);
// ledcWrite(pwmChannel3, 0);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
}
else {
dutyCycle = map(valueString.toInt(), 25, 100, 200, 255);
Serial.println(valueString);
}
}
// The HTTP response ends with another blank line
client.println();
// Break out of the while loop
break;
} else { // if you got a newline, then clear currentLine
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return character,
currentLine += c; // add it to the end of the currentLine
}
}
}
// Clear the header variable
header = "";
// Close the connection
client.stop();
Serial.println("Client disconnected.");
Serial.println("");
}
}