Greetings,

I adapted the 2.1 – Web Server – Control Outputs project with the elegant ota project to control a robot and everything worked fine. When I added pwn control on motor speed, only one motor worked, the left one.

thanks,

/*********
Rui Santos
Complete instructions at https://RandomNerdTutorials.com/build-web-servers-ebook/

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files.
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*********/
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <AsyncElegantOTA.h>
#include “SPIFFS.h”
// Replace with your network credentials
const char *ssid = “”;
const char *password = “”;
// Set GPIO´s
// Motor direita
int motor1Pin1 = 19;
int motor1Pin2 = 21;
int enable1Pin = 22; // ena
// Motor esquerda
int motor2Pin1 = 18;
int motor2Pin2 = 17;
int enable2Pin = 2; // enb 23
//pwm setings
String pwmSliderValue = “0”;
const int frequencyHz = 5000;
const int pwmChannel = 0;
const int pwmChannel1 = 1;
const int resolution = 8;
//slider valor
const char *INPUT_PARAMETER = “value”;
// Stores LED state
String ledState;
// Create AsyncWebServer object on port 80
AsyncWebServer server(80);
// Initialize SPIFFS
void initSPIFFS()
{
if (!SPIFFS.begin())
{
Serial.println(“An error has occurred while mounting SPIFFS”);
}
Serial.println(“SPIFFS mounted successfully”);
}
// Initialize WiFi
void initWiFi()
{
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.print(“Connecting to WiFi ..”);
while (WiFi.status() != WL_CONNECTED)
{
Serial.print(‘.’);
delay(1000);
}
Serial.println(WiFi.localIP());
}
// Replaces placeholder with movimento do robo
String processor(const String &var)
{
/*if (var == “STATE”)
{
if (movimento)
{
ledState = “Movimento”;
}
else
{
ledState = “Parado”;
}
return ledState;
}*/
if (var == “SLIDERVALUE”)
{
return pwmSliderValue;
}
return String();
}
void frente()
{
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
//movimento = true;
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
ledcWrite(pwmChannel, pwmSliderValue.toInt());
ledcWrite(pwmChannel1, pwmSliderValue.toInt());
}
void tras()
{
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
//movimento = true;
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
ledcWrite(pwmChannel, pwmSliderValue.toInt());
ledcWrite(pwmChannel1, pwmSliderValue.toInt());
}
void parar()
{
//movimento = false;
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
}
void direita()
{
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
// movimento = true;
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
int velocidade = pwmSliderValue.toInt();
int vel_dir = velocidade * 20 / 100;
int vel_esq = velocidade;
ledcWrite(pwmChannel, vel_dir);
ledcWrite(pwmChannel1, vel_esq);
}
void esquerda()
{
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
//movimento = true;
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
int velocidade = pwmSliderValue.toInt();
int vel_dir = velocidade;
int vel_esq = velocidade * 20 / 100;
ledcWrite(pwmChannel, vel_dir);
ledcWrite(pwmChannel1, vel_esq);
}
void setup()
{
Serial.begin(115200);
initWiFi();
initSPIFFS();
// Set up GPIO’s
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(enable1Pin, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(enable2Pin, OUTPUT);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
ledcSetup(pwmChannel, frequencyHz, resolution);
ledcSetup(pwmChannel1, frequencyHz, resolution);
ledcAttachPin(enable1Pin, pwmChannel);
ledcAttachPin(enable2Pin, pwmChannel1);
// Route for root / web page
server.on(“/”, HTTP_GET, [](AsyncWebServerRequest *request)
{ request->send(SPIFFS, “/index.html”, “text/html”, false, processor); });
server.serveStatic(“/”, SPIFFS, “/”);
server.on(“/slider”, HTTP_GET, [](AsyncWebServerRequest *request)
{
String inputMessage;
// GET input1 value on <ESP_IP>/slider?value=<inputMessage>
if (request->hasParam(INPUT_PARAMETER))
{
inputMessage = request->getParam(INPUT_PARAMETER)->value();
pwmSliderValue = inputMessage;
ledcWrite(pwmChannel, pwmSliderValue.toInt());
}
else
{
inputMessage = “No message sent”;
}
Serial.println(inputMessage);
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Route to set robo para frente
server.on(“/frente”, HTTP_GET, [](AsyncWebServerRequest *request)
{
frente();
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Route to set robo para esquerda
server.on(“/esquerda”, HTTP_GET, [](AsyncWebServerRequest *request)
{
esquerda();
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Route to set robo para direita
server.on(“/direita”, HTTP_GET, [](AsyncWebServerRequest *request)
{
direita();
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Route to set robo para parar
server.on(“/parar”, HTTP_GET, [](AsyncWebServerRequest *request)
{
parar();
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Route to set robo para tras
server.on(“/tras”, HTTP_GET, [](AsyncWebServerRequest *request)
{
tras();
request->send(SPIFFS, “/index.html”, “text/html”, false, processor);
});
// Start ElegantOTA
AsyncElegantOTA.begin(&server);
// Start server
server.begin();
}
void loop()
{
}