This project about a Smart Car with wireless controlling using microcontroller ESP32 in AP mode (Access Point).
Here i used ESP32 to control 2 motors with 4 wheels with H-bridge motor controller (TB6612FNG)
ESP32 is a low-cost, low-power system on a chip microcontrollers with dual-core and integrated Wi-Fi and dual-mode Bluetooth. it has different power modes including deep-sleep mode with 5uA only.
ESP32 has advantage over other microcontrollers because of its small form factor and lower power consumtions as well as the integerated WIFI and BLE.
Before working in this project, i implemented alot of small projects which helped me with the car project like:
1- Controlling the ESP32's LED through Wifi.
2- Controlling a single motor using ESP32 as access point
3- Controlling 2 or more LED using webpage with ESP32 as server (AP)
The ESP32 that creates its own WiFi network and acts as a hub (Just like WiFi router) for one or more stations is called Access Point (AP). Unlike WiFi router, it does not have interface to a wired network. So, such mode of operation is called Soft Access Point (soft-AP). Also the maximum number of stations that can connect to it is limited to five.
         
ESP32.as.Access.Point.mp4
#include <WiFi.h>
#include <WebServer.h>
#include <analogWrite.h>
/* Put your SSID & Password */
const char* ssid = "ESP32"; // Enter SSID here
const char* password = "12345678"; //Enter Password here
/* Put IP Address details */
IPAddress local_ip(192,168,1,1); // the IP which will have the webpage
IPAddress gateway(192,168,1,1);
IPAddress subnet(255,255,255,0);
WebServer server(80); // initialising a server though port 80
uint8_t motorB2 = 18; // declaring all the variables
uint8_t motorB1 = 5;
uint8_t pwmB = 19;
uint8_t motorA1 = 17;
uint8_t motorA2 = 16;
uint8_t pwmA = 4;
bool forward = LOW;
bool backward = LOW;
bool left = LOW;
bool right = LOW;
bool pause1 = HIGH;
void setup() {
Serial.begin(230400); // Declaring the Pins mode
pinMode(motorB2, OUTPUT);
pinMode(motorB1, OUTPUT);
pinMode(pwmB, OUTPUT);
pinMode(motorA1, OUTPUT);
pinMode(motorA2, OUTPUT);
pinMode(pwmA, OUTPUT);
WiFi.softAP(ssid, password); //starting the access point
WiFi.softAPConfig(local_ip, gateway, subnet);
delay(100);
server.on("/", handle_OnConnect); // using the (on) command to let the page respond to each / to execute different code
server.on("/forward", handle_forward);
server.on("/backward", handle_backward);
server.on("/left", handle_left);
server.on("/right", handle_right);
server.on("/pause1", handle_pause1);
server.onNotFound(handle_NotFound); // execute when the page / not recognised
server.begin(); // Initialize the server
Serial.println("HTTP server started");
}
void loop() {
server.handleClient(); // to execute the handle request
if(forward) // if the forward button pressed and the forward varabile triggered high
{
digitalWrite(motorB1, HIGH);
digitalWrite(motorB2, LOW);
digitalWrite(motorA1, LOW);
digitalWrite(motorA2, HIGH);
analogWrite(pwmA, 150);
analogWrite(pwmB, 150);
}
else if(backward) // if the backward button pressed and the backward varabile triggered high
{
digitalWrite(motorB1, LOW);
digitalWrite(motorB2, HIGH);
digitalWrite(motorA1, HIGH);
digitalWrite(motorA2, LOW);
analogWrite(pwmA, 150);
analogWrite(pwmB, 150);
}
else if (left){ // if the left button pressed and the left varabile triggered high
digitalWrite(motorB1, LOW);
digitalWrite(motorB2, LOW);
digitalWrite(motorA1, HIGH);
digitalWrite(motorA2, HIGH);
analogWrite(pwmA, 255);
analogWrite(pwmB, 255);
}
else if (right){ // if the right button pressed and the right varabile triggered high
digitalWrite(motorB1, HIGH);
digitalWrite(motorB2, HIGH);
digitalWrite(motorA1, HIGH);
digitalWrite(motorA2, LOW);
analogWrite(pwmA, 255);
analogWrite(pwmB, 255);
}
else if (pause1){ // if the pause button pressed and the pause varabile triggered high
digitalWrite(motorB1, HIGH);
digitalWrite(motorB2, HIGH);
digitalWrite(motorA1, HIGH);
digitalWrite(motorA2, HIGH);
analogWrite(pwmA, 150);
analogWrite(pwmB, 150);
}
}
void handle_OnConnect() {
forward = LOW;
backward = LOW;
left = LOW;
right = LOW;
pause1 = HIGH ;
// Serial.println("GPIO4 Status: OFF | GPIO5 Status: OFF");
server.send(200, "text/html", SendHTML(forward,backward));
}
void handle_forward() { // execute when the button pressed via the (server.on) command
forward = HIGH;
backward = LOW;
left = LOW;
right = LOW;
pause1 = LOW;
Serial.println("forward: ON");
server.send(200, "text/html", SendHTML(true,false)); // .Send allows the us to receive automatic updates from a server via HTTP connection while SendHTML function which rebuild the webpage with the updated values
}
void handle_backward() {
backward = HIGH;
forward = LOW;
left = LOW;
right = LOW;
pause1 = LOW;
Serial.println("backward : ON");
server.send(200, "text/html", SendHTML(false,true)); // .Send allows the us to receive automatic updates from a server via HTTP connection while SendHTML function which rebuild the webpage with the updated values
}
void handle_left() {
backward = LOW;
forward = LOW;
left = HIGH;
right = LOW;
pause1 = LOW;
Serial.println("left : ON");
server.send(200, "text/html", SendHTML(false,true)); // .Send allows the us to receive automatic updates from a server via HTTP connection while SendHTML function which rebuild the webpage with the updated values
}
void handle_right() {
backward = LOW;
forward = LOW;
left = LOW;
right = HIGH;
pause1 = LOW;
Serial.println("right : ON");
server.send(200, "text/html", SendHTML(false,true)); // .Send allows the us to receive automatic updates from a server via HTTP connection while SendHTML function which rebuild the webpage with the updated values
}
void handle_pause1() {
backward = LOW;
forward = LOW;
left = LOW;
right = LOW;
pause1 = HIGH;
Serial.println("pause1 : ON");
server.send(200, "text/html", SendHTML(false,true)); // .Send allows the us to receive automatic updates from a server via HTTP connection while SendHTML function which rebuild the webpage with the updated values
}
void handle_NotFound(){
server.send(404, "text/plain", "Not found");
}
String SendHTML(uint8_t forward,uint8_t backward){ //HTML code for the webpage in the ESP32
char webpage[] PROGMEM = R"=====(
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Second Task</title>
</head>
<style>
.card1{text-align: center;}
.card3{ text-align: center; }
h2 {
text-align: center;
margin-right: 40px;
margin-bottom: 40px;
font-family: 'Helvetica Neue', sans-serif;
font-weight: 550;
}
.button {
font-family: sans-serif;
width: 90px;
height: 70px;
transition-duration: 0.4s;
background-color: white;
color: black;
border: 2px solid #4CAF50;
font-size: 17px;
}
.button:hover {
background-color: #4CAF50; /* Green */
color: white;
box-shadow: 0 12px 16px 0 rgba(0,0,0,0.24), 0 17px 50px 0 rgba(0,0,0,0.19);
}
.card2 {
margin: 1em auto;
flex: 0 0 100%;
display: -webkit-box;
display: -ms-flexbox;
display: flex;
-webkit-box-pack: center;
-ms-flex-pack: center;
justify-content: center;
-webkit-box-align: center;
-ms-flex-align: center;
align-items: center;
margin: 20px;
}
button:first-of-type {margin-right: 2em;}
</style>
<body>
<h2>control panel</h2>
<div class="container">
<div class="card1">
<p><a href="/forward"><button class="button">forward</button></a></p>
</div>
<div class="card2">
<p> <a href="/left"><button id=left class="button">Left</button></a></p>
<p><a href="/pause1"><button id=pause class="button">pause</button></a></p>
<p><a href="/right"><button id=right class="button">right</button></a></p>
</div>
<div class="card3">
<p><a href="/backward"><button class="button">backward</button></a></p>
</div>
</div>
</body>
</html>
)=====";
return webpage;
}