I want a HTML coding for this arduino code to control robot over web using esp8266

Abhay Kant's picture

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Joined: Jul 02, 2017

Replies: 0
I want a HTML coding for this arduino code to control robot over web using esp8266
July 2, 2017 - 8:40am

// Wi-fi based bomb diffuser robot car
// Code written by "Abhay Kant"

#include <AFMotor.h> // import library for motor shield
#include <Servo.h> // import library for servo motors
#include <SoftwareSerial.h> // import library for esp8266

AF_DCMotor motor1(1, MOTOR12_64KHZ); // create motor #1, 64KHz pwm
AF_DCMotor motor2(2, MOTOR12_64KHZ); // motor #2
AF_DCMotor motor3(3, MOTOR12_64KHZ); // motor #3
AF_DCMotor motor4(4, MOTOR12_64KHZ); // motor #4
Servo s1;
Servo s2;

SoftwareSerial esp8266(5, 4); //set ESP8266 RX pin = 5, and TX pin = 4
//define variables
#define DEBUG true //display ESP8266 messages on Serial Monitor
#define SERV1 9  //servo 1 on digital port 9
#define SERV2 10 //servo 2 on digital port 10

int pos1 = 170; //servo 1 current position
int pos2 = 170; //servo 2 current position
int vel = 10; //servos' speed (100 -> 90º in 1 s)(1 -> 90º in 9 s)
int pos1min = 20; //servo 1 minimum position
int pos2min = 20; //servo 2 minimum position
int pos1max = 160; //servo 1 maximum position
int pos2max = 160; //servo 2 maximum position

 

byte serialA;

void setup() {
  Serial.begin(9600);
  
  //attach and set servos' angles
  s1.attach(SERV1);
  s2.attach(SERV2);
  s1.write(pos1max);
  s2.write(pos2max);
  //detach servos
  s1.detach();
  s2.detach();
  
  //start serial communication
  Serial.begin(9600);
  esp8266.begin(19200);
  
  sendData("AT+RST\r\n", 2000, DEBUG); //reset module
  sendData("AT+CWMODE=1\r\n", 1000, DEBUG); //set station mode
  sendData("AT+CWJAP=\"XXXXX\",\"YYYYY\"\r\n", 2000, DEBUG);   //connect wifi network
  while(!esp8266.find("OK")) { //wait for connection
  } 
  sendData("AT+CIFSR\r\n", 1000, DEBUG); //show IP address
  sendData("AT+CIPMUX=1\r\n", 1000, DEBUG); //allow multiple connections
  sendData("AT+CIPSERVER=1,80\r\n", 1000, DEBUG); // start web server on port 80 
}

void loop() {
  
if (Serial.available() > 0) {serialA = Serial.read();Serial.println(serialA);}

switch (serialA) {

case 'F':
  Serial.println("Forward");  
  motor1.run(FORWARD);
  motor2.run(FORWARD); 
  motor1.setSpeed(255); 
  motor2.setSpeed(255);
  break;

case 'B':
  Serial.println("All motors backward - fast");
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
  motor1.setSpeed(255); 
  motor2.setSpeed(255);
  break;

case 'L':
  Serial.println("Pivot left");
  motor1.run(BACKWARD);
  motor2.run(FORWARD); 
  motor1.setSpeed(255); 
  motor2.setSpeed(255);
  break; 

case 'R':
  Serial.println("Pivot right");
  motor1.run(FORWARD);
  motor2.run(BACKWARD); 
  motor1.setSpeed(255); 
  motor2.setSpeed(255); 
  break; 

case 'S':
   Serial.println("All motors stop");
   motor1.run(RELEASE);
   motor2.run(RELEASE); 
   motor1.setSpeed(0);
   motor2.setSpeed(0);
   break;

case 'W':
  Serial.println("Arm clockwise");
  motor3.run(FORWARD);
  motor3.setSpeed(180);
  break;

case 'V':
  Serial.println("Arm anticlockwise");
  motor3.run(BACKWARD);
  motor3.setSpeed(180);
  break;

case 'G':
  Serial.println("Cabin clockwise");
  motor4.run(FORWARD);
  motor4.setSpeed(180);
  break;

case 'J':
  Serial.println("Cabin anticlockwise");
  motor4.run(BACKWARD);
  motor4.setSpeed(180);}
 

if (esp8266.available())  //check if there is data available on ESP8266
  {
    if (esp8266.find("+IPD,")) //if there is a new command
    {
      String msg;
      esp8266.find("?"); //run cursor until command is found
      msg = esp8266.readStringUntil(' '); //read the message
      String command = msg.substring(0, 3); //command is informed in the first 3 characters. "sr1" = command to servo #1 and "sr2" = command to servo #2
      String valueStr = msg.substring(4);   //next 3 characters inform the desired angle
      int value = valueStr.toInt();         //convert to integer
      if (DEBUG) {
        Serial.println(command);
        Serial.println(value);
      }
      delay(100);
      
      //************
      // move servos
      //************
      
      //move servo1 to desired angle
      if(command == "sr1") {
         //limit input angle
         if (value >= pos1max) {
           value = pos1max;
         }
         if (value <= pos1min) {
           value = pos1min;
         }
         s1.attach(SERV1); //attach servo
         while(pos1 != value) {
           if (pos1 > value) {
             pos1 -= 1;
             s1.write(pos1);
             delay(100/vel);
           }
           if (pos1 < value) {
             pos1 += 1;
             s1.write(pos1);
             delay(100/vel);
           }
         }
         s1.detach(); //dettach
      }

      //move servo2 to desired angle
      if(command == "sr2") {
         //limit input angle
         if (value >= pos2max) {
           value = pos2max;
         }
         if (value <= pos2min) {
           value = pos2min;
         }
         s2.attach(SERV2);
         while(pos2 != value) {
           if (pos2 > value) {
             pos2 -= 1;
             s2.write(pos2);
             delay(100/vel);
           }
           if (pos2 < value) {
             pos2 += 1;
             s2.write(pos2);
             delay(100/vel);
           }
         }   
         s2.detach();     
      } 
    }
  }
}

//********************
// Auxiliary functions
//********************

//send data to ESP8266
String sendData(String command, const int timeout, boolean debug)
{
  String response = "";
  esp8266.print(command);
  long int time = millis();
  while ( (time + timeout) > millis())
  {
    while (esp8266.available())
    {
      char c = esp8266.read();
      response += c;
    }
  }
  if (debug)
  {
    Serial.print(response);
  }
  return response;
}

Aswinth Raj's picture

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Joined: Aug 16, 2016

Replies: 910
Hi Abhay,
July 2, 2017 - 1:38pm

Hi Abhay,

I have done a similar project in which I have written a HTML code with few buttons to control the ESP8266 module. 

https://circuitdigest.com/microcontroller-projects/smart-junction-box-for-home-automation-esp8266

Writing HTML code is easy. But make sure you write them in a text file and try running them on a browse before you actually upoad them to Arduino.