FreeFly19 · June 29, 2021 17:13
diff --git a/main.cpp b/main.cpp
 #include <WiFi.h>
 #include <WiFiAP.h>
 #include <DNSServer.h>

 #include <ESPAsyncWebServer.h>
 #include <ArduinoJson.h>
 #include <AsyncJson.h>

 #define index_html "<!doctype html><html lang=\"en\"><head><meta charset=\"UTF-8\"><meta name=\"viewport\" content=\"width=device-width, user-scalable=no, initial-scale=1.0, maximum-scale=1.0, minimum-scale=1.0\"><meta http-equiv=\"X-UA-Compatible\" content=\"ie=edge\"><title>Document</title></head><body><div style=\"display: flex; justify-content: space-between; padding-top: 100px;\"><div style=\"display: flex; width: 200px;transform: rotate(-90deg);\"><input type=\"range\" min=\"-1\" max=\"1\" step=\"0.1\" value=\"0\" id=\"throttle\"></div><div style=\"display: flex; width: 200px;\"><input type=\"range\" min=\"-1\" max=\"1\" step=\"1\" value=\"0\" id=\"steering-wheel\"></div></div><script>const throttleEl = document.getElementById('throttle');const steeringWheelEl = document.getElementById('steering-wheel');function sendState() {console.log(throttleEl.value, steeringWheelEl.value);fetch('/api/state', {method: \"POST\", headers: {'Content-Type': 'application/json'}, body: JSON.stringify({throttle: +throttleEl.value, steeringWheel: +steeringWheelEl.value})}).then(res => console.log(res));}throttleEl.oninput = () => setTimeout(sendState, 0);steeringWheelEl.oninput = () => setTimeout(sendState, 0);</script></body></html>"

 const int LED_PIN = 22;

 const int LEFT_PIN = 19;
 const int RIGHT_PIN = 23;
 const int FORWARD_PIN = 18;
 const int BACKWARD_PIN = 5;

 IPAddress apIP(192, 168, 0, 1);
 AsyncWebServer server(80);
 DNSServer dnsServer;

 float throttleState = 0;
 float steeringWheelState = 0;

 void setup() {
  Serial.begin(9600);
  WiFi.disconnect();
  
  WiFi.mode(WIFI_OFF);
  WiFi.mode(WIFI_AP);
  WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0));
  WiFi.softAP("WiFiCar");
  dnsServer.start(53, "*", apIP);
 
  pinMode(LED_PIN, OUTPUT);

  ledcSetup(0, 50, 8);
  ledcAttachPin(FORWARD_PIN, 0);
  ledcSetup(1, 50, 8);
  ledcAttachPin(BACKWARD_PIN, 1);
 //  pinMode(FORWARD_PIN, OUTPUT);
 //  pinMode(BACKWARD_PIN, OUTPUT);
  pinMode(LEFT_PIN, OUTPUT);
  pinMode(RIGHT_PIN, OUTPUT);

 server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
  request->send(200, "text/html", index_html);
 });
 
 AsyncCallbackJsonWebHandler* handler = new AsyncCallbackJsonWebHandler("/api/state", [](AsyncWebServerRequest *request, JsonVariant &json) {
    StaticJsonDocument<128> jsonObj = json.as<JsonObject>();
    
    throttleState = jsonObj["throttle"].as<float>();
    steeringWheelState = jsonObj["steeringWheel"].as<float>();
    //Serial.println(throttleState);
    request->send(200, "application/json", "{}");
  });
  
  server.addHandler(handler);
 
 server.begin();
 }

 void loop() {
  dnsServer.processNextRequest();
  
  digitalWrite(LED_PIN, !digitalRead(LED_PIN));

  if (throttleState < 0) {
    ledcWrite(0, (int)(throttleState * 255));
    ledcWrite(1, 0);
  } else if (throttleState > 0) {
    ledcWrite(1, (int)(-throttleState * 255));
    ledcWrite(0, 0);
  } else {
    ledcWrite(0, 0);
    ledcWrite(1, 0);
  }

  if (steeringWheelState > 0) {
    digitalWrite(LEFT_PIN, HIGH);
    digitalWrite(RIGHT_PIN, LOW);
  } else if (steeringWheelState < 0) {
    digitalWrite(LEFT_PIN, LOW);
    digitalWrite(RIGHT_PIN, HIGH);
  } else {
    digitalWrite(LEFT_PIN, LOW);
    digitalWrite(RIGHT_PIN, LOW);
  }
  
 }
	#include <WiFi.h>
	#include <WiFiAP.h>
	#include <DNSServer.h>

	#include <ESPAsyncWebServer.h>
	#include <ArduinoJson.h>
	#include <AsyncJson.h>

	#define index_html "<!doctype html><html lang=\"en\"><head><meta charset=\"UTF-8\"><meta name=\"viewport\" content=\"width=device-width, user-scalable=no, initial-scale=1.0, maximum-scale=1.0, minimum-scale=1.0\"><meta http-equiv=\"X-UA-Compatible\" content=\"ie=edge\"><title>Document</title></head><body><div style=\"display: flex; justify-content: space-between; padding-top: 100px;\"><div style=\"display: flex; width: 200px;transform: rotate(-90deg);\"><input type=\"range\" min=\"-1\" max=\"1\" step=\"0.1\" value=\"0\" id=\"throttle\"></div><div style=\"display: flex; width: 200px;\"><input type=\"range\" min=\"-1\" max=\"1\" step=\"1\" value=\"0\" id=\"steering-wheel\"></div></div><script>const throttleEl = document.getElementById('throttle');const steeringWheelEl = document.getElementById('steering-wheel');function sendState() {console.log(throttleEl.value, steeringWheelEl.value);fetch('/api/state', {method: \"POST\", headers: {'Content-Type': 'application/json'}, body: JSON.stringify({throttle: +throttleEl.value, steeringWheel: +steeringWheelEl.value})}).then(res => console.log(res));}throttleEl.oninput = () => setTimeout(sendState, 0);steeringWheelEl.oninput = () => setTimeout(sendState, 0);</script></body></html>"

	const int LED_PIN = 22;

	const int LEFT_PIN = 19;
	const int RIGHT_PIN = 23;
	const int FORWARD_PIN = 18;
	const int BACKWARD_PIN = 5;

	IPAddress apIP(192, 168, 0, 1);
	AsyncWebServer server(80);
	DNSServer dnsServer;

	float throttleState = 0;
	float steeringWheelState = 0;

	void setup() {
	Serial.begin(9600);
	WiFi.disconnect();

	WiFi.mode(WIFI_OFF);
	WiFi.mode(WIFI_AP);
	WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0));
	WiFi.softAP("WiFiCar");
	dnsServer.start(53, "*", apIP);

	pinMode(LED_PIN, OUTPUT);

	ledcSetup(0, 50, 8);
	ledcAttachPin(FORWARD_PIN, 0);
	ledcSetup(1, 50, 8);
	ledcAttachPin(BACKWARD_PIN, 1);
	// pinMode(FORWARD_PIN, OUTPUT);
	// pinMode(BACKWARD_PIN, OUTPUT);
	pinMode(LEFT_PIN, OUTPUT);
	pinMode(RIGHT_PIN, OUTPUT);

	server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
	request->send(200, "text/html", index_html);
	});

	AsyncCallbackJsonWebHandler* handler = new AsyncCallbackJsonWebHandler("/api/state", [](AsyncWebServerRequest *request, JsonVariant &json) {
	StaticJsonDocument<128> jsonObj = json.as<JsonObject>();

	throttleState = jsonObj["throttle"].as<float>();
	steeringWheelState = jsonObj["steeringWheel"].as<float>();
	//Serial.println(throttleState);
	request->send(200, "application/json", "{}");
	});

	server.addHandler(handler);

	server.begin();
	}

	void loop() {
	dnsServer.processNextRequest();

	digitalWrite(LED_PIN, !digitalRead(LED_PIN));

	if (throttleState < 0) {
	ledcWrite(0, (int)(throttleState * 255));
	ledcWrite(1, 0);
	} else if (throttleState > 0) {
	ledcWrite(1, (int)(-throttleState * 255));
	ledcWrite(0, 0);
	} else {
	ledcWrite(0, 0);
	ledcWrite(1, 0);
	}

	if (steeringWheelState > 0) {
	digitalWrite(LEFT_PIN, HIGH);
	digitalWrite(RIGHT_PIN, LOW);
	} else if (steeringWheelState < 0) {
	digitalWrite(LEFT_PIN, LOW);
	digitalWrite(RIGHT_PIN, HIGH);
	} else {
	digitalWrite(LEFT_PIN, LOW);
	digitalWrite(RIGHT_PIN, LOW);
	}

	}