motorWeb_accel.ino

/*******************************************************************
    A sketch for controlling a robot with using a web page 
    hosted on a ESP32
    based on: https://github.com/witnessmenow/simple-wifi-controlled-rc-car
********************************************************************/

// Load Wi-Fi library
#include <WiFi.h>
#include <WebServer.h>

// load motor library
#include "ESP32MotorControl.h"

#include <Wire.h>
#include <SPI.h>
#include <Adafruit_LIS3DH.h>
#include <Adafruit_Sensor.h>

Adafruit_LIS3DH lis = Adafruit_LIS3DH();

// Replace with your network credentials
const char* ssid = "xxxxxx";
const char* password = "yyyyyy";

// motor instance
ESP32MotorControl MotorControl = ESP32MotorControl();

// Set web server port number to 80
WebServer server(80);

const char *webpage = 
#include "motorPage.h"
;

void handleRoot() {

  server.send(200, "text/html", webpage);
}

void handleNotFound(){
  String message = "File Not Found\n\n";
  message += "URI: ";
  message += server.uri();
  message += "\nMethod: ";
  message += (server.method() == HTTP_GET)?"GET":"POST";
  message += "\nArguments: ";
  message += server.args();
  message += "\n";
  for (uint8_t i=0; i<server.args(); i++){
    message += " " + server.argName(i) + ": " + server.arg(i) + "\n";
  }
  server.send(404, "text/plain", message);
}

void setup(void){

  Serial.begin(115200);

  // Attach 2 motors
  MotorControl.attachMotors(12, 14, 27, 26);

 if (! lis.begin(0x18)) {   
    Serial.println("Couldnt start");
    while (1) yield();
  }
  Serial.println("LIS3DH found!");

 // Connect to Wi-Fi network with SSID and password
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address and start web server
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
  server.begin();

  server.on("/", handleRoot);

  server.on("/forward", [](){
    Serial.println("forward");
    MotorControl.motorForward(0, 100);
    MotorControl.motorForward(1, 100);
    server.send(200, "text/plain", "forward");
  });

  server.on("/driveStop", [](){
    Serial.println("driveStop");
    MotorControl.motorsStop();
    server.send(200, "text/plain", "driveStop");
  });

  server.on("/back", [](){
    Serial.println("back");
    MotorControl.motorReverse(0, 100);
    MotorControl.motorReverse(1, 100);
    server.send(200, "text/plain", "back");
  });

  server.on("/right", [](){
    Serial.println("right");
    MotorControl.motorForward(0, 100);
    MotorControl.motorReverse(1, 100);
    server.send(200, "text/plain", "right");
  });

  server.on("/left", [](){
    Serial.println("left");
    MotorControl.motorForward(1, 100);
    MotorControl.motorReverse(0, 100);
    server.send(200, "text/plain", "left");
  });

  server.on("/steerStop", [](){
    Serial.println("steerStop");
    MotorControl.motorsStop();
    server.send(200, "text/plain", "steerStop");
  });

  server.onNotFound(handleNotFound);

  server.begin();
  Serial.println("HTTP Server Started");
  
}

void loop(void){
  server.handleClient();

  lis.read();
  if (lis.x > 1000) {
    MotorControl.motorsStop();
  }
}