robot_car.ino

/* Create a WiFi access point and provide a web server on it. */

#include <ESP8266WiFi.h>
#include <WiFiUdp.h>


#define buffer_size 22

#define period_udp 1
#define period_led 1000


#define IN1 12
#define IN2 1
#define IN3 13
#define IN4 2

#define PWM_A 0
#define PWM_B 15


/* Set these to your desired credentials. */
const String ssid = "honey_robot-cmmc";
const String password = String("12345678");

unsigned int localPort = 12345;

unsigned long time_now, time_prev_udp;

int cb = 1;



char packetBuffer[buffer_size] = {0}; //buffer to hold incoming and outgoing packets
WiFiUDP udp;
int count = 0;

IPAddress local_ip(192, 168, 5, 1);
IPAddress gateway(192, 168, 5, 1);
IPAddress subnet(255, 255, 255, 255);

void driveMotorA(int x,int y);
void Read_UDP();

void setup()
{
	pinMode(IN2, OUTPUT);
	pinMode(IN1, OUTPUT);
	pinMode(IN3, OUTPUT);
	pinMode(IN4, OUTPUT);

	analogWriteFreq(30);

	pinMode(PWM_A, OUTPUT);
	pinMode(PWM_B, OUTPUT);

	delay(3000);

	Serial.begin(115200);
	WiFi.disconnect();

  /* You can remove the password parameter if you want the AP to be open. */
	WiFi.softAP(ssid.c_str(), password.c_str());
	delay(500);
	WiFi.softAPConfig(local_ip, gateway, subnet);
	delay(500);
	IPAddress myIP = WiFi.softAPIP();

	if ( udp.begin(localPort) > 0) {
  	//if success
		Serial.println(F("create udp server success"));
	} else {
  	// if not success
		Serial.println(F("create udp server not success"));
	}

	Serial.println(F("ssid:kkao_server"));
	Serial.println(F("pass:12345678"));
	Serial.println(F("active"));
	delay(3000);

	time_now = millis();
	time_prev_udp = time_now;
	time_prev_led = time_now;

}

void loop()
{
	time_now = millis();

	if (time_now - time_prev_udp >= period_udp)
	{
		time_prev_udp = time_now;
		Read_UDP();
	}

	delay(0);
}

void Read_UDP()
{
	cb = udp.parsePacket();
	if (!cb) {
		return;
	}

	memset(packetBuffer, 0, buffer_size); // clear mem
    udp.read(packetBuffer, cb); // read the packet into the buffer

	int x = 0,y = 0;

	x = packetBuffer[1];
	y = packetBuffer[2];

	if(x <= 255 && x >= 156){
		x = x - 254;
	}

	if(y <= 255 && y >= 156){
		y = y - 254;
	}

	driveMotor(x,y);
}

void driveMotor(int x , int y){

	int speedR = (x-y)*(-1);  //OLD VALUE
  	int speedL = (x+y);

	if(speedR > 0){
		digitalWrite(IN1,HIGH);
		digitalWrite(IN2,LOW);
	}else if(speedR < 0){
		digitalWrite(IN1,LOW);
		digitalWrite(IN2,HIGH);
	}

	if(speedL > 0){
		digitalWrite(IN3,HIGH);
		digitalWrite(IN4,LOW);
	}else if(speedL < 0){
		digitalWrite(IN3,LOW);
		digitalWrite(IN4,HIGH);
	}

	if( (speedR) > 100){
		speedR = 100;
	}

	if(abs(speedL) > 100){
		speedL = 100;
	}

	speedR = map(speedR,0,100,0,1023);
	speedL = map(speedL,0,100,0,1023);

	Serial.print(" speedR : ");
	Serial.print(speedR);
	Serial.print(" speedL : ");
	Serial.println(speedL);

	analogWrite(PWM_A,abs(speedR));
	analogWrite(PWM_B,abs(speedL));

}