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|
#define BLYNK_PRINT Serial
#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
#define RightMotorSpeed 25
#define RightMotorDir 17
#define LeftMotorSpeed 19
#define LeftMotorDir 18
char auth[] = ""; //Enter your Blynk auth token
char ssid[] = ""; //Enter your WIFI name
char pass[] = ""; //Enter your WIFI passowrd
int minRange = 312;
int maxRange = 712;
int minspeed = 450;
int maxspeed = 1020;
int nospeed = 0;
void moveControl(int x, int y)
{
//Move Forward
if(y >= maxRange && x >= minRange && x<= maxRange)
{
digitalWrite( RightMotorDir,HIGH);
digitalWrite(LeftMotorDir,HIGH);
analogWrite(RightMotorSpeed, maxspeed);
analogWrite(LeftMotorSpeed , maxspeed);
}
//Move Forward Right
else if(x >= maxRange && y >= maxRange)
{
digitalWrite( RightMotorDir, HIGH);
digitalWrite(LeftMotorDir,HIGH);
analogWrite(RightMotorSpeed,minspeed);
analogWrite(LeftMotorSpeed ,maxspeed);
}
//Move Forward Left
else if(x <= minRange && y >= maxRange)
{
digitalWrite( RightMotorDir,HIGH);
digitalWrite(LeftMotorDir,HIGH);
analogWrite(RightMotorSpeed,maxspeed);
analogWrite(LeftMotorSpeed ,minspeed);
}
//No Move
else if(y < maxRange && y > minRange && x < maxRange && x > minRange)
{
analogWrite(RightMotorSpeed,nospeed);
analogWrite(LeftMotorSpeed , nospeed);
}
//Move Backward
else if(y <= minRange && x >= minRange && x <= maxRange)
{
digitalWrite( RightMotorDir,LOW);
digitalWrite(LeftMotorDir,LOW);
analogWrite(RightMotorSpeed,maxspeed);
analogWrite(LeftMotorSpeed ,maxspeed);
}
//Move Backward Right
else if(y <= minRange && x <= minRange)
{
digitalWrite( RightMotorDir,LOW);
digitalWrite(LeftMotorDir,LOW);
analogWrite(RightMotorSpeed,minspeed);
analogWrite(LeftMotorSpeed ,maxspeed);
}
//Move Backward Left
else if(y <= minRange && x >= maxRange)
{
digitalWrite( RightMotorDir,LOW);
digitalWrite(LeftMotorDir,LOW);
analogWrite(RightMotorSpeed,maxspeed);
analogWrite(LeftMotorSpeed ,minspeed);
}
}
void setup()
{
Serial.begin(9600);
Blynk.begin(auth, ssid, pass);
pinMode(RightMotorSpeed, OUTPUT);
pinMode(LeftMotorSpeed , OUTPUT);
pinMode( RightMotorDir, OUTPUT);
pinMode(LeftMotorDir, OUTPUT);
digitalWrite(RightMotorSpeed, LOW);
digitalWrite(LeftMotorSpeed , LOW);
digitalWrite( RightMotorDir, HIGH);
digitalWrite(LeftMotorDir, HIGH);
}
void loop()
{
Blynk.run();
}
BLYNK_WRITE(V1)
{
int x = param[0].asInt();
int y = param[1].asInt();
moveControl(x,y);
} |
