/*********
Rui Santos
Complete project details at https://randomnerdtutorials.com
*********/
// Import required libraries
#include "WiFi.h"
#include "ESPAsyncWebServer.h"
#include "SPIFFS.h"
#include <Tone32.h>
// Replace with your network credentials
const char* ssid = "Sun (3)";
const char* password = "0123456789";
#define BUZZER_PIN 34
// Set LED GPIO
const int ledPin = 2;
// Stores LED state
String ledState;
// Create AsyncWebServer object on port 80
AsyncWebServer server(80);
int Speed;
// Motor A
int motor1Pin1 = 27;
int motor1Pin2 = 26;
int enable1Pin = 14;
int SliderValue;
// Motor B
int motor2Pin1 = 35;
int motor2Pin2 = 33;
int enable2Pin = 32;
int enable3Pin = 22;
int enable4Pin = 23;
int enable5Pin = 12;
int enable6Pin = 13;
int valueString;
// Setting PWM properties
const int freq = 30000;
const int pwmChannel1 = 0;
const int pwmChannel2 = 1;
const int pwmChannel3 = 0;
const int pwmChannel4 = 0;
const int pwmChannel5 = 0;
const int pwmChannel6 = 0;
const int resolution = 8; //resolution of pulse width mod 8bit = 0-255 that we can vary the value
//int dutyCycle = 200;
// Declare the pins to which the LEDs are connected
int greenled = 4;
int redled = 15;
int blueled = 18;
int yellowled = 21;
String greenstate = "off";// state of green LED
String redstate = "off";// state of red LED
String bluestate = "off";// state of green LED
String yellowstate = "off";// state of red LED
// Replaces placeholder with LED state value
String processor(const String& var){
Serial.println(var);
if(var == "STATE"){
if(digitalRead(ledPin)){
ledState = "ON";
else{
ledState = "OFF";
Serial.print(ledState);
return ledState;
return String();
void setup(){
pinMode(greenled, OUTPUT);
pinMode(redled, OUTPUT);
pinMode(blueled, OUTPUT);
pinMode(yellowled, OUTPUT);
// sets the pins as outputs:
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(enable1Pin, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(enable2Pin, OUTPUT);
pinMode(enable3Pin, OUTPUT);
pinMode(enable4Pin, OUTPUT);
pinMode(enable5Pin, OUTPUT);
pinMode(enable6Pin, OUTPUT);
// configure LED PWM functionalitites
ledcSetup(pwmChannel1, freq, resolution);
ledcSetup(pwmChannel2, freq, resolution);
ledcSetup(pwmChannel3, freq, resolution);
ledcSetup(pwmChannel4, freq, resolution);
ledcSetup(pwmChannel5, freq, resolution);
ledcSetup(pwmChannel6, freq, resolution);
// attach the channel to the GPIO to be controlled
ledcAttachPin(enable1Pin, pwmChannel1);
ledcAttachPin(enable2Pin, pwmChannel2); // attach pwm to D25
ledcAttachPin(enable3Pin, pwmChannel3);
ledcAttachPin(enable4Pin, pwmChannel4); // attach pwm to D25
ledcAttachPin(enable5Pin, pwmChannel5);
ledcAttachPin(enable6Pin, pwmChannel6); // attach pwm to D25
// Serial port for debugging purposes
pinMode(BUZZER_PIN, OUTPUT); // set the buzzer pin as an output
Serial.begin(115200);
pinMode(ledPin, OUTPUT);
// Initialize SPIFFS
if(!SPIFFS.begin(true)){
Serial.println("An Error has occurred while mounting SPIFFS");
return;
// Connect to Wi-Fi
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.println("Connecting to WiFi..");
// Print ESP32 Local IP Address
Serial.println(WiFi.localIP());
// Route for root / web page
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Route to load style.css file
server.on("/style.css", HTTP_GET, [](AsyncWebServerRequest *request){
request->send(SPIFFS, "/style.css", "text/css");
});
// Route to set GPIO to HIGH
server.on("/FORWARD", HTTP_GET, [](AsyncWebServerRequest *request){
digitalWrite(ledPin, HIGH);
MotorForward(Speed);
Redled(Speed);
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Route to set GPIO to HIGH
server.on("/BACKWARD", HTTP_GET, [](AsyncWebServerRequest *request){
digitalWrite(ledPin, HIGH);
MotorBackward(Speed);
Blueled(Speed);
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Route to set GPIO to HIGH
server.on("/RIGHT", HTTP_GET, [](AsyncWebServerRequest *request){
digitalWrite(ledPin, HIGH);
MotorRight(Speed);
Yellowled(Speed);
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Route to set GPIO to HIGH
server.on("/LEFT", HTTP_GET, [](AsyncWebServerRequest *request){
digitalWrite(ledPin, HIGH);
Serial.println("Motor Left");
MotorLeft(Speed);
Greenled(Speed);
request->send(SPIFFS, "/index.html", String(), false, processor);
});
server.on("/HORN", HTTP_GET, [](AsyncWebServerRequest *request){
Serial.println("HORN");
playTone(1000, 1000); // play a 1 kHz tone for 1 second
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Route to set GPIO to LOW
server.on("/STOP", HTTP_GET, [](AsyncWebServerRequest *request){
digitalWrite(ledPin, LOW);
MotorStop();
Stopled();
request->send(SPIFFS, "/index.html", String(), false, processor);
});
server.on("/Slider", HTTP_GET, [](AsyncWebServerRequest *request){
if(request->hasParam("Speed")){
String speedValue = request->getParam("Speed")->value();
Speed = speedValue.toInt();
request->send(SPIFFS, "/index.html", String(), false, processor);
});
// Start server
server.begin();
void loop(){
}
void MotorForward(int Speed)
ledcWrite(pwmChannel1, Speed);
ledcWrite(pwmChannel2, Speed);
Serial.println("Moving Forward");
Serial.println(Speed);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, HIGH); //swap motor wiring if spin in different direction!
digitalWrite(motor2Pin2, LOW);
delay(200);
void MotorBackward(int Speed)
ledcWrite(pwmChannel1, Speed);
ledcWrite(pwmChannel2, Speed);
Serial.println("Moving Backwards");
Serial.println(Speed);
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
delay(200);
}
void MotorLeft(int Speed)
ledcWrite(pwmChannel1, Speed);
ledcWrite(pwmChannel2, Speed);
Serial.println("Moving Left");
Serial.println(Speed);
digitalWrite(motor1Pin1,HIGH);
digitalWrite(motor1Pin2,LOW);
digitalWrite(motor2Pin1,LOW);
digitalWrite(motor2Pin2,LOW);
delay(200);
void MotorRight(int Speed)
ledcWrite(pwmChannel1, Speed);
ledcWrite(pwmChannel2, Speed);
Serial.println("Moving Right");
Serial.println(Speed);
digitalWrite(motor1Pin1,LOW);
digitalWrite(motor1Pin2,LOW);
digitalWrite(motor2Pin1,HIGH);
digitalWrite(motor2Pin2,LOW);
delay(200);
void MotorStop()
{
ledcWrite(pwmChannel1, Speed);
ledcWrite(pwmChannel2, Speed);
Serial.println("Motor stopped");
Serial.println(Speed);
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
delay(200);
void Redled(int Speed)
ledcWrite(pwmChannel3, Speed);
Serial.println("red led : ");
Serial.println(Speed);
digitalWrite(redled, HIGH);
digitalWrite(greenled, LOW);
digitalWrite(yellowled, LOW);
digitalWrite(blueled, LOW);
delay(200);
void Greenled(int Speed)
ledcWrite(pwmChannel4, Speed);
Serial.println("green led : ");
Serial.println(Speed);
digitalWrite(redled, LOW);
digitalWrite(greenled, HIGH);
digitalWrite(yellowled, LOW);
digitalWrite(blueled, LOW);
delay(200);
void Blueled(int Speed)
ledcWrite(pwmChannel5, Speed);
Serial.println("blue led : ");
Serial.println(Speed);
digitalWrite(redled, LOW);
digitalWrite(greenled, LOW);
digitalWrite(yellowled, LOW);
digitalWrite(blueled, HIGH);
delay(200);
void Yellowled(int Speed)
ledcWrite(pwmChannel6, Speed);
Serial.println("yellow led : ");
Serial.println(Speed);
digitalWrite(redled, LOW);
digitalWrite(greenled, LOW);
digitalWrite(yellowled, HIGH);
digitalWrite(blueled, LOW);
delay(200);
void Stopled()
{
ledcWrite(pwmChannel3, Speed);
ledcWrite(pwmChannel4, Speed);
ledcWrite(pwmChannel5, Speed);
ledcWrite(pwmChannel6, Speed);
Serial.println(Speed);
digitalWrite(redled, LOW);
digitalWrite(greenled, LOW);
digitalWrite(yellowled, LOW);
digitalWrite(blueled, LOW);
delay(200);
void playTone(int frequency, int duration) {
digitalWrite(BUZZER_PIN, HIGH); // turn on
delay(200);
