#include <WiFi.
h>
//setting up wifi
const char* ssid = "uofzStudents";
const char* password = "wkpProg219!";
WiFiServer server(8080);
//int flag1 = 0 ;
//
//motor 1
#define motor1_in1 19 //LA
#define motor1_in2 16 //RA
#define motor1_En1 2
//motor 2
#define motor2_in1 23 //LB
#define motor2_in2 17 //RB
#define motor2_En2 4
//motor 3
#define motor3_in1 32
#define motor3_in2 12
#define motor3_En1 18
//motor 4
#define motor4_in1 13
#define motor4_in2 14
#define motor4_En2 5
//
//ir sensors
void setup() {
//************************************WIFI SETUP ***********************
Serial.begin(115200);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.println("Connecting to WiFi...");
}
Serial.println("Connected to WiFi");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
Serial.println("Server started");
//
pinMode(25,OUTPUT);
//
pinMode(motor1_in1 ,OUTPUT);
pinMode(motor1_in2 ,OUTPUT);
pinMode(motor1_En1 ,OUTPUT);
//motor2
pinMode(motor2_in1 ,OUTPUT);
pinMode(motor2_in2 ,OUTPUT);
pinMode(motor2_En2 ,OUTPUT);
//motor3
pinMode(motor3_in1 ,OUTPUT);
pinMode(motor3_in2 ,OUTPUT);
pinMode(motor3_En1 ,OUTPUT);
//motor4
pinMode(motor4_in1 ,OUTPUT);
pinMode(motor4_in2 ,OUTPUT);
pinMode(motor4_En2 ,OUTPUT);
//
attachInterrupt(digitalPinToInterrupt(0) ,Ir1 ,RISING);
attachInterrupt(digitalPinToInterrupt(27) ,Ir2 ,RISING);
}
void loop() {
WiFiClient client = server.available();
if (client) {
while (client.connected()) {
if (client.available()) {
String data = client.readStringUntil('\n');
Serial.println(data);
if (data == "hello") {
// unsigned long start = micros();
// unsigned long duration ;
// while( duration <1000000){
digitalWrite(25, HIGH); // Turn on the LED
Serial.println("car stop...");
drive_stop();
Serial.println("watering identified plant");
//clearSerialMonitor();
//duration = micros() - start;
// }
}
else if(data != "hello") {
digitalWrite(25, LOW); // Turn off the LED
Serial.println("car in motion");
drive_forward();
data=" ";
//clearSerialMonitor();
}
}
}
client.stop();
}
/*
void clearSerialMonitor() {
for (int i = 0; i < 50; i++) {
Serial.println(); // Print 50 newline characters to clear the serial monitor
}
}
*/
void Ir1(){
drive_stop();
delay(1000);
void Ir2(){
//
drive_stop();
delay(1000);
}
void drive_forward(){
digitalWrite(motor1_in1 ,HIGH);
digitalWrite(motor1_in2 ,LOW);
digitalWrite(motor1_En1 ,150);
digitalWrite(motor2_in1 ,HIGH);
digitalWrite(motor2_in2 ,LOW);
digitalWrite(motor2_En2 ,150);
digitalWrite(motor3_in1 ,LOW);
digitalWrite(motor3_in2 ,HIGH);
digitalWrite(motor3_En1 ,150);
digitalWrite(motor4_in1 ,LOW);
digitalWrite(motor4_in2 ,HIGH);
digitalWrite(motor4_En2 ,150);
}
void drive_stop(){
digitalWrite(motor1_in1 ,LOW);
digitalWrite(motor1_in2 ,LOW);
digitalWrite(motor1_En1 ,150);
digitalWrite(motor2_in1 ,LOW);
digitalWrite(motor2_in2 ,LOW);
digitalWrite(motor2_En2 ,150);
digitalWrite(motor3_in1 ,LOW);
digitalWrite(motor3_in2 ,LOW);
digitalWrite(motor3_En1 ,150);
digitalWrite(motor4_in1 ,LOW);
digitalWrite(motor4_in2 ,LOW);
digitalWrite(motor4_En2 ,150);
}
void pump_on(){
Serial.println("pump on");
}
void pump_off(){
Serial.println("pump off");
}
