Coding:

/******************* WiFi Robot Obstacle Avoidance - L298N 2A

modif-2

by Jurnalku

Fajar Himawan

********************/

#include <ESP8266WiFi.h>

#include <ESP8266WebServer.h>

#include <ArduinoOTA.h>

// connections for drive Motor FR & BR

int enA = D1;

int in1 = D2;

int in2 = D3;

// connections for drive Motor FL & BL

int in3 = D4;

int in4 = D5;

int enB = D6;

// ultrasonic setup:

const int trigPin = D7; // trig pin connected to Arduino's pin D7

const int echoPin = D8; // echo pin connected to Arduino's pin D8

const int wifiLedPin = D0; // set digital pin D0 as indication, the LED turn on if NodeMCU connected to WiFi as STA mode

// defines variables

int distanceCm = 0;

int distanceHold = 20;

int SPEED = 300; // set 1023 to max speed motor

unsigned long previousMillis = 0;

String sta_ssid = "ota"; // set Wifi networks you want to connect to

String sta_password = "12345678"; // set password for Wifi networks

void setup() {

Serial.begin(115200); // set up Serial library at 115200 bps

Serial.println();

Serial.println("*WiFI Robot Obstacle Avoidance - L298N 2A*");

Serial.println("--------------------------------------");

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode(echoPin, INPUT); // Sets the echoPin as an Input

pinMode(wifiLedPin, OUTPUT); // sets the Wifi LED pin as an Output

digitalWrite(wifiLedPin, HIGH);

// Set all the motor control pins to outputs

pinMode(enA, OUTPUT);

pinMode(in1, OUTPUT);

pinMode(in2, OUTPUT);

pinMode(in3, OUTPUT);

pinMode(in4, OUTPUT);

pinMode(enB, OUTPUT);

// set NodeMCU Wifi hostname based on chip mac address

String chip_id = String(ESP.getChipId(), HEX);

int i = chip_id.length()-4;

chip_id = chip_id.substring(i);

chip_id = "wificar-" + chip_id;

String hostname(chip_id);

Serial.println();

Serial.println("Hostname: "+hostname);

// first, set NodeMCU as STA mode to connect with a Wifi network

WiFi.mode(WIFI_STA);

WiFi.begin(sta_ssid.c_str(), sta_password.c_str());

Serial.println("");

Serial.print("Connecting to: ");

Serial.println(sta_ssid);

Serial.print("Password: ");

Serial.println(sta_password);

// try to connect with Wifi network about 1 seconds

unsigned long currentMillis = millis();

previousMillis = currentMillis;

while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 1000) {

    delay(500);

    Serial.print(".");

    currentMillis = millis();

}

// if failed to connect with Wifi network set NodeMCU as AP mode

if (WiFi.status() == WL_CONNECTED) {

    Serial.println("");

    Serial.println("*WiFi-STA-Mode*");

    Serial.print("IP: ");

    Serial.println(WiFi.localIP());

    digitalWrite(wifiLedPin, LOW);    // Wifi LED on when connected to Wifi as STA mode

    delay(3000);

} else {

    WiFi.mode(WIFI_AP);

    WiFi.softAP(hostname.c_str());

    IPAddress myIP = WiFi.softAPIP();

    Serial.println("");

    Serial.println("WiFi failed connected to " + sta_ssid);

    Serial.println("");

    Serial.println("*WiFi-AP-Mode*");

    Serial.print("AP IP address: ");

    Serial.println(myIP);

    digitalWrite(wifiLedPin, HIGH);   // Wifi LED off when status as AP mode

    delay(3000);

}

ArduinoOTA.begin(); // enable to receive update/uploade firmware via Wifi OTA

// Set the speed to start, from 0 (off) to 1023 (max speed)

analogWrite(enA, SPEED);

analogWrite(enB, SPEED);

// move forward - Initial state

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

}

// main program loop

void loop() {

ArduinoOTA.handle(); // listen for update OTA request from clients

distanceCm=getDistance(); // variable to store the distance measured by the sensor

Serial.println(distanceCm); // print the distance that was measured

//if the distance is less than value of distanceHold, The robot will stop and scanning for any object around it

if(distanceCm <= distanceHold){

    // turn right

    digitalWrite(in1, LOW);

    digitalWrite(in2, HIGH);

    digitalWrite(in3, HIGH);

    digitalWrite(in4, LOW);

    delay(400);

    // move forward

    digitalWrite(in1, HIGH);

    digitalWrite(in2, LOW);

    digitalWrite(in3, HIGH);

    digitalWrite(in4, LOW);

}

}

// returns the distance measured by the HC-SR04 distance sensor

int getDistance() {

int echoTime; //variable to store the time it takes for a ping to bounce off an object

int calcualtedDistance; //variable to store the distance calculated from the echo time

//send out an ultrasonic pulse that's 10ms long

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

echoTime = pulseIn(echoPin, HIGH); //use the pulsein command to see how long it takes for the

//pulse to bounce back to the sensor

calcualtedDistance = echoTime / 58.26; //calculate the distance of the object that reflected the pulse (half the bounce time multiplied by the speed of sound)

return calcualtedDistance; //send back the distance that was calculated

}

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